A carton fast palletizing robot

Abstract

The present invention belongs to the technical field of palletizing robots, and specifically is a fast carton palletizing robot, comprising a base and a conveying mechanism for conveying cartons, a mechanical arm is provided on the base, a clamp for clamping the carton is provided at the end of the mechanical arm, the clamp comprising a clamping seat, the clamping seat is fixedly installed at the end of the mechanical arm, two groups of guide rods fixedly installed in the clamping seat, two groups of slides symmetrically distributed in the clamping seat, the slides are slidably connected to the two groups of guide rods, and a plywood fixedly connected to the lower end surface of the slides supports the carton through limiting feet, and while reducing the clamping force of the plywood on the carton, the carton is limited in a space composed of the two groups of plywood and multiple groups of limiting feet, thereby ensuring the stability of the carton, the limiting feet have a simple structure, and it is more convenient to take and place the carton, and it will not cause too much impact on the overall structure, volume and weight of the device, thereby avoiding too much impact on the operation and service life of the entire device.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing robots, in particular to a fast carton palletizing robot. Background Art

[0002] A carton palletizing robot is an automated device used to stack cartons neatly on pallets according to preset rules. Due to its high efficiency, high flexibility, strong safety and cost savings, it is widely used in logistics, packaging, warehousing and other industries. The carton palletizing robot is mainly composed of a conveying mechanism, a robotic arm base, a robotic arm, a clamp and other components.

[0003] The patent with announcement number CN218289519U discloses a palletizer for carton production, including a machine base, a robotic arm installed on the machine base, a robotic arm provided with a robotic arm, a clamping mechanism provided at the end of the robotic arm, the clamping mechanism including an electric telescopic rod, the upper end face of the electric telescopic rod fixedly connected to the end of the robotic arm, the two ends of the electric telescopic rod respectively fixedly connected to two sets of clamps, the lower end face of the electric telescopic rod fixedly connected to a vacuum suction plate, and the top of the vacuum suction plate fixedly connected to a vacuum pump. When the two sets of clamps clamp the carton, this solution generates suction on the carton through a vacuum device, which can not only reduce the clamping force of the clamps on the carton and prevent damage to the carton, but also ensure the stability of the clamping of the carton and avoid large displacement of the carton position.

[0004] In the above scheme, the vacuum pump and vacuum suction plate are set to generate suction on the cartons. However, adding a vacuum pump and vacuum suction plate to the traditional clamp will make the structure complicated and the volume too large. The complicated structure will reduce the stability of the clamp operation. Secondly, the large volume will increase the weight of the entire clamp, which is not only inconvenient for the clamp to pick up and place cartons, but also increases the load on the robotic arm and manipulator, and reduces the service life of the robotic arm and manipulator. For this reason, the present invention provides a carton fast stacking robot. Summary of the Invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: a carton rapid palletizing robot described in the present invention comprises a base and a conveying mechanism for conveying cartons, a mechanical arm is provided on the base, a clamp for clamping the carton is provided at the end of the mechanical arm, the clamp comprises a clamp seat, the clamp seat is fixedly mounted at the end of the mechanical arm, two groups of guide rods fixedly mounted in the clamp seat, two groups of slides symmetrically distributed in the clamp seat, the slide seat is slidably connected to the two groups of guide rods, a clamping plate fixedly connected to the lower end surface of the slide seat, three groups of limiting feet for holding the carton are provided at the lower end of the clamping plate, two groups of cylinders symmetrically mounted on both sides of the clamp seat, and the ends of the cylinders are connected to the slide seat;

[0007] The carton is supported by the limiting feet, and the clamping force of the plywood on the carton is reduced, so that the carton is limited in the space composed of two sets of plywood and multiple sets of limiting feet, thereby ensuring the stability of the carton. The limiting feet have a simple structure, which makes it more convenient to take and place the carton, and will not cause too much impact on the overall structure, volume and weight of the device, thereby avoiding too much impact on the operation and service life of the entire device.

[0008] Material toggling mechanism, its both ends are to be connected multiple times by two guide rails, and the guide rails are to be connected multiple times by two guide rails respectively.

[0009] The two sets of cylinders pull the two sets of slides to move along the guide rods in reverse, so that the two sets of slides drive the two sets of plate bodies to release the clamping of the cartons. At the same time, the movable rod, rollers and other components move with the plate body. The movable rollers roll along the oblique groove surface, and the oblique groove surface pushes the rollers, so that the rollers push the movable rods together with the movable frame to move downward, and the movable frame slides along the guide column, and the movable frame compresses the spring. At the same time, the movable frame drives one end of the fixed shaft to slide along the spiral groove, so that the rotating tube together with the limit foot rotates toward the lower end surface of the plate body until the roller staggers the oblique groove surface. At this time, the limit foot has just rotated 90 degrees, and the limit foot is located below the lower end surface of the plate body, so that the limit foot is separated from the bottom of the carton. In this way, when the two sets of splints are opened at a smaller distance, the limit foot can be separated from the bottom of the carton, thereby greatly reducing the gap between the two adjacent groups of cartons, which not only improves the stability of the cartons stacked on the pallet, but also saves the placement space on the pallet, so that more cartons can be placed on the pallet.

[0010] Preferably, a linkage mechanism is provided between the two sets of slides, the linkage mechanism comprising a fixed column, the upper end of the fixed column is fixedly connected to the pressure plate, a rotating rod provided at the lower end of the fixed column, two sets of connecting rods provided at both ends of the rotating rod, a hinged plate hinged to one end of the connecting rod, the hinged plate fixedly connected to the slide, the middle part of the rotating rod is rotatably connected to the lower end of the fixed column, and the other end of the connecting rod is hinged to the end of the rotating rod;

[0011] While retaining one group of cylinders, this group of cylinders drives the corresponding slides, which rotate the rotating rods through the corresponding connecting rods. The rotating rotating rods cause the other group of slides to move synchronously through another group of connecting rods. At the same time, the two groups of slides drive the two groups of splints to move synchronously, thereby ensuring the consistency of the movement of the two groups of splints, which not only reduces the difficulty of adjustment, but also reduces the failure rate of the device operation.

[0012] The beneficial effects of the present invention are as follows:

[0013] 1. The carton is supported by the limiting feet. While reducing the clamping force of the plywood on the carton, the carton is limited in the space composed of two sets of plywood and multiple sets of limiting feet to ensure the stability of the carton. The limiting feet have a simple structure, which makes it more convenient to take and place the carton. It will not cause much impact on the overall structure, volume and weight of the device, thereby avoiding too much impact on the operation and service life of the entire device.

[0014] The movable frame slides along the guide column, and the movable frame compresses the spring, and at the same time, the movable frame drives one end of the fixed shaft to slide along the spiral groove, so that the rotating tube and the limit foot rotate toward the lower end surface of the plate body until the roller staggers the oblique groove surface. At this time, the limit foot rotates exactly 90 degrees and is located below the lower end surface of the plate body, so that the limit foot is separated from the bottom of the carton. In this way, when the opening distance of the two sets of splints is small, the limit foot can be separated from the bottom of the carton, thereby greatly reducing the gap between the two adjacent groups of cartons, which not only improves the stability of the cartons stacked on the pallet, but also saves the placement space on the pallet, so that more cartons can be placed on the pallet.

[0015] 3. The opening and closing of the two sets of splints are driven by two sets of cylinders. Since the two sets of cylinders are controlled by different air sources, it is time-consuming and laborious to adjust the two sets of cylinders to maintain consistency. Moreover, as the cylinders are used for a long time, the consistency of the two sets of cylinders can be easily broken, which will lead to a particularly high failure rate in the operation of the device. While retaining one set of cylinders, this set of cylinders drives the corresponding slides, which rotate the rotating rods through the corresponding connecting rods. The rotating rotating rods cause the other set of slides to move synchronously through another set of connecting rods. At the same time, the two sets of slides drive the two sets of splints to move synchronously, thereby ensuring the consistency of the movement of the two sets of splints, which not only reduces the difficulty of adjustment, but also reduces the failure rate of the device operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the combination of the clamp and the carton of the present invention.

[0019] Figure 3 It is a schematic diagram of the assembly of the clamping seat, sliding seat, clamping plate and limiting foot of the present invention.

[0020] Figure 4 It is a cross-sectional schematic diagram of the slide seat, clamping plate and limiting foot assembly of the present invention.

[0021] Figure 5 This is a schematic diagram of the cross-section of the movable frame and the rotating tube assembly of the present invention.

[0022] Figure 6 This is a schematic diagram of another state of the slide, clamping plate, and limiting foot combination of the present invention.

[0023] Figure 7 It is a schematic cross-sectional view of the clamp of the present invention.

[0024] In the figure: 1. base; 2. conveying mechanism; 3. carton; 4. robotic arm; 5. clamp; 501. clamp seat; 5011. pressure plate; 5012. oblique groove surface; 502. slide seat; 503. guide rod; 504. clamping plate; 505. limit foot; 506. cylinder; 507. linkage mechanism; 5041. plate body; 5042. movable frame; 421. avoidance hole; 422. fixed shaft; 5043. rotating tube; 431. spiral groove; 5044. movable rod; 5045. roller; 5046. guide column; 5047. spring; 5071. fixed column; 5072. rotating rod; 5073. connecting rod; 5074. hinged plate. DETAILED DESCRIPTION

[0025] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0026] Example 1, as Figure 1 and Figure 2As shown, a carton rapid palletizing robot described in an embodiment of the present invention includes a base 1 and a conveying mechanism 2 for conveying cartons 3, a robotic arm 4 is provided on the base 1, and a clamp 5 for clamping the carton 3 is provided at the end of the robotic arm 4, the clamp 5 includes a clamp seat 501, the clamp seat 501 is fixedly installed at the end of the robotic arm 4, two groups of guide rods 503 fixedly installed in the clamp seat 501, two groups of slides 502 symmetrically distributed in the clamp seat 501, the slide 502 is slidably connected to the two groups of guide rods 503, a splint 504 fixedly connected to the lower end surface of the slide 502, three groups of limiting feet 505 for supporting the carton 3 are provided at the lower end of the splint 504, two groups of cylinders 506 are symmetrically installed on both sides of the clamp seat 501, and the ends of the cylinders 506 are connected to the slide 502.

[0027] Specifically, in the initial state, the distance between the two sets of splints 504 is much larger than the width of the carton 3. Therefore, when clamping the carton 3, the clamp 5 is moved to the carton 3 on the conveying mechanism 2 by the robot arm 4, and the carton 3 is located between the two sets of splints 504. The limiting feet 505 and the conveying rollers on the conveying mechanism 2 are staggered, and the conveying rollers will not interfere with the limiting feet 505. The two sets of cylinders 506 are started to push the two sets of slides 502 to move toward each other along the guide rods 503. The two sets of slides 502 drive the corresponding splints 504 to clamp the carton 3, and move the limiting feet 505 to the bottom of the carton 3. Then, the robot arm 4 is used to make the clamp 5 lift the carton 3. In this case, the multiple groups of limiting feet 505 below support the carton 3, thereby clamping the carton 3, and then the clamp 5 is used by the robotic arm 4 to place the carton 3 on the pallet, and the above operations are repeated to stack the carton 3 on the pallet. Compared with the prior art, the carton 3 is supported by the limiting feet 505, and the clamping force of the splint 504 on the carton 3 is reduced, so that the carton 3 is limited in the space composed of two groups of splints 504 and multiple groups of limiting feet 505, thereby ensuring the stability of the carton 3. The limiting feet 505 have a simple structure, and it is more convenient to take and place the carton 3, and will not cause too much impact on the overall structure, volume, and weight of the device, thereby avoiding too much impact on the operation and service life of the entire device.

[0028] like Figures 3 to 6As shown, the splint 504 includes a plate body 5041, the upper end of the plate body 5041 is fixedly connected to the slide 502, a movable frame 5042 is movably installed in the plate body 5041, three sets of rotating tubes 5043 are rotatably installed in the plate body 5041, the lower ends of the three sets of rotating tubes 5043 are respectively connected to three sets of limiting feet 505, the upper end of the movable frame 5042 is fixedly connected to the movable rod 5044, the movable rod 5044 passes through the slide 502, two sets of guide columns 5046 are symmetrically fixedly installed in the plate body 5041, the guide columns 5046 are provided with springs 5047, and the movable frame 5042 is slidably connected to the two sets The guide column 5046 and the movable frame 5042 are both provided with avoidance holes 421, the upper end of the rotating tube 5043 passes through the avoidance hole 421, and two groups of spiral grooves 431 are provided on the rotating tube 5043. Two groups of fixed shafts 422 are provided at the lower end of the avoidance hole 421, and one end of the fixed shaft 422 is located in the spiral groove 431. A pressure plate 5011 is also fixedly installed in the base 1, and a roller 5045 is rotatably installed on the upper end of the movable rod 5044. The roller 5045 is rollingly connected to the pressure plate 5011, and two groups of inclined groove surfaces 5012 for pushing the roller 5045 are provided on the pressure plate 5011.

[0029] Specifically, the width of the lower end surface of the plate body 5041 is greater than the width of the limiting foot 505. When placing the carton 3 on the pallet, the two sets of splints 504 need to be opened, and the limiting foot 505 needs to be separated from the bottom of the carton 3. Since the limiting foot 505 has a certain length, the opening distance of the two sets of splints 504 must be much greater than the width of the carton 3. In order to avoid the two sets of splints 504 from hitting the adjacent carton 3 during the opening process, the gap between the two adjacent carton 3 will be very large, which not only wastes the placement space on the pallet, but also reduces the space required for loading. The carton 3 is placed on the pallet, and the stability of the carton 3 stacked on the pallet is reduced. When the two groups of clamping plates 504 clamp the carton 3, the two groups of rollers 5045 are respectively close to the two groups of oblique groove surfaces 5012. When the carton 3 is placed on the pallet, the two groups of cylinders 506 pull the two groups of slides 502 to move backward along the guide rods 503, so that the two groups of slides 502 drive the two groups of plate bodies 5041 to release the clamping of the carton 3. At the same time, the movable rod 5044, rollers 5045 and other components move together with the plate body 5041, and the moving rollers 5045 The movable rod 5044 and the movable frame 5042 are pushed downward by the inclined groove surface 5012, and the movable frame 5042 slides along the guide column 5046, and the movable frame 5042 compresses the spring 5047. At the same time, the movable frame 5042 drives one end of the fixed shaft 422 to slide along the spiral groove 431, so that the rotating tube 5043 and the limiting foot 505 rotate toward the lower end surface of the plate body 5041 until the roller 5045 staggers the inclined groove surface 5012. Towards the groove surface 5012, the limit foot 505 is rotated exactly 90 degrees, and the limit foot 505 is located below the lower end surface of the plate body 5041, so that the limit foot 505 is separated from the bottom of the carton 3. In this way, when the two sets of splints 504 are opened at a smaller distance, the limit foot 505 can be separated from the bottom of the carton 3, thereby greatly reducing the gap between the two adjacent sets of cartons 3, which not only improves the stability of the cartons 3 stacked on the pallet, but also saves the placement space on the pallet, so that more cartons 3 can be placed on the pallet.

[0030] Example 2. Figure 7 As shown, compared with Example 1, another embodiment of the present invention is: a linkage mechanism 507 is provided between the two groups of slides 502, and the linkage mechanism 507 includes a fixed column 5071, the upper end of the fixed column 5071 is fixedly connected to the pressure plate 5011, a rotating rod 5072 is provided at the lower end of the fixed column 5071, two groups of connecting rods 5073 are provided at both ends of the rotating rod 5072, a hinged plate 5074 is hinged at one end of the connecting rod 5073, the hinged plate 5074 is fixedly connected to the slide 502, the middle part of the rotating rod 5072 is rotatably connected to the lower end of the fixed column 5071, and the other end of the connecting rod 5073 is hinged to the end of the rotating rod 5072.

[0031] Specifically, the opening and closing of the above-mentioned two groups of splints 504 are achieved by driving two groups of cylinders 506. Since the two groups of cylinders 506 are controlled by different air sources, it is time-consuming and laborious to adjust the two groups of cylinders 506 to maintain consistency. As the cylinders 506 are used for a long time, the consistency of the two groups of cylinders 506 is easily broken, which will lead to a particularly high failure rate in the operation of the device. While retaining one group of cylinders 506, the group of cylinders 506 drives the corresponding slide 502, and the slide 502 rotates the rotating rod 5072 through the corresponding connecting rod 5073. The rotating rotating rod 5072 causes the other group of slides 502 to move synchronously through another group of connecting rods 5073. At the same time, the two groups of slides 502 drive the two groups of splints 504 to move synchronously, thereby ensuring the consistency of the movement of the two groups of splints 504, which not only reduces the difficulty of adjustment, but also reduces the failure rate of the operation of the device.

[0032] The carton 3 is then lifted up by the clamp 5 through the mechanical arm 4. When the carton 3 is clamped, the clamp 5 is moved to the carton 3 on the conveying mechanism 2 through the two sets of clamps 504. The limit feet 505 are staggered with the conveying rollers on the conveying mechanism 2. The conveying rollers will not interfere with the limit feet 505. The two sets of cylinders 506 are started to push the two sets of slides 502 to move toward each other along the guide rods 503. The two sets of slides 502 drive the corresponding clamps 504 to clamp the carton 3 and move the limit feet 505 to the bottom of the carton 3. Then, the clamp 5 is lifted up by the mechanical arm 4. When the clamps 504 clamp the carton 3, the multiple sets of limit feet 505 below support the carton 3, thereby clamping the carton 3. Then, the clamp 5 is placed on the pallet through the mechanical arm 4. The above operation is repeated to stack the cartons 3 on the pallet.

[0033] When the two groups of clamping plates 504 clamp the carton 3, the two groups of rollers 5045 are respectively close to the two groups of oblique groove surfaces 5012. When the carton 3 is placed on the pallet, the two groups of slides 502 are pulled by the two groups of cylinders 506 to move backward along the guide rods 503, so that the two groups of slides 502 drive the two groups of plate bodies 5041 to release the clamping of the carton 3. At the same time, the movable rods 5044, rollers 5045 and other components move together with the plate body 5041. The moving rollers 5045 roll along the oblique groove surfaces 5012, and the oblique groove surfaces 5012 push the rollers 5045, so that the rollers 5045 push The movable rod 5044 moves downward together with the movable frame 5042, and the movable frame 5042 slides along the guide column 5046. The movable frame 5042 compresses the spring 5047. At the same time, the movable frame 5042 drives one end of the fixed shaft 422 to slide along the spiral groove 431, so that the rotating tube 5043 and the limiting foot 505 rotate toward the lower end surface of the plate body 5041 until the roller 5045 staggers the oblique groove surface 5012. At this time, the limiting foot 505 rotates exactly 90 degrees and is located below the lower end surface of the plate body 5041, so that the limiting foot 505 is separated from the bottom of the carton 3.

[0034] While retaining one group of cylinders 506, this group of cylinders 506 drives the corresponding slide 502, and the slide 502 rotates the rotating rod 5072 through the corresponding connecting rod 5073. The rotating rotating rod 5072 causes another group of slides 502 to move synchronously through another group of connecting rods 5073. At the same time, the two groups of slides 502 drive the two groups of splints 504 to move synchronously, thereby ensuring the consistency of the movement of the two groups of splints 504.

[0035] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A carton rapid palletizing robot, comprising a base (1) and a conveying mechanism (2) for conveying cartons (3), characterized in that: A mechanical arm (4) is provided on the base (1), and a clamp (5) for clamping the carton (3) is provided at the end of the mechanical arm (4); The clamp (5) comprises: A clamping seat (501), the clamping seat (501) being fixedly mounted at the end of the mechanical arm (4); Two sets of guide rods (503) fixedly mounted in the clamping seat (501); Two groups of slides (502) symmetrically distributed in the clamping seat (501), the slides (502) being slidably connected to the two groups of guide rods (503); a clamping plate (504) fixedly connected to the lower end surface of the slide seat (502); The lower end of the splint (504) is provided with three groups of limiting feet (505) for supporting the carton (3); Two groups of cylinders (506) are symmetrically mounted on both sides of the clamping seat (501), and the ends of the cylinders (506) are connected to the sliding seat (502); The splint (504) comprises: A plate body (5041), the upper end of which is fixedly connected to the slide seat (502); A movable frame (5042) movably mounted in the plate body (5041); Three groups of rotating tubes (5043), all of which are rotatably mounted in the plate body (5041), and the lower ends of the three groups of rotating tubes (5043) are respectively connected to three groups of limiting feet (505); The upper end of the movable frame (5042) is fixedly connected to the movable rod (5044), and the movable rod (5044) passes through the slide seat (502). Two groups of guide pillars (5046) are symmetrically fixedly installed in the plate body (5041). The guide pillars (5046) are provided with springs (5047). The movable frame (5042) is slidably connected to the two groups of guide pillars (5046). Both ends of the movable frame (5042) are provided with avoidance holes (421). The upper end of the rotating tube (5043) passes through the avoidance hole (421). The rotating tube (5043) Two groups of spiral grooves (431) are provided on the said avoidance hole (421), two groups of fixed shafts (422) are provided at the lower end of the said avoidance hole (421), one end of the said fixed shaft (422) is located in the said spiral groove (431), a pressure plate (5011) is also fixedly installed in the said base (1), a roller (5045) is rotatably installed on the upper end of the said movable rod (5044), the said roller (5045) is rollingly connected to the said pressure plate (5011), and the said pressure plate (5011) is provided with two groups of oblique groove surfaces (5012) for pushing the roller (5045).

2. The carton rapid palletizing robot according to claim 1, characterized in that: A linkage mechanism (507) is provided between the two groups of slide seats (502), and the linkage mechanism (507) comprises: A fixed column (5071), the upper end of which is fixedly connected to the pressure plate (5011); a rotating rod (5072) provided at the lower end of the fixed column (5071); Two sets of connecting rods (5073) are provided at both ends of the rotating rod (5072); A hinge plate (5074) is hingedly connected to one end of the connecting rod (5073).

3. The carton rapid palletizing robot according to claim 2, characterized in that: The hinge plate (5074) is fixedly connected to the slide seat (502).

4. The carton rapid palletizing robot according to claim 3, characterized in that: The middle portion of the rotating rod (5072) is rotatably connected to the lower end of the fixed column (5071), and the other end of the connecting rod (5073) is hinged to the end of the rotating rod (5072).

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