Manipulator for carton production

Abstract

The invention discloses a manipulator for carton production, which relates to the technical field of carton packaging production devices, and comprises a multi-shaft driving adjusting mechanical arm which is used as a basic driving adjusting structure of the manipulator and is used for carrying cartons under the cooperation of a clamping manipulator assembly in the carton carrying process. Through the arrangement of the conveying belt structure, cartons on the conveying belt structure are integrally and effectively conveyed, when the positions of the cartons cannot be in a synchronous state due to deviation, an operation transition state of actively adapting and adjusting the positions of the cartons is formed, use strain of a multi-shaft driving adjusting mechanical arm is reduced, and meanwhile under cooperation of a positioning adjusting assembly and a fine adjusting assembly, the working efficiency is improved. The clamping manipulator assembly can accurately move to the position above the carton grabbing position, certain pressure is applied to the carton from the upper portion when the carton is grabbed, the clamping manipulator assembly is assisted in stably grabbing the carton, and displacement or shaking of the carton due to uneven stress in the grabbing process is prevented.

Description

Technical Field

[0001] The invention relates to the technical field of carton packaging production equipment, and in particular to a robot for carton production. Background Art

[0002] Carton: It is the most widely used packaging product. According to different materials, there are corrugated boxes, single-layer cardboard boxes, etc., with various specifications and models. Manipulator: It can imitate certain movements and functions of human hands and arms, and is used to grab, move objects or operate tools according to fixed procedures. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety.

[0003] At present, in the process of using robots for carton production, although the existing robots are able to move cartons, in the logical motion trajectory of each move, when the cartons on the conveyor belt structure are being transported, an offset occurs, resulting in the inability to synchronize the positions of the cartons. This will require the driving structure of the robot to be adjusted in real time according to the different positions of the cartons in order to grab and move the cartons, causing the driving structure to be easily worn out after a large number of times, thus affecting the operating service life of the robot. Therefore, it is necessary to propose a robot for carton production. Summary of the invention

[0004] The object of the present invention is to provide a robot for carton production, so as to solve the problem proposed in the above background technology that in the logical motion trajectory of each transportation, when the cartons on the conveyor belt structure are transported, an offset occurs, resulting in the position of the cartons being unable to form a synchronized state. This will cause the driving structure of the robot to be adjusted in real time according to the different positions of the cartons to facilitate the grasping and transportation of the cartons, causing the driving structure to be easily worn out after a large number of times, thereby affecting the operating service life of the robot.

[0005] To achieve the above object, the present invention provides the following technical solution: A robot for carton production, comprising: The multi-axis drive adjustment robot arm, as the basic drive adjustment structure of the robot, is used to drive the clamped carton to adjust according to the preset logical trajectory during the carton handling process; The positioning and adjustment component is fastened to the outer wall surface of the frame of the adjustment motor through a connection frame that is symmetrically fastened at the top, and is used to use a built-in laser detection and positioning sensor to drive the fine adjustment component and the clamping manipulator component to position and judge the carton during the conveying process and perform subsequent clamping operations; The fine adjustment component is installed at the bottom of the positioning adjustment component, and is used to drive the clamping manipulator component connected to the bottom end to perform range adjustment according to the position of the carton after detection and judgment; The clamping robot assembly is installed at the bottom of the fine adjustment assembly and is used to adaptively adjust the clamping pressure of the carton according to the position, size and material of the carton.

[0006] Preferably, the clamping manipulator assembly comprises: A bottom plate, a side fixed clamping plate, a contact flexible plate, a bottom slide and an inner slide, wherein the side end of the bottom plate is fastened with the side fixed clamping plate, the contact flexible plate is located on the side of the side fixed clamping plate, and is used for flexibly contacting the surface of the carton, the bottom slide is fastened in the surface groove of the side fixed clamping plate, the inner slide is slidably connected inside the top end of the bottom slide, the side end of the inner slide is fastened with a movable clamping plate, and the bottom side end of the bottom plate is fastened with a track slide along the edge.

[0007] Preferably, the movable clamping plate forms a sliding connection with the bottom wall of the bottom plate by sliding along the edge track, a pneumatic push gas rod is embedded in the surface of the side fixed clamping plate, the side end of the pneumatic push gas rod is fastened to the inner side wall of the movable clamping plate, a double-axis pneumatic gas rod is installed at the bottom end of the movable clamping plate, and the bottom of the double-axis pneumatic gas rod is fastened to the inner groove bottom edge frame.

[0008] Preferably, a three-dimensional view scanner and a high-speed visual intelligent prediction sensor are respectively embedded on the surface of the bottom plate, a position sensor is embedded on the side wall surface of the inner groove bottom frame, a suspended air pad plate is slidably connected to the inside of the inner groove bottom frame, a micro-stepping air rod is installed on the top wall surface of the inner groove bottom frame, a blowing fan is symmetrically installed on the external fixed frame surface of the micro-stepping air rod, a frame is installed on the outer circumference of the inner slide, and the inner contour diameter of the frame is larger than the outer contour diameter of the bottom slide.

[0009] Preferably, a lifting cylinder is embedded in the bottom frame body of the frame, and the bottom of the lifting cylinder is fastened with a motor hoop frame, an energy-saving control motor is installed inside the motor hoop frame, and the bottom output end of the energy-saving control motor is penetrated and connected with a control substrate, and the left and right ends of the control substrate are symmetrically fastened with edge guide slides, and the inside of the edge guide slides are slidably connected with guide racks.

[0010] Preferably, the bottom output end of the energy-saving control motor is connected to a driving gear, and the driving gear and the guide rack form a meshing connection. The side ends of the guide rack are fastened to an abutting air cavity plate, and the side end surface of the abutting air cavity plate is connected to multiple groups of contact air bags. A micro-control air pump is installed on the top of the abutting air cavity plate, and the micro-control air pump controls the inflation and deflation of multiple groups of contact air bags through the abutting air cavity plate.

[0011] Preferably, the positioning adjustment component includes: An annular guide rail, a sliding connection seat, a connecting ball joint and a connecting reinforcement rod. The top of the annular guide rail is tightly connected to the connecting frame, the connecting ball joint and the sliding connection seat form a rotating connection, the sliding connection seat is located at the bottom end of the annular guide rail and is slidingly connected, and the bottom of the connecting reinforcement rod is tightly connected with a firmware.

[0012] Preferably, the bottom of the firmware is fastened with a connecting base, the top center end of the connecting base is connected to a universal connecting rod, the top of the universal connecting rod is connected to a pneumatic universal joint, and the top of the pneumatic universal joint and the bottom output end of the adjusting motor form a connection setting.

[0013] Preferably, the fine adjustment component includes: A first X-axis guide frame, a second Y-axis guide frame, an axial motor control box and an electric lifting rod, the top of the first X-axis guide frame is tightly connected to the connecting base frame, the first X-axis guide frame and the second Y-axis guide frame drive the axial motor control box and the structure it carries to form an X-axis and Y-axis control direction range regulation, the bottom of the axial motor control box is connected to the base plate, the electric lifting rod is symmetrically installed at the left and right ends of the base plate, and the bottom of the electric lifting rod is tightly connected with a flat pressure plate.

[0014] Preferably, a bogie is installed on the output front end of the multi-axis drive adjustment robot arm, a steering drive structure is installed on the side end of the bogie, and the adjustment motor is installed inside the bottom end of the bogie.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, when the clamping manipulator assembly approaches the carton to be transported, a three-dimensional view scanner and a high-speed visual intelligent prediction sensor are used to operate, so that when it is predicted that the carton is about to deviate, the external PLC controller can adjust the working position and posture of the relevant internal structures of the clamping manipulator assembly in advance, so that when the pneumatic derivation gas rod needs to expand the clamping distance, the pneumatic derivation gas rod shrinks, driving the movable clamping plate to slide outward on the bottom plate along the edge track. When the clamping distance needs to be reduced, the pneumatic derivation gas rod extends, and at the same time, the inner slide can slide inside the top of the bottom slide to further fine-tune the position of the movable clamping plate to adapt to cartons of different widths. As the movable clamping plate continues to move, a clamping force is gradually applied to the carton, and the carton is stably clamped between the side fixed clamping plate and the movable clamping plate. At the same time, with the cooperation of the micro-controlled air pump, the abutting air cavity plate and the contact air bag, when it is necessary to increase the contact with the paper When there is friction or buffer on the surface of the carton, the micro-controlled air pump inflates the contact airbag to expand the contact airbag and fit tightly to the surface of the carton. When it is necessary to reduce the friction or adjust the contact state, the micro-controlled air pump deflates the contact airbag. Secondly, when the pressure of the carton needs to be adjusted during transportation, the energy-saving control motor starts, and the driving gear at its bottom output end drives the guide rack meshing with it to move, and the guide rack drives the contact air cavity plate and the contact airbag thereon to move. Through the friction and contact pressure between the contact airbag and the surface of the carton, with the cooperation of the built-in pressure sensor, the clamping pressure of the carton is adjusted, and the friction generated can also drive the carton to perform posture adjustment operations such as rotation or translation.

[0016] 2. In the present invention, with the cooperation of the clamping manipulator assembly, during the carton clamping process, the blowing fan is started as needed to blow air to the bottom of the carton, and the force of the airflow is used to assist in changing the angle of one side of the carton, so that the micro-stepping air rod can adjust the position of the suspended air cushion plate inside the inner groove bottom frame, so that the suspended air cushion plate can enter the bottom of the carton from the gap generated after the carton is blown by the above-mentioned blowing fan, and then the array-type suspended air cushion formed on the surface of the suspended air cushion plate will first contact the bottom of the carton, and the pressure distribution between the air cushion and the carton is monitored by the built-in pressure detection sensor of the suspended air cushion plate. According to the pressure distribution, the external PLC The controller accurately determines the bottom shape and center of gravity of the carton, and then adjusts the air pressure of each suspended air cushion to automatically adjust the carton to a horizontal and stable state before being grabbed, and always keeps it in a suspended state during the grabbing process, reducing the friction between the carton and the conveyor belt, avoiding the carton deviation and additional pulling on the drive structure caused by friction, and effectively avoiding damage to the carton surface. It further assists in supporting or adjusting the force state of the bottom of the carton to ensure the stability of the carton during the clamping or posture adjustment process, so that the carton on the conveyor belt structure can be effectively transported without deviation. When the position of the carton cannot be synchronized due to the shift, it actively adapts and adjusts the position of the carton to reduce the wear and tear of the multi-axis drive adjustment robot arm. At the same time, the multi-axis drive adjustment robot arm adopts a flexible linkage buffer drive joint, so that the joints of the multi-axis drive adjustment robot arm are combined with elastic materials and hydraulic damping systems. During the movement of the joints, when external force shocks or rapid adjustments are required, the elastic material can first absorb part of the energy to play a buffering role, and then the hydraulic damping system slowly releases the energy to allow the joint to be smoothly adjusted to the target position.

[0017] 3. In the present invention, through the cooperation of the positioning adjustment component and the fine adjustment component, the positioning adjustment component can make fine adjustments to the position of the connecting base frame on the basis of rough adjustment of the azimuth through the further coordinated action of the connecting ball joint and the sliding connecting seat, so that the fine adjustment component and the clamping manipulator component can better match the height and surface angle of the carton, ensuring that the clamping manipulator component can accurately move above the grabbing position of the carton to complete the fine adjustment of the position, and then with the cooperation of the first X-axis guide frame and the second Y-axis guide frame, drive the structure connected below it to move to the appropriate position on the X-axis and Y-axis to ensure that the clamping manipulator component can accurately align with the predetermined grabbing point of the carton in the X-axis or Y-axis direction, and at the same time, with the cooperation of the electric lifting rod and the flat pressure plate, a certain pressure is applied to the carton from above when grabbing the carton, assisting the clamping manipulator component to stably grab the carton, and preventing the carton from displacement or shaking due to uneven force during the grabbing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of a robot for carton production according to the present invention from a main view; Figure 2 This is a schematic diagram of the installation position structure of a positioning adjustment component and a fine adjustment component in a robot for carton production of the present invention; Figure 3 This is a schematic diagram of the installation position structure of a clamping robot assembly in a robot for carton production of the present invention; Figure 4 This is a structural schematic diagram of a positioning and adjusting component in a robot for carton production according to the present invention; Figure 5 This is a structural schematic diagram of a fine adjustment component in a robot for carton production according to the present invention; Figure 6 It is a structural schematic diagram of a clamping robot assembly in a robot for carton production of the present invention; Figure 7 The present invention is a carton production robot Figure 6 A schematic diagram of the enlarged structure at point A; Figure 8 It is a partial structural schematic diagram of a clamping robot assembly in a robot for carton production of the present invention.

[0019] In the figure: 1. Multi-axis drive adjustment robot arm; 2. Bogie; 3. Adjustment motor; 4. Connecting frame; 5. Positioning adjustment assembly; 51. Annular guide rail; 52. Sliding connecting seat; 53. Connecting ball joint; 54. Connecting reinforcing rod; 55. Pneumatic universal joint; 56. Universal connecting rod; 57. Fixture; 58. Connecting base frame; 6. Fine adjustment assembly; 61. First X-axis guide rail frame; 62. Second Y-axis guide rail frame; 63. Axial motor control box; 64. Electric lifting rod; 65. Flat pressure plate; 7. Clamping robot assembly; 71. Bottom plate; 72. Side fixed clamping plate; 73. Contact Flexible board; 74, bottom slide; 75, inner slide; 76, pneumatic guide rod; 77, edge track slide; 78, movable clamping plate; 79, dual-axis pneumatic rod; 790, suspended air pad plate; 791, frame; 792, lifting cylinder; 793, motor hoop frame; 794, control substrate; 795, inner groove bottom frame; 796, blowing fan; 797, micro stepping rod; 798, energy-saving control motor; 799, driving gear; 710, edge guide slide; 711, guide rack; 712, abutting air cavity plate; 713, contact air bag; 8, steering drive structure. DETAILED DESCRIPTION

[0020] 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 implementation regulations described 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.

[0021] In the present invention, reference is made to Figure 1-Figure 8 Shown: A robot for carton production, comprising: The multi-axis drive adjustment robot arm 1, which serves as the basic drive adjustment structure of the robot, is used to drive the clamped carton to adjust according to a preset logical trajectory during the carton handling process; The positioning and adjusting component 5 is fastened to the outer wall surface of the frame of the adjusting motor 3 through the connecting frame 4 symmetrically fastened to the top, and is used to drive the fine adjustment component 6 and the clamping manipulator component 7 to position and judge the carton during the conveying process and perform subsequent clamping operations using the built-in laser detection and positioning sensor; The fine adjustment component 6 is installed at the bottom of the positioning adjustment component 5, and is used to drive the clamping manipulator component 7 connected to the bottom end to perform range adjustment according to the position of the carton after detection and judgment; The clamping robot assembly 7 is installed at the bottom of the fine adjustment assembly 6 and is used to adaptively adjust the clamping pressure of the carton according to the position, size and material of the carton.

[0022] In the present invention, according to Figure 1-Figure 8 As shown, the clamping robot assembly 7 includes: The bottom plate 71, the side fixed clamping plate 72, the contact flexible plate 73, the bottom slide 74 and the inner slide 75, the side end of the bottom plate 71 and the side fixed clamping plate 72 form a fastening connection, the contact flexible plate 73 is located on the side of the side fixed clamping plate 72, and is used to flexibly contact the surface of the carton, the bottom slide 74 is located in the surface groove of the side fixed clamping plate 72 and is fastened, the inner slide 75 is located at the top of the bottom slide 74 and is slidably connected, the side end of the inner slide 75 is fastened with a movable clamping plate 78, and the bottom side end of the bottom plate 71 is fastened with an edge track slide 77.

[0023] The movable clamping plate 78 forms a sliding connection with the bottom wall of the bottom plate 71 through the sliding edge 77 along the edge track. A pneumatic push gas rod 76 is embedded in the surface of the side fixed clamping plate 72. The side end of the pneumatic push gas rod 76 is fastened to the inner wall of the movable clamping plate 78. A double-axis pneumatic gas rod 79 is installed at the bottom end of the movable clamping plate 78. The bottom of the double-axis pneumatic gas rod 79 is fastened to the inner groove bottom edge frame 795.

[0024] A three-dimensional view scanner and a high-speed visual intelligent prediction sensor are embedded on the surface of the bottom plate 71, a position sensor is embedded on the side wall surface of the inner groove bottom frame 795, the inner bottom frame 795 is slidably connected with a suspended air pad plate 790, a micro-stepping air rod 797 is installed on the top wall surface of the inner groove bottom frame 795, and a blowing fan 796 is symmetrically installed on the external fixed frame surface of the micro-stepping air rod 797, a frame 791 is installed on the outer peripheral side of the inner slide 75, and the inner contour diameter of the frame 791 is larger than the outer contour diameter of the bottom slide 74.

[0025] A lifting cylinder 792 is embedded in the bottom frame of the frame 791, and a motor hoop frame 793 is fastened to the bottom of the lifting cylinder 792. An energy-saving control motor 798 is installed inside the motor hoop frame 793. A control substrate 794 is connected to the bottom output end of the energy-saving control motor 798. The left and right ends of the control substrate 794 are symmetrically fastened to the side guide slide 710, and the inside of the side guide slide 710 is slidably connected to the guide rack 711.

[0026] The bottom output end of the energy-saving control motor 798 is connected to a driving gear 799, and the driving gear 799 and the guide rack 711 form a meshing connection. The side ends of the guide rack 711 are fastened to abutting air cavity plates 712. The side end surfaces of the abutting air cavity plates 712 are connected to multiple groups of contact air bags 713. A micro-control air pump is installed on the top of the abutting air cavity plate 712. The micro-control air pump controls the inflation and deflation of the multiple groups of contact air bags 713 through the abutting air cavity plates 712.

[0027] In a specific solution, during the overall operation, when the gripping robot assembly 7 approaches the carton to be transported, the three-dimensional view scanner on the bottom plate 71 starts to work, and performs a comprehensive scan of the carton to obtain the three-dimensional shape, size and position information of the carton, and transmits these data to the external PLC controller, and through the high-speed visual intelligent prediction sensor, the current position, shape and size information of the carton can be obtained in real time, and the conveyor belt running speed, the historical movement trajectory of the carton on the conveyor belt and the surrounding environmental factors can be predicted, so that when it is predicted that the carton is about to deviate, the external PLC controller The controller can adjust the working position and posture of the relevant internal structures of the clamping manipulator assembly 7 in advance, instead of waiting for the carton to be offset and then making real-time adjustments. At the same time, the position sensor on the side wall surface of the inner groove bottom frame 795 also begins to detect its relative position relationship with the carton, providing data support for subsequent precise clamping. According to the data of the three-dimensional view scanner and the position sensor, the external PLC controller first calculates the required initial positions of the side fixed clamping plate 72 and the movable clamping plate 78, so that the pneumatic derivation gas rod 76 can be retracted when the clamping distance needs to be expanded. The movable clamping plate 78 is shrunk, and the sliding edge 77 along the edge track is driven to slide outward on the bottom plate 71. When the clamping spacing needs to be reduced, the pneumatic derivation gas rod 76 is extended. At the same time, the inner slide 75 can slide inside the top of the bottom slide 74 to further fine-tune the position of the movable clamping plate 78 to adapt to cartons of different widths. Then the lifting cylinder 792 can adjust its overall height according to the height of the carton, so that the energy-saving control motor 798 and related components are at a suitable working height position. After adjusting the position of the clamping plate, the pneumatic derivation gas rod 76 pushes the movable clamping plate 78 to move closer to the side fixed clamping plate 72. The carton is started to be grabbed, and the contact flexible plate 73 first contacts the surface of the carton. Its flexible material can avoid scratching or damaging the surface of the carton. Then, as the movable clamping plate 78 continues to move, a clamping force is gradually applied to the carton, and the carton is stably clamped between the side fixed clamping plate 72 and the movable clamping plate 78. During the clamping process, the double-axis pneumatic air rod 79 automatically adjusts the height position of the inner groove bottom frame 795 according to the material and size information of the carton, thereby changing the clamping pressure of the movable clamping plate 78 on the carton. For softer or smaller cartons, the double-axis pneumatic air rod 79 contracts to reduce the clamping pressure. For harder or larger cartons, the biaxial pneumatic air rod 79 is extended to increase the clamping pressure. At the same time, the micro-controlled air pump can inflate and deflate the contact airbag 713 on the abutting air cavity plate 712 as needed, so that when it is necessary to increase the friction or buffer with the surface of the carton, the micro-controlled air pump inflates the contact airbag 713 to expand the contact airbag 713 and fit the carton surface tightly. When it is necessary to reduce the friction or adjust the contact state, the micro-controlled air pump deflates the contact airbag 713. Secondly, when the carton pressure needs to be adjusted during transportation, the energy-saving control motor 798 is started.The driving gear 799 at the bottom output end drives the meshing guide rack 711 to move, and the guide rack 711 drives the contact air chamber plate 712 and the contact air bag 713 thereon to move. Through the friction and contact pressure between the contact air bag 713 and the surface of the carton, with the cooperation of the built-in pressure sensor, the clamping pressure of the carton is adjusted. At the same time, the friction generated can also drive the carton to rotate or translate and perform other posture adjustment operations. In the process of clamping the carton, the blowing fan 796 is started as needed to blow air to the bottom of the carton, and the airflow is used to adjust the carton. The force helps to change the angle of one side of the carton, so that the micro-stepping air rod 797 can adjust the position of the suspended air pad plate 790 inside the inner groove bottom frame 795, so that the suspended air pad plate 790 can enter the bottom of the carton from the gap generated after the carton is blown by the above-mentioned blowing fan 796. Then the array-type suspended air cushion formed on the surface of the suspended air pad plate 790 will first contact the bottom of the carton, and the pressure distribution between the air cushion and the carton will be monitored by the built-in pressure detection sensor of the suspended air pad plate 790. According to the pressure distribution, the external PLC The controller accurately determines the bottom shape and center of gravity of the carton, and then adjusts the air pressure of each suspended air cushion so that the carton can automatically adjust to a horizontal and stable state before being grabbed, and always maintains a suspended state during the grabbing process, reducing the friction between the carton and the conveyor belt, avoiding the carton offset and additional pulling on the drive structure caused by friction, effectively avoiding damage to the carton surface, and further assisting in supporting or adjusting the force state of the carton bottom to ensure the stability of the carton during the clamping or posture adjustment process, so that the carton on the conveyor belt structure can be effectively transported without offset. When the position of the carton cannot form a synchronous state, it forms an active adaptation and adjusts the operation state of the carton position, reducing the use strain of the multi-axis drive adjustment robot 1. At the same time, the multi-axis drive adjustment robot 1 adopts a flexible linkage buffer drive joint, so that the joints of the multi-axis drive adjustment robot 1 are combined with elastic materials and hydraulic damping systems. When encountering external force impact or rapid adjustment during joint movement, the elastic material can first absorb part of the energy to play a buffering role, and then the hydraulic damping system slowly releases the energy to make the joints smoothly adjust to the target position.

[0028] In the present invention, according to Figure 1-Figure 4 As shown, the positioning adjustment component 5 includes: The annular guide rail 51, the sliding connection seat 52, the connecting ball joint 53 and the connecting reinforcement rod 54, the top of the annular guide rail 51 is tightly connected to the connecting frame 4, the connecting ball joint 53 and the sliding connection seat 52 form a rotating connection, the sliding connection seat 52 is located at the bottom end of the annular guide rail 51 and is slidingly connected, and the bottom of the connecting reinforcement rod 54 is tightly connected with a firmware 57.

[0029] The bottom of the fixture 57 is fastened with a connecting base 58, the top center end of the connecting base 58 is connected to a universal connecting rod 56, the top of the universal connecting rod 56 is connected to a pneumatic universal joint 55, and the top of the pneumatic universal joint 55 and the bottom output end of the adjusting motor 3 form a connection setting.

[0030] In a specific solution, when the overall structure receives an instruction from an external PLC controller to start moving cartons, the laser detection and positioning sensor installed on the connecting base 58 is operated. When the laser detection and positioning sensor scans the cartons on the conveyor belt and obtains the position information of the cartons, the data is transmitted to the external PLC controller. The external PLC controller starts the adjustment motor 3 to run, and its output end drives the pneumatic universal joint 55 to rotate. Since the pneumatic universal joint 55 is connected to the universal connecting rod 56, and the universal connecting rod 56 is connected to the connecting base 58, the rotation of the adjustment motor 3 will cause the connecting base 58 and the components connected thereto to change within the circle diameter range of the annular guide rail 51. The connecting ball joint 53 allows the connecting base 58 to be fine-tuned and rotated at multiple angles, and the sliding of the sliding connecting seat 52 in the annular guide rail 51 can compensate for the position deviation caused by the orientation adjustment, ensuring that the connecting base 58 can move more accurately in the horizontal direction toward the approximate orientation of the carton, thereby achieving coarse adjustment of the orientation. On the basis of the coarse adjustment of the orientation, the position of the connecting base 58 is finely adjusted through the further synergistic effect of the connecting ball joint 53 and the sliding connecting seat 52, so that the fine adjustment component 6 and the clamping manipulator component 7 can better match the height and surface angle of the carton, ensuring that the clamping manipulator component 7 can be accurately moved to above the grabbing position of the carton to complete the fine adjustment of the position.

[0031] In the present invention, according to Figure 1-Figure 3 and Figure 5 As shown, the fine adjustment component 6 includes: The first X-axis guide frame 61, the second Y-axis guide frame 62, the axial motor control box 63 and the electric lifting rod 64, the top of the first X-axis guide frame 61 is tightly connected to the connecting base frame 58, the first X-axis guide frame 61 and the second Y-axis guide frame 62 drive the axial motor control box 63 and the structure it carries to form an X-axis and Y-axis control direction range regulation, the bottom of the axial motor control box 63 and the bottom plate 71 form a connection setting, the electric lifting rod 64 is symmetrically installed at the left and right ends of the bottom plate 71, and the bottom of the electric lifting rod 64 is tightly connected with a flat pressure plate 65.

[0032] The output front end of the multi-axis drive adjustment robot arm 1 is installed with a bogie 2 , the side end of the bogie 2 is installed with a steering drive structure 8 , and the adjustment motor 3 is installed inside the bottom end of the bogie 2 .

[0033] In a specific solution, after the positioning and adjustment component 5 preliminarily positions the clamping manipulator component 7 above the carton, the fine adjustment component 6 receives a signal about the precise position of the carton from the external PLC controller (the laser detection positioning sensor and the preliminary positioning detection of the positioning and adjustment component 5), and then according to the received signal, the axial motor control box 63 can be started according to the detected carton position, and drive the related structures connected to the bottom to adjust, and then, with the cooperation of the first X-axis guide frame 61 and the second Y-axis guide frame 62, drive the structures connected below it The structure moves to the appropriate position on the X-axis and Y-axis to ensure that the clamping robot assembly 7 can accurately align with the predetermined grasping point of the carton in the X-axis or Y-axis direction. Then, when the position in the X-axis and Y-axis directions is adjusted, the electric lifting rod 64 drives the flat pressure plate 65 to drop to a suitable height according to the height information of the carton and the preset grasping height requirement, so that the flat pressure plate 65 applies a certain pressure to the carton from above when grasping the carton as mentioned above, thereby assisting the clamping robot assembly 7 to grasp the carton stably and preventing the carton from being displaced or shaking due to uneven force during the grasping process.

[0034] The wiring diagram of the axial motor control box 63, the suspended air pad plate 790, the energy-saving control motor 798, the laser detection positioning sensor, the three-dimensional view scanner, the high-speed visual intelligent prediction sensor, the position sensor, the micro-control air pump, the pressure sensor and the pressure detection sensor in the present invention is common knowledge in the art, and its working principle is a well-known technology. The model is selected according to the actual use. Therefore, the control method and wiring arrangement of the axial motor control box 63, the suspended air pad plate 790, the energy-saving control motor 798, the laser detection positioning sensor, the three-dimensional view scanner, the high-speed visual intelligent prediction sensor, the position sensor, the micro-control air pump, the pressure sensor and the pressure detection sensor will no longer be explained in detail.

[0035] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot for carton production, characterized in that: Included are: A multi-axis drive adjustment robot arm (1), which serves as a basic drive adjustment structure of the robot arm and is used to drive the clamped carton to be adjusted according to a preset logical trajectory during the carton handling process; The positioning and adjusting component (5) is fastened to the outer wall surface of the frame of the adjusting motor (3) through a connecting frame (4) symmetrically fastened to the top, and is used to drive the fine adjustment component (6) and the clamping manipulator component (7) to determine the positioning of the carton during the conveying process and perform subsequent clamping operations using a built-in laser detection and positioning sensor; A fine adjustment component (6) is installed at the bottom of the positioning adjustment component (5) and is used to drive the clamping robot component (7) connected to the bottom to perform range adjustment according to the position of the carton after detection and judgment; The clamping manipulator assembly (7) is mounted at the bottom of the fine adjustment assembly (6) and is used to adaptively adjust the clamping pressure of the carton according to the position, size and material of the carton.

2. The carton production robot according to claim 1, characterized in that: The clamping manipulator assembly (7) comprises: A bottom plate (71), a side fixed clamping plate (72), a contact flexible plate (73), a bottom slide (74) and an inner slide (75), wherein the side end of the bottom plate (71) is fastened to the side fixed clamping plate (72), the contact flexible plate (73) is located on the side of the side fixed clamping plate (72) and is used to flexibly contact the surface of the carton, the bottom slide (74) is fastened in the surface groove of the side fixed clamping plate (72), the inner slide (75) is slidably connected inside the top end of the bottom slide (74), the side end of the inner slide (75) is fastened to a movable clamping plate (78), and the bottom side end of the bottom plate (71) is fastened to an edge track slide (77).

3. The carton production robot according to claim 2, characterized in that: The movable clamping plate (78) is slidably connected to the bottom wall of the bottom plate (71) by sliding along the edge track (77); a pneumatic guide gas rod (76) is embedded in the surface of the side fixed clamping plate (72); the side end of the pneumatic guide gas rod (76) is tightly connected to the inner side wall of the movable clamping plate (78); a double-axis pneumatic gas rod (79) is installed at the bottom end of the movable clamping plate (78); and the bottom of the double-axis pneumatic gas rod (79) is tightly connected to the inner groove bottom edge frame (795).

4. The robot for carton production according to claim 3 is characterized in that: A three-dimensional view scanner and a high-speed visual intelligent prediction sensor are respectively embedded on the surface of the bottom plate (71), a position sensor is embedded on the side wall surface of the inner groove bottom frame (795), a suspended air pad plate (790) is slidably connected inside the inner groove bottom frame (795), a micro-stepping air rod (797) is installed on the top wall surface of the inner groove bottom frame (795), a blowing fan (796) is symmetrically installed on the external fixed frame surface of the micro-stepping air rod (797), and a frame (791) is installed on the outer peripheral side of the inner slide (75), and the inner contour diameter of the frame (791) is larger than the outer contour diameter of the bottom slide (74).

5. The robot for carton production according to claim 4, characterized in that: A lifting cylinder (792) is embedded in the bottom frame of the frame (791), the bottom of the lifting cylinder (792) is fastened to a motor hoop frame (793), an energy-saving control motor (798) is installed inside the motor hoop frame (793), the bottom output end of the energy-saving control motor (798) is connected through a control substrate (794), the left and right ends of the control substrate (794) are symmetrically fastened to side guide slides (710), and the inside of the side guide slides (710) are slidably connected to guide racks (711).

6. The robot for carton production according to claim 5, characterized in that: The bottom output end of the energy-saving control motor (798) is connected to a driving gear (799), and the driving gear (799) and the guide rack (711) are meshedly connected. The side ends of the guide rack (711) are fastened to abutting air cavity plates (712), and the side end surfaces of the abutting air cavity plates (712) are connected to multiple groups of contact air bags (713). A micro-controlled air pump is installed on the top of the abutting air cavity plate (712), and the micro-controlled air pump controls the inflation and deflation of the multiple groups of contact air bags (713) through the abutting air cavity plates (712).

7. The robot for carton production according to claim 1, characterized in that: The positioning adjustment component (5) comprises: An annular guide rail (51), a sliding connection seat (52), a connecting ball joint (53) and a connecting reinforcement rod (54); the top of the annular guide rail (51) is tightly connected to the connecting frame (4); the connecting ball joint (53) and the sliding connection seat (52) are rotatably connected; the sliding connection seat (52) is located inside the bottom end of the annular guide rail (51) and is slidably connected; and the bottom of the connecting reinforcement rod (54) is tightly connected to a fixing piece (57).

8. The robot for carton production according to claim 7, characterized in that: The bottom of the fixing member (57) is fastened to a connecting base frame (58), the top center end of the connecting base frame (58) is connected to a universal connecting rod (56), the top of the universal connecting rod (56) is connected to a pneumatic universal joint (55), and the top of the pneumatic universal joint (55) is connected to the bottom output end of the regulating motor (3).

9. The robot for carton production according to claim 1, characterized in that: The fine adjustment component (6) comprises: A first X-axis guide frame (61), a second Y-axis guide frame (62), an axial motor control box (63) and an electric lifting rod (64); the top of the first X-axis guide frame (61) is tightly connected to a connecting base frame (58); the first X-axis guide frame (61) and the second Y-axis guide frame (62) drive the axial motor control box (63) and the structure carried by them to form an X-axis and Y-axis control direction range regulation; the bottom of the axial motor control box (63) is connected to a bottom plate (71); the electric lifting rod (64) is symmetrically installed at the left and right ends of the bottom plate (71); and the bottom of the electric lifting rod (64) is tightly connected to a flat pressing plate (65).

10. The robot for carton production according to claim 1, characterized in that: The output front end of the multi-axis drive regulating mechanical arm (1) is mounted on a bogie (2), the side end of the bogie (2) is mounted on a steering drive structure (8), and the regulating motor (3) is mounted inside the bottom end of the bogie (2).

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