A robotic servo end effector for carton palletizing

Abstract

The present invention belongs to the technical field of carton handling equipment, and specifically relates to a robot servo end effector for carton palletizing, including a U-shaped plate; a flange component is installed on the top of the U-shaped plate; a first lead screw is rotatably installed on the U-shaped plate; a first motor is installed on one side surface of the U-shaped plate, and the first motor is used to drive the first lead screw; the first lead screw takes the midpoint as the demarcation line, and the threads on both sides of the demarcation line are opposite; two first driving blocks are threadedly engaged on the first lead screw; a cross plate is fixedly installed below each of the two first driving blocks; vertical plates are installed at the bottom positions on both sides of the two cross plates; an execution handling component is provided between the two vertical plates on the two cross plates; by setting the execution handling component, it is possible to avoid damage to the carton due to excessive local force and the situation of the carton slipping during transfer.

Description

Technical Field

[0001] The present invention belongs to the technical field of carton handling equipment, and specifically relates to a robot servo end effector for carton palletizing. Background Art

[0002] In modern logistics and packaging industries, as a widely used packaging container, cartons are palletized as an important process in production and warehousing. With the rapid development of industries such as e-commerce and express delivery, the volume of goods processed has increased explosively, posing higher requirements for the efficiency and accuracy of carton palletizing. Traditional manual palletizing methods are labor-intensive, inefficient, error-prone, and difficult to meet the needs of large-scale and high-speed production. Therefore, automated carton palletizing equipment has gradually become the mainstream choice in the industry.

[0003] When handling and palletizing cartons, structures such as grippers are usually used to grasp and transport cartons. The gripper-type end effector drives the opening and closing of the gripper through a mechanical linkage mechanism or a pneumatic device to clamp and release the carton, so that the carton can be grasped, transferred, and then palletized.

[0004] However, when palletizing cartons, they are generally transported to the machine position by a conveyor belt, and then the cartons are transferred to the pallet by a gripper and palletized. When the palletizing of the cartons on the pallet is completed, the entire pallet can be transferred, and then a new pallet is placed to palletize the cartons again.

[0005] During the transfer of cartons, only the two sides of the cartons can be clamped. When clamping the cartons, if the clamping force is too large, the cartons are likely to be damaged, and at the same time, the items inside the cartons are likely to be crushed. If the clamping force is too small, the cartons are likely to slip during the transfer of the cartons. Summary of the Invention

[0006] To make up for the deficiencies of the prior art and solve the above technical problems, the present invention provides a robot servo end effector for carton palletizing. By setting an execution handling component, it is possible to avoid damage to the cartons due to excessive local force and the situation of the cartons slipping during transfer. The specific structure is as follows:

[0007] A robot servo end effector for carton palletizing includes a U-shaped plate; a flange component is installed on the top of the U-shaped plate, and the flange component is used for installation on the robot arm.

[0008] A first lead screw is rotatably installed on the U-shaped plate, and the first lead screw rotates on both sides of the U-shaped plate.

[0009] A first motor is installed on one side surface of the U-shaped plate, and the first motor is used to drive the first lead screw.

[0010] The first lead screw takes its midpoint as the demarcation line, and the threads on both sides of the demarcation line are opposite; two first driving blocks are meshed with the threads on the first lead screw;

[0011] A cross plate is fixedly installed below each of the two first driving blocks; on both sides of the two cross plates, vertical plates are installed at the bottom position of the cross plates;

[0012] An execution handling assembly is provided between the two vertical plates on the two cross plates, and the execution handling assembly is used to transfer cartons and stack the cartons.

[0013] Preferably, the two execution handling assemblies include two rotating shafts;

[0014] On the opposite end faces of the two vertical plates, rotating shafts are rotatably connected at the top and bottom positions of the vertical plates; a second motor is installed on one of the vertical plates, and the second motor is used to drive the upper rotating shaft;

[0015] Each rotating shaft is divided into two parts with its midpoint as the demarcation line, and two first conveyor belts are rotatably connected to each part of the rotating shaft;

[0016] A guide rod is fixedly connected to the two first conveyor belts in the same part, and the guide rod passes through the two conveyor belts in the same part and extends to the position of the vertical plate;

[0017] Two support plates are hinged to each guide rod, and one of the support plates is located between the two first conveyor belts in the same part, and the other support plate is located between the conveyor belt and the vertical plate;

[0018] The support plate is initially located on the opposite side of the relative first conveyor belt, and the support plate is in a vertically downward state; when the first conveyor belt drives the guide rod and the support plate to rotate to the relative side of the relative first conveyor belt, since the support plate is hinged to the guide rod, the support plate is perpendicular to the first conveyor belt, and the support plate can only rotate upward;

[0019] A second conveyor belt is fixedly connected to the outer circle of each first conveyor belt, and the second conveyor belt is made of a rubber material with high friction.

[0020] Preferably, U-shaped grooves are formed on both of the two vertical plates;

[0021] The two guide rods pass through the U-shaped grooves, and limit blocks are fixedly connected to one side of the guide rods passing through the U-shaped grooves;

[0022] Baffle plates are provided on the opposite end faces of the two vertical plates, and the tops of the baffle plates are rotatably installed on the vertical plates through rotating rods and torsion springs, and the vertical plates are vertically downward in the initial state;

[0023] The bottom of the baffle extends to a position below the U-shaped groove. When the first conveyor belt drives the guide rod to rotate, the first guide rod will rotate along the U-shaped groove and simultaneously push the baffle to rotate.

[0024] Preferably, the cross plate includes an intermediate plate and two side plates; the first driving blocks are all installed on the intermediate plate;

[0025] On both end faces of the intermediate plate facing the side plates, sliding rods are fixedly connected; the two sliding rods respectively pass through the two side plates and are slidably connected to the side plates;

[0026] On the end faces of the two intermediate plates on the opposite sides, double-shaft motors are fixedly installed; on the two output shafts of the two double-shaft motors, second lead screws are fixedly installed through couplings, and the second lead screws respectively extend to the positions of the two side plates;

[0027] Threaded seats are threadedly engaged on the plurality of second lead screws, and the threaded seats are all fixedly installed on the adjacent side plates;

[0028] The two rotating shafts include a left half shaft and a right half shaft, and two first conveyor belts are respectively rotated on the left half shaft and the right half shaft;

[0029] Rectangular grooves are respectively formed on the opposite sides of the left half shaft and the right half shaft; a rectangular rod is arranged between the left half shaft and the right half shaft, and both ends of the rectangular rod are slidably located in the rectangular grooves and the rectangular rod cannot slide out of the rectangular grooves.

[0030] Preferably, reinforcing plates are fixedly connected to the opposite side end faces of the two vertical plates;

[0031] Filling plates are fixedly connected to the opposite sides of the two reinforcing plates; the filling plates are located between the two rotating shafts above and below and pass through between the two first conveyor belts of the same part;

[0032] The filling plates are used to support the first conveyor belt to prevent the first conveyor belt from sagging.

[0033] Preferably, electric push rods are fixedly installed on the tops of the two vertical plates; the other sides of the electric push rods are all installed at the bottom positions of the opposite side plates.

[0034] Preferably, two pairs of pull rods are arranged between the two cross plates;

[0035] The bottoms of the plurality of pull rods are fixedly connected with top plates; the opposite sides of the top plates are bent upward.

[0036] Preferably, the pull rods are all slidable on the U-shaped plates and the pull rods cannot slide out of the U-shaped plates.

[0037] The beneficial effects of the present invention are as follows:

[0038] 1. A robot servo end effector for carton palletizing according to the present invention, by providing an execution handling component, a plurality of second conveyor belts on the execution handling component will fit against the side of the carton, thereby increasing the contact area with the second conveyor belt of the carton, so that the carton can be clamped at multiple positions, enabling the carton to be stressed at multiple points, avoiding excessive local stress on the carton and preventing damage. At the same time, during the rotation of the first conveyor belt, the support plate will be rotated under the carton, thus supporting the bottom of the carton, so that the carton can be prevented from slipping during the transfer of the carton.

[0039] 2. A robot servo end effector for carton palletizing according to the present invention, by controlling the reverse rotation of the first conveyor belt, the guide rod and the support plate will be driven to rotate in the reverse direction. At the same time, the support plate will gradually drive the carton to move downward. When the support plate contacts the pallet, under the obstruction of the pallet, the support plate will rotate to the side opposite to the rotation direction of the first conveyor belt, and at the same time, the support plate will gradually be withdrawn from under the carton. During this process, the carton can be slowly placed on the pallet, thus preventing the carton from hitting the pallet during the process of being placed on the pallet, and preventing the items in the carton from being damaged due to the impact.

[0040] 3. A robot servo end effector for carton palletizing according to the present invention, since a limit block is fixedly connected to one side of the guide rod passing through the U-shaped groove, when the guide rod rotates following the first conveyor belt, the guide rod will be driven to rotate along the U-shaped groove. When the guide rod rotates following the first conveyor belt to the relative side position of the opposite first conveyor belt, at this time, the limit block will move upward in the U-shaped groove following the guide rod. During this process, the limit block will push the baffle plate, so the opposite baffle plate will rotate to the opposite side, and the rotated baffle plate will block the side of the carton, preventing the carton from sliding out from both sides of the execution handling component during the transfer process.

[0041] 4. A robot servo end effector for carton palletizing according to the present invention, during the process of the two vertical plates driving the left half shaft and the right half shaft away from each other, the rectangular rod will gradually slide out of the rectangular groove. At the same time, the left half shaft and the right half shaft will respectively drive the first conveyor belt, the second conveyor belt, the filling plate, the baffle plate, the guide rod and the support plate on the left half shaft and the right half shaft away from each other, so as to integrally elongate the execution handling component, thus enabling the transfer of longer cartons; by controlling the electric push rod to extend, the vertical plate will be pushed downward. When the vertical plate moves downward, the overall length of the vertical plate will become longer at this time, thus enabling the transfer of higher cartons. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present invention will be further described below with reference to the accompanying drawings.

[0043] Figure 1 is a perspective view of the present invention in the initial state;

[0044] Figure 2 It is a three-dimensional view of the present invention when transferring the cardboard box;

[0045] Figure 3 It is a structural diagram of the handling component in the initial state of the present invention;

[0046] Figure 4 It is a structural diagram of the handling component in the present invention when transferring the cardboard box;

[0047] Figure 5 It is an exploded view of the handling component in the present invention;

[0048] Figure 6 It is the present invention Figure 5 Partial enlarged view at position A in;

[0049] Figure 7 It is a top view of the present invention;

[0050] Figure 8 It is the present invention Figure 7 Cross-sectional view taken along line B-B in the initial state;

[0051] Figure 9 It is the present invention Figure 7 Cross-sectional view taken along line B-B when transferring the cardboard box;

[0052] Figure 10 It is a state diagram of the present invention when the support plate gradually disengages from the cardboard box.

[0053] In the figure: 1, inverted U-shaped plate; 11, flange component; 12, first lead screw; 13, first motor; 14, first driving block; 15, cardboard box; 2, cross plate; 201, intermediate plate; 202, side plate; 203, sliding rod; 204, dual-shaft motor; 205, second lead screw; 206, threaded seat; 21, vertical plate; 22, U-shaped groove; 23, baffle; 24, reinforcing plate; 25, filling plate; 26, electric push rod; 3, rotating shaft; 301, left half shaft; 302, right half shaft; 303, rectangular groove; 304, rectangular rod; 31, second motor; 32, first conveyor belt; 33, guide rod; 331, limit block; 34, support plate; 35, second conveyor belt; 4, pull rod; 41, top plate. Detailed implementation manners

[0054] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0055] Example 1:

[0056] As Figures 1 to 10As shown in the figure, a robot servo end effector for carton palletizing according to the present invention includes a U-shaped plate 1; a flange component 11 is installed on the top of the U-shaped plate 1, and the flange component 11 is used for installing on the robot arm;

[0057] A first lead screw 12 is rotatably installed on the U-shaped plate 1, and the first lead screw 12 rotates at both sides of the U-shaped plate 1;

[0058] A first motor 13 is installed on one side surface of the U-shaped plate 1, and the first motor 13 is used for driving the first lead screw 12;

[0059] Taking the midpoint as the demarcation line, the threads on both sides of the first lead screw 12 are opposite; two first driving blocks 14 are threadedly engaged on the first lead screw 12;

[0060] Two cross plates 2 are fixedly installed below the two first driving blocks 14; on both sides of the two cross plates 2, vertical plates 21 are installed at the bottom positions of the cross plates 2;

[0061] An execution handling assembly is provided between the two vertical plates 21 on the two cross plates 2, and the execution handling assembly is used for transferring the carton 15 and palletizing the carton 15;

[0062] In this embodiment, the two execution handling assemblies include two rotating shafts 3;

[0063] On the opposite end faces of the two vertical plates 21, rotating shafts 3 are rotatably connected at the top and bottom positions of the vertical plates 21; a second motor 31 is installed on one of the vertical plates 21, and the second motor 31 is used for driving the upper rotating shaft 3;

[0064] Each rotating shaft 3 is divided into two parts with the midpoint as the demarcation line, and two first conveyor belts 32 are rotatably connected to each part of the rotating shaft 3;

[0065] A guide rod 33 is fixedly connected to the two first conveyor belts 32 in the same part, and the guide rod 33 passes through the two conveyor belts in the same part and extends to the position of the vertical plate 21;

[0066] Two support plates 34 are hinged to each guide rod 33, and one of the support plates 34 is located between the two first conveyor belts 32 in the same part, and the other support plate 34 is located between the first conveyor belt 32 and the vertical plate 21;

[0067] The support plate 34 is initially located on the opposite side of the opposite first conveyor belt 32, and the support plate 34 is in a vertically downward state; when the first conveyor belt 32 drives the guide rod 33 and the support plate 34 to rotate to the opposite side of the opposite first conveyor belt 32, since the support plate 34 is hinged to the guide rod 33, the support plate 34 is perpendicular to the first conveyor belt 32, and the support plate 34 can only rotate upward;

[0068] Each outer ring of the first conveyor belt 32 is fixedly connected with a second conveyor belt 35, and the second conveyor belt 35 is made of a rubber material with high friction.

[0069] Specifically, when palletizing the carton 15, first, the robot controls the U-shaped plate 1 to move above the carton 15, and adjusts the distance between the two execution handling components according to the width of the carton 15. During the adjustment, the first motor 13 is controlled to rotate. The rotating first motor 13 drives the first lead screw 12 to rotate. Since the threads on both sides of the center line of the first lead screw 12 are opposite, during the rotation of the first lead screw 12, the two first driving blocks 14 are driven to move away from each other. During the process of the first driving blocks 14 moving away from each other, the two cross plates 2 and the execution handling components are driven to move away from each other. When the distance between the two execution handling components is greater than the width of the carton 15, at this time, the U-shaped plate 1 is controlled to move downwards. The downward moving U-shaped plate 1 drives the cross plate 2 and the execution handling components to move downwards. When the two execution handling components move down to the middle and lower position of the carton 15, the U-shaped plate 1 is controlled to stop moving downwards, and then the carton 15 can be transferred.

[0070] More specifically, when transferring the carton 15, first, the first motor 13 is controlled to rotate. The first motor 13 drives the first lead screw 12 to rotate. The rotating first lead screw 12 drives the two first driving blocks 14 to rotate, thereby driving the two cross plates 2 and the two execution handling components to move closer to each other. During the process of the two execution handling components moving closer to each other, the second conveyor belt 35 first contacts the side of the carton 15. When the second conveyor belt 35 contacts the side of the carton 15, at this time, the carton 15 is clamped between the relatively multiple second conveyor belts 35. At this time, the multiple second conveyor belts 35 are attached to the surface of the carton 15, thereby increasing the contact area of the second conveyor belt 35 with the carton 15. Subsequently, the second motor 31 on the two vertical plates 21 is controlled to rotate. The second motor 31 drives the upper rotating shaft 3 to rotate, thereby driving the first conveyor belt 32 and the second conveyor belt 35 to rotate. The rotating direction of the conveyor belt on the left vertical plate 21 is counterclockwise, and the rotating direction of the conveyor belt on the right vertical plate 21 is clockwise. During the rotation of the second conveyor belts 35 on both sides, the entire carton 15 is driven to move upwards, thereby gradually lifting the carton 15.

[0071] Further, while the first transfer belt 32 is rotating, it will gradually drive the guide rod 33 to rotate. The guide rod 33 will gradually rotate from the opposite side to the relative side position. At the same time, the guide rod 33 will drive the support plate 34 to rotate to the relative side of the first transfer belt 32. When the guide rod 33 rotates to the relative side, at this time, the guide rod 33 is located below the cardboard box 15 and supports the bottom of the cardboard box 15. Then, the cardboard box 15 can be transferred. During the transfer of the cardboard box 15, since the support plate 34 supports the cardboard box 15, the cardboard box 15 can be prevented from slipping;

[0072] Furthermore, when the cardboard box 15 is transferred to the position of the tray, at this time, control the execution handling component to move downward. When the bottommost position of the second transfer belt 35 contacts the tray, control the execution handling component to stop moving downward. Then, control the second motor 31 to reverse. When the second motor 31 reverses, it will drive the first transfer belt 32 and the second transfer belt 35 to rotate in the opposite direction, that is, the first transfer belt 32 and the second transfer belt 35 on the left rotate clockwise, and the first transfer belt 32 and the second transfer belt 35 on the right rotate counterclockwise. At the same time, it will drive the guide rod 33 and the support plate 34 to rotate in the opposite direction. When the support plate 34 rotates in the opposite direction, it will gradually move downward, and at the same time, it will drive the cardboard box 15 to gradually move downward. When the support plate 34 moves to the position of the lower rotating shaft 3, the support plate 34 will gradually tilt downward from the horizontal state, and at the same time, the support plate 34 will gradually disengage from the bottom position of the cardboard box 15. When the support plate 34 contacts the surface of the tray, at this time, the first transfer belt 32 will drive the guide rod 33 and the support plate 34 to continue to rotate around the lower rotating shaft 3. Since the bottom of the support plate 34 contacts the surface of the tray, as the support plate 34 continues to rotate with the first transfer belt 32, under the obstruction of the tray, the support plate 34 will rotate to the side opposite to the rotation direction of the first transfer belt 32, and at the same time, the support plate 34 gradually withdraws from below the cardboard box 15. When the support plate 34 is completely withdrawn from below the cardboard box 15, at this time, the cardboard box 15 will be placed on the tray; Then, control the two execution handling components to move away from each other, and then control the two execution handling components to move upward and return to the initial position to handle the next cardboard box 15;

[0073] By controlling the first transfer belt 32 to rotate in the opposite direction, it will drive the guide rod 33 and the support plate 34 to rotate in the opposite direction. At the same time, the support plate 34 will gradually drive the cardboard box 15 to move downward. When the support plate 34 contacts the tray, under the obstruction of the tray, the support plate 34 will rotate to the side opposite to the rotation direction of the first transfer belt 32, and at the same time, the support plate 34 gradually withdraws from below the cardboard box 15. During this process, the cardboard box 15 can be slowly placed on the tray, so as to avoid the cardboard box 15 colliding with the tray during the process of being placed on the tray, so that the items in the cardboard box 15 are impacted and damaged;

[0074] By setting up the execution handling component, multiple second conveyor belts 35 on the execution handling component will be in contact with the side of the carton 15, thereby increasing the contact area with the second conveyor belt 35 of the carton 15. As a result, the carton 15 can be clamped at multiple positions, enabling the carton 15 to be subjected to multi-point force, avoiding excessive local force on the carton 15 and preventing damage. At the same time, when the first conveyor belt 32 rotates, the support plate 34 will be rotated under the carton 15, thus supporting the bottom of the carton 15. Therefore, it is possible to prevent the carton 15 from slipping during the transfer of the carton 15.

[0075] Embodiment 2:

[0076] U-shaped grooves 22 are formed on both of the two vertical plates 21;

[0077] Both of the two guide rods 33 pass through the U-shaped grooves 22, and limit blocks 331 are fixedly connected to one side of the guide rods 33 passing through the U-shaped grooves 22;

[0078] On the opposite end faces of the two vertical plates 21, baffle plates 23 are provided, and the tops of the baffle plates 23 are rotatably installed on the vertical plates 21 through rotating rods and torsion springs, and the vertical plates 21 are vertically downward in the initial state;

[0079] The bottom of the baffle plate 23 extends to a position below the U-shaped groove 22. When the first conveyor belt 32 drives the guide rod 33 to rotate, the first guide rod 33 will rotate along the U-shaped groove 22 and simultaneously push the baffle plate 23 to rotate;

[0080] In this embodiment, the cross plate 2 includes an intermediate plate 201 and two side plates 202; the first driving blocks 14 are all installed on the intermediate plate 201;

[0081] On the two end faces of the intermediate plate 201 facing the side plates 202, sliding rods 203 are fixedly connected; the two sliding rods 203 respectively pass through the two side plates 202 and are slidably connected to the side plates 202;

[0082] On the opposite end faces of the two intermediate plates 201, double-shaft motors 204 are fixedly installed; on the two output shafts of the two double-shaft motors 204, second lead screws 205 are fixedly installed through couplings, and the second lead screws 205 respectively extend to the positions of the two side plates 202;

[0083] Threaded seats 206 are threadedly engaged on the multiple second lead screws 205, and the threaded seats 206 are all fixedly installed on the adjacent side plates 202;

[0084] The two rotating shafts 3 include a left half shaft 301 and a right half shaft 302, and two first conveyor belts 32 are respectively rotated on the left half shaft 301 and the right half shaft 302;

[0085] Rectangular grooves 303 are formed on opposite sides of the left half shaft 301 and the right half shaft 302; a rectangular rod 304 is provided between the left half shaft 301 and the right half shaft 302, and both ends of the rectangular rod 304 slide in the rectangular grooves 303 respectively, and the rectangular rod 304 cannot slide out of the rectangular grooves 303.

[0086] In this embodiment, reinforcing plates 24 are fixedly connected to the opposite side end faces of the two vertical plates 21.

[0087] Filling plates 25 are fixedly connected to the opposite sides of the two reinforcing plates 24; the filling plates 25 are located between the two rotating shafts 3 above and below, and pass through between the two first conveyor belts 32 of the same part.

[0088] The filling plates 25 are used to support the first conveyor belts 32 to prevent the first conveyor belts 32 from sagging.

[0089] Specifically, since a limiting block 331 is fixedly connected to one side of the guide rod 33 passing through the U-shaped groove 22, when the guide rod 33 rotates along with the first conveyor belt 32, the guide rod 33 will be driven to rotate along the U-shaped groove 22. When the guide rod 33 rotates along with the first conveyor belt 32 to the opposite side position of the opposite first conveyor belt 32, at this time, the limiting block 331 will move upward in the U-shaped groove 22 along with the guide rod 33. During this process, the limiting block 331 will push the baffle 23, so the opposite baffle 23 will rotate to the opposite side. The rotated baffle 23 will block the side of the carton 15 to prevent the carton 15 from sliding out from both sides of the execution handling assembly during the transfer process.

[0090] More specifically, when it is necessary to handle a longer carton 15, at this time, the double-shaft motor 204 is controlled to rotate. The double-shaft motor 204 will drive the two second lead screws 205 to rotate. The rotating second lead screws 205 will push the two threaded seats 206 away from each other. The mutually separated threaded seats 206 will drive the two side plates 202 to move away from each other along the slide rods 203. At the same time, the side plates 202 will drive the vertical plates 21 to move away from each other. Since the left half shaft 301 and the right half shaft 302 on the rotating shaft 3 are connected by the rectangular groove 303 and the rectangular rod 304, during the process that the two vertical plates 21 drive the left half shaft 301 and the right half shaft 302 to move away from each other respectively, the rectangular rod 304 will gradually slide out of the rectangular groove 303. At the same time, the left half shaft 301 and the right half shaft 302 will drive the first conveyor belt 32, the second conveyor belt 35, the filling plate 25, the baffle 23, the guide rod 33 and the support plate 34 on the left half shaft 301 and the right half shaft 302 to move away from each other respectively, so as to integrally lengthen the execution handling assembly, and thus the longer carton 15 can be transferred.

[0091] Furthermore, since the filling plate 25 passes through the first conveyor belt 32, the filling plate 25 can support the first conveyor belt 32. When the second conveyor belt 35 clamps the cardboard box 15, due to the presence of the filling plate 25, it can prevent the second conveyor belt 35 from denting when clamping the cardboard box 15, thus ensuring that the second conveyor belt 35 fits perfectly with the surface of the cardboard box 15.

[0092] Embodiment 3:

[0093] Electric push rods 26 are fixedly installed at the tops of both of the vertical plates 21; the other sides of the electric push rods 26 are installed at the bottom positions of the opposite side plates 202;

[0094] In this embodiment, two pairs of pull rods 4 are provided between the two cross plates 2;

[0095] The bottoms of the plurality of pull rods 4 are fixedly connected with top plates 41; the opposite sides of the top plates 41 are bent upward;

[0096] In this embodiment, the pull rods 4 are all slidably arranged on the U-shaped plate 1 and cannot slide out of the U-shaped plate 1;

[0097] Specifically, since the vertical plates 21 and the cross plates 2 are connected by the electric push rods 26, when it is necessary to transfer a higher cardboard box 15, at this time, control the electric push rods 26 to extend, which will push the vertical plates 21 to move downward. When the vertical plates 21 move downward, the overall length of the vertical plates 21 will become longer, so that a higher cardboard box 15 can be transferred;

[0098] More specifically, since the top plates 41 are provided on the U-shaped plate 1, when the opposite second conveyor belt 35 pushes the cardboard box 15 upward, the upward moving cardboard box 15 will gradually fit with the bottom of the top plate 41. When the top of the cardboard box 15 fits with the top plate 41, the top plate 41 can be used to fix the top of the cardboard box 15, thereby further improving the fixing effect on the cardboard box 15. At the same time, since the opposite sides of the top plate 41 are bent upward, if the lids on some cardboard boxes 15 are not closed, when the upward moving cardboard box 15 contacts the top plate 41, the opposite top plate 41 will push the lid on the cardboard box 15 to rotate and close. Since the top plate 41 slides on the U-shaped plate 1 through the pull rod 4, when transferring cardboard boxes 15 of different heights, the cardboard box 15 will push the pull rod 4 to slide in the U-shaped plate 1, so as to adapt to cardboard boxes 15 of different heights.

[0099] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the attached Figure 1The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as a limitation on the protection scope of the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0100] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all these changes and improvements fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic servo end effector for carton palletizing, characterized in that: It includes a U-shaped plate (1); a flange component (11) is installed on the top of the U-shaped plate (1), and the flange component (11) is used for installation on a robotic arm; A first lead screw (12) is rotatably installed on the U-shaped plate (1), and the first lead screw (12) rotates at both sides of the U-shaped plate (1); A first motor (13) is installed on one side surface of the U-shaped plate (1), and the first motor (13) is used to drive the first lead screw (12); Taking the midpoint of the first lead screw (12) as the demarcation line, the threads on both sides of the demarcation line are opposite; two first driving blocks (14) are threadedly engaged on the first lead screw (12); Horizontal plates (2) are fixedly installed below both of the two first driving blocks (14); vertical plates (21) are installed at the bottom positions of both sides of the two horizontal plates (2); An execution handling assembly is provided between the two vertical plates (21) on the two horizontal plates (2), and the execution handling assembly is used to transfer cartons (15) and stack the cartons (15); The two execution handling assemblies include two rotating shafts (3); On the opposite end faces of the two vertical plates (21), rotating shafts (3) are rotatably connected at the top and bottom positions of the vertical plates (21); a second motor (31) is installed on one of the vertical plates (21), and the second motor (31) is used to drive the upper rotating shaft (3); Each rotating shaft (3) is divided into two parts with the midpoint as the demarcation line, and two first conveyor belts (32) are rotatably connected to each part of the rotating shaft (3); A guide rod (33) is fixedly connected to the two first conveyor belts (32) in the same part, and the guide rod (33) passes through the two conveyor belts in the same part and extends to the position of the vertical plate (21); Two support plates (34) are hinged to each guide rod (33), and one of the support plates (34) is located between the two first conveyor belts (32) in the same part, and the other support plate (34) is located between the first conveyor belt (32) and the vertical plate (21); In the initial state, the support plate (34) is located on the opposite side of the relative first conveyor belt (32), and the support plate (34) is in a vertically downward state; when the first conveyor belt (32) drives the guide rod (33) and the support plate (34) to rotate to the relative side of the relative first conveyor belt (32), since the support plate (34) is hinged to the guide rod (33), the support plate (34) is perpendicular to the first conveyor belt (32), and the support plate (34) can only rotate upward; A second conveyor belt (35) is fixedly connected to the outer ring of each first conveyor belt (32), and the second conveyor belt (35) is made of a rubber material with high friction.

2. The robot servo end effector for carton palletizing according to claim 1, characterized in that: U-shaped grooves (22) are formed on both of the two vertical plates (21); Both of the two guide rods (33) pass through the U-shaped grooves (22), and limit blocks (331) are fixedly connected to the sides where the guide rods (33) pass through the U-shaped grooves (22); Baffle plates (23) are provided on the opposite end faces of the two vertical plates (21), and the tops of the baffle plates (23) are rotatably installed on the vertical plates (21) through rotating rods and torsion springs, and the vertical plates (21) are vertically downward in the initial state; The bottom of the baffle (23) extends to a position below the U-shaped groove (22). When the first conveyor belt (32) drives the guide rod (33) to rotate, the guide rod (33) will rotate along the U-shaped groove (22), and at the same time, it will push the baffle (23) to rotate.

3. The robotic servo end effector for carton palletizing according to claim 2, characterized in that: The cross plate (2) includes an intermediate plate (201) and two side plates (202); the first driving blocks (14) are all installed on the intermediate plate (201); Sliding rods (203) are fixedly connected to both end faces of the intermediate plate (201) facing the side plates (202); the two sliding rods (203) respectively pass through the two side plates (202) and are slidably connected to the side plates (202); Biaxial motors (204) are fixedly installed on the end faces of the two intermediate plates (201) on the opposite sides; second lead screws (205) are fixedly installed on the two output shafts of the two biaxial motors (204) through couplings, and the second lead screws (205) respectively extend to the positions of the two side plates (202); Threaded seats (206) are threadedly engaged on the plurality of second lead screws (205), and the threaded seats (206) are all fixedly installed on the adjacent side plates (202); The two rotating shafts (3) include a left half shaft (301) and a right half shaft (302), and two first conveyor belts (32) are respectively rotated on the left half shaft (301) and the right half shaft (302); Rectangular grooves (303) are formed on the opposite sides of the left half shaft (301) and the right half shaft (302); a rectangular rod (304) is provided between the left half shaft (301) and the right half shaft (302), and both ends of the rectangular rod (304) are slidably located in the rectangular grooves (303), and the rectangular rod (304) cannot slide out of the rectangular grooves (303).

4. The robotic servo end effector for carton palletizing according to claim 3, characterized in that: Reinforcing plates (24) are fixedly connected to the opposite side end faces of the two vertical plates (21); Filling plates (25) are fixedly connected to the opposite sides of the two reinforcing plates (24); the filling plates (25) are located between the two rotating shafts (3) above and below and pass through between the two first conveyor belts (32) of the same part; The filling plates (25) are used to support the first conveyor belt (32) to prevent the first conveyor belt (32) from sagging.

5. A robot servo end effector for carton palletizing according to claim 4, characterized in that: Electric push rods (26) are fixedly installed on the tops of the two vertical plates (21); the other sides of the electric push rods (26) are all installed at the bottom positions of the opposite side plates (202).

6. The robot servo end effector for carton palletizing according to claim 5, characterized in that: Two pairs of pull rods (4) are provided between the two cross plates (2); The bottoms of the plurality of pull rods (4) are fixedly connected with top plates (41); the opposite sides of the top plates (41) are bent upward.

7. A robot servo end effector for carton palletizing according to claim 6, characterized in that: The pull rods (4) all slide on the U-shaped plate (1), and the pull rods (4) cannot slide out of the U-shaped plate (1).

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