Robot self-adaptive stacking and boxing device for special-shaped bottles

Abstract

The invention belongs to the technical field of robot stacking and boxing, and relates to a robot self-adaptive stacking and boxing device for special-shaped bottles, which comprises a visual sensing system and a machine grabbing system, a conveyor penetrates through the visual sensing system, and a stacking and boxing workbench is arranged on the opening side of the machine grabbing system. The two ends of the stacking and boxing workbench are the stacking end and the boxing end correspondingly, a first linear guiding and conveying set is installed on the stacking and boxing workbench, a sliding block of the first linear guiding and conveying set is connected with a first carrying box, an XZ-axis linear module is installed on the stacking and boxing workbench, an XY-axis distance changing mechanism is installed at the moving end of the XZ-axis linear module, and the XY-axis distance changing mechanism is provided with a distance changing end. And each variable-pitch moving end is provided with a bottle opening clamp. The machine grabbing system picks up the special-shaped bottles with the angles detected by the visual sensing system on the conveyor and stacks the special-shaped bottles at the preset angle, and the self-adaptive capacity is high. And the XY-axis distance changing mechanism enables all the bottle opening clamps to be closed up or unfolded to drive the special-shaped bottles on the bottle opening clamps to be tightly attached or separated, and the firewood boxing mode is diversified.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot palletizing and boxing, and specifically relates to a robot adaptive palletizing and boxing device for special-shaped bottles. Background Art

[0002] When dealing with special-shaped bottles, due to the irregular shape of the bottles, traditional palletizing devices often have difficulty adapting to different placement angles during the conveying process. And in some cases, it is necessary to take out the palletized special-shaped bottles and then perform compact boxing for convenient transportation. However, since special-shaped bottles need to be stably placed when arranged individually, they are separated by slot holes. And when palletizing and boxing, it is necessary to adjust the spacing of each palletized special-shaped bottle for compact boxing or separate boxing, which is cumbersome to operate. For example, the patent with the publication number CN209939912U discloses an automatic palletizing machine for special-shaped bottles. This automatic palletizing machine for special-shaped bottles can only palletize the special-shaped bottles neatly placed on the conveyor belt, and cannot adjust the placement angles of special-shaped bottles with different placement angles. And it cannot perform the operation of adjusting the spacing of the palletized special-shaped bottles for palletizing and boxing at one time. This requires a robot device that can adapt to complete these tasks. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and provide a robot adaptive palletizing and boxing device for special-shaped bottles.

[0004] To solve the above technical problems, the present invention provides such a robot adaptive palletizing and boxing device for special-shaped bottles, which includes a conveyor for conveying special-shaped bottles from left to right, a visual sensing system penetrated by the conveyor, and a machine grasping system. The machine grasping system is located on the right side of the visual sensing system. In front of the visual sensing system, there is a control box with a built-in controller, and the control box controls the overall cooperation operation of the device. The opening side of the machine grasping system is provided with a palletizing and boxing workbench in the shape of an L. The two ends of the palletizing and boxing workbench are respectively a palletizing end and a boxing end. The palletizing end of the palletizing and boxing workbench extends to the opening side of the machine grasping system. A linear guiding group one arranged front and back is installed on the palletizing end of the palletizing and boxing workbench. The slider of the linear guiding group one is connected with a handling box one that moves between the palletizing end and the intersection of the palletizing end and the boxing end. A plurality of slots for placing special-shaped bottles are opened on the handling box one in a crisscross manner. An XZ-axis linear module arranged left and right is installed on the boxing end of the palletizing and boxing workbench. The moving end of the XZ-axis linear module is installed with an XY-axis variable pitch mechanism that moves between the boxing end and the intersection of the boxing end and the palletizing end. The XY-axis variable pitch mechanism has a variable pitch end with the same number as the slots on the handling box one and corresponding to the slots one by one. A bottle mouth fixture is provided on each variable pitch end. A positioning frame for placing the packaging box body is connected to the boxing end, and the positioning frame is located at the lower end of the XY-axis variable pitch mechanism.

[0005] Preferably, the robotic grasping system includes a frame, on the upper part of which a parallel robot is installed, and an electric gripper for picking up special-shaped bottles on the conveyor is installed on the moving platform of the parallel robot.

[0006] Preferably, the first linear conveying group includes two left and right opposite guide rails one connected to the palletizing and box-packing workbench. A first sliding table is connected between the sliders of the two guide rails one. The first handling box is connected to the upper part of the first sliding table. Two front and back opposite synchronous pulleys one are rotatably installed on the palletizing and box-packing workbench. A first synchronous belt is meshed and driven between the two synchronous pulleys one. A first connecting plate is connected between one side of the first synchronous belt and the first sliding table. A first servo motor is installed on the palletizing and box-packing workbench, and the output shaft of the first servo motor is connected to one of the two synchronous pulleys one.

[0007] Preferably, it further includes a secondary handling group. The secondary handling group includes a second linear conveying group installed on the palletizing and box-packing workbench. The second linear conveying group is located below the first linear conveying group. The second linear conveying group is arranged front and back at the palletizing end of the palletizing and box-packing workbench. The slider of the second linear conveying group is connected to a lifting driving group that moves between the palletizing end and the intersection of the palletizing end and the box-packing end. A second handling box is provided at the telescopic end of the lifting driving group. The structure of the second handling box is the same as that of the first handling box.

[0008] Preferably, the second linear conveying group includes two left and right opposite guide rails two connected to the palletizing and box-packing workbench. A lifting driving group is provided between the sliders of the two guide rails two. Two front and back opposite synchronous pulleys two are rotatably installed on the palletizing and box-packing workbench. A second synchronous belt is meshed and driven between the two synchronous pulleys two. A second connecting plate is connected between one side of the second synchronous belt and the lifting driving group. A second servo motor is installed on the palletizing and box-packing workbench, and the output shaft of the second servo motor is connected to one of the two synchronous pulleys two.

[0009] Preferably, the lifting driving group includes a second sliding table connected between the sliders of the two guide rails two. The second connecting plate is connected to the second sliding table. A first sliding frame slides on the second sliding table. The second handling box is connected to the upper end of the first sliding frame. A first cylinder is installed on the second sliding table, and the telescopic end of the first cylinder is connected to the second handling box.

[0010] Preferably, the XZ-axis linear module includes a bracket connected to the box-packing end. Two front and back opposite guide rails three are connected to the upper side of the bracket. A third sliding table is connected between the sliders of the two guide rails three. A rack is connected to the upper part of the bracket. A driving motor is installed on one side of the third sliding table, and the output shaft of the driving motor is connected to a gear that meshes with the rack. A second sliding frame slides on the third sliding table. The XY-axis variable pitch mechanism is installed at the lower end of the second sliding frame. A second cylinder is installed on the third sliding table, and the telescopic end of the second cylinder is connected to the second sliding frame; a protective frame surrounding the front, back, left, and right four sides of the XY-axis variable pitch mechanism is connected to the lower part of the second sliding frame.

[0011] Preferably, the XY-axis variable pitch mechanism includes four guide rods arranged in a rectangle and connected to the lower side of the sliding frame. Among them, a plurality of first rod frames slide between two relatively left and right guide rods, and a plurality of second rod frames slide between two relatively front and rear guide rods. The second rod frames are vertically staggered with the first rod frames. A scissor-type telescopic frame one is jointly hinged among all the first rod frames. An electric bidirectional lead screw one is installed on the lower side of the second sliding frame. Both threaded shafts of the electric bidirectional lead screw one are threadedly connected with transmission frames, and the two transmission frames are respectively connected to the two first rod frames. A scissor-type telescopic frame two is jointly hinged among all the second rod frames. An electric bidirectional lead screw two is installed on the lower side of the second sliding frame and below the electric bidirectional lead screw one. The axial direction of the electric bidirectional lead screw two is perpendicular to the axial direction of the electric bidirectional lead screw one. Both threaded shafts of the electric bidirectional lead screw two are threadedly connected with transmission rods, and the two transmission rods are respectively connected to the two second rod frames. A variable pitch end slides at the intersection of each first rod frame and each second rod frame.

[0012] Preferably, the bottle mouth fixture includes a connecting column embedded and connected to the lower side of the variable pitch end. The lower end of the connecting column is an airbag end. A through hole communicating with the airbag is opened on the connecting column. An air hole communicating with the through hole on the connecting column is opened on the variable pitch end. An air delivery head communicating with its air hole is connected to the upper side of the variable pitch end, and the air delivery head is used for externally connecting an air delivery hose.

[0013] On the basis of overcoming the shortcomings of the prior art, the beneficial effects that the present invention can achieve are as follows: The machine grasping system picks up the special-shaped bottles on the conveyor that have been detected for angles by the vision sensing system and stacks them at a predetermined angle, with strong adaptability; the XY-axis variable pitch mechanism makes all the bottle mouth fixtures correspond to the bottle mouths of the special-shaped bottles one by one. After the bottle mouth fixtures pick up the special-shaped bottles, the XY-axis variable pitch mechanism then makes all the bottle mouth fixtures close / expand to drive the special-shaped bottles on them to be close to / separated from each other. Then, the XZ-axis linear module makes the bottle mouth fixtures loosen the special-shaped bottles in the packaging box body, and the stacking and boxing methods are diversified. Description of the Drawings

[0014] Figure 1 It is the front view of the whole of the present invention.

[0015] Figure 2 It is the top view of the whole of the present invention.

[0016] Figure 3 It is the front view of the machine grasping system of the present invention.

[0017] Figure 4 It is the top view of the internal structure of the stacking and boxing workbench of the present invention.

[0018] Figure 5 It is the left view of the internal structure of the stacking and boxing workbench of the present invention.

[0019] Figure 6Schematic diagram of the linear conveying group I, the handling box I and the handling box II of the present invention.

[0020] Figure 7 Left view of the linear conveying group II and the handling box II of the present invention.

[0021] Figure 8 Schematic diagram of the XZ-axis linear module, the XY-axis variable pitch mechanism and the bottle mouth fixture of the present invention.

[0022] Figure 9 Schematic diagram of the rack, the driving motor and the gear of the present invention.

[0023] Figure 10 Schematic diagram of the guide rod, the rod holder I and the rod holder II of the present invention.

[0024] Figure 11 Cross-sectional view of the variable pitch end, the connecting column and the air delivery head of the present invention.

[0025] Figure 12 Schematic diagram of the state of the special-shaped bottle during box loading.

[0026] The reference signs in the drawings provided by the present invention are: 1 - conveyor, 2 - vision sensing system, 3 - machine grasping system, 31 - frame, 32 - parallel robot, 33 - electric gripper, 4 - palletizing and box loading workbench, 41 - palletizing end, 42 - box loading end, 43 - positioning frame, 5 - linear conveying group I, 50 - handling box I, 51 - guide rail I, 52 - slide table I, 53 - synchronous pulley I, 54 - synchronous belt I, 55 - connecting plate I, 56 - servo motor I, 6 - linear conveying group II, 60 - handling box II, 61 - guide rail II, 62 - slide table II, 63 - sliding frame I, 64 - cylinder I, 65 - synchronous pulley II, 66 - synchronous belt II, 67 - connecting plate II, 68 - servo motor II, 7 - XZ-axis linear module, 71 - bracket, 72 - guide rail III, 73 - slide table III, 74 - rack, 75 - driving motor, 76 - gear, 77 - sliding frame II, 78 - cylinder II, 79 - protective frame, 8 - XY-axis variable pitch mechanism, 81 - guide rod, 82 - rod holder I, 83 - scissor-type telescopic frame I, 84 - electric bidirectional lead screw I, 85 - transmission frame, 86 - rod holder II, 87 - scissor-type telescopic frame II, 88 - electric bidirectional lead screw II, 89 - transmission rod, 80 - variable pitch end, 9 - bottle mouth fixture, 91 - connecting column, 92 - airbag end, 93 - air delivery head, 10 - control box. Detailed implementation manners

[0027] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the drawings. It should be noted that the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] A robot adaptive palletizing and boxing device for special-shaped bottles, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 , including a conveyor 1 for conveying special-shaped bottles from left to right, a vision sensing system 2 penetrated by the conveyor 1, and a machine grasping system 3. The machine grasping system 3 is located on the right side of the vision sensing system 2. A control box 10 with an in-built controller is provided in front of the vision sensing system 2. The control box 10 controls the overall cooperation operation of the device. The special-shaped bottles whose shapes and positions have been detected by the vision sensing system 2 on the conveyor 1 will be conveyed into the machine grasping system 3. The machine grasping system 3 picks up the special-shaped bottles on the conveyor 1 and stacks them at a predetermined angle. The opening side (front side) of the machine grasping system 3 is provided with a palletizing and boxing workbench 4 in the shape of an L. The two ends of the palletizing and boxing workbench 4 are respectively a palletizing end 41 and a boxing end 42. The palletizing end 41 of the palletizing and boxing workbench 4 extends to the opening side of the machine grasping system 3. A first linear guiding group 5 arranged front and back is installed on the palletizing end 41 of the palletizing and boxing workbench 4. The slider of the first linear guiding group 5 is connected with a first handling box 50 that moves between the palletizing end 41 and the intersection of the palletizing end 41 and the boxing end 42. Controlling the first linear guiding group 5 to drive the first handling box 50 to move backward to the palletizing end 41 of the palletizing and boxing workbench 4. At this time, the first handling box 50 is located on the opening side of the machine grasping system 3. A plurality of notches for placing special-shaped bottles are arranged in a criss-cross manner on the first handling box 50. The machine grasping system 3 will stack the picked special-shaped bottles one by one into the notches of the first handling box 50 with the bottle mouths facing upward. For the requirements of beauty, stability and space saving during subsequent boxing of special-shaped bottles (such as Figure 12 ), the notch angles can be designed and the special-shaped bottles can be placed accordingly, which will not be elaborated here; such as Figure 4 , Figure 5 , Figure 8 and Figure 10As shown in the figure, an XZ-axis linear module 7 arranged horizontally is installed on the cartoning end 42 of the palletizing and cartoning workbench 4. An XY-axis variable pitch mechanism 8 that moves between the cartoning end 42 and the intersection of the cartoning end 42 and the palletizing end 41 is installed on the moving end of the XZ-axis linear module 7. The XY-axis variable pitch mechanism 8 has a total of variable pitch ends 80 that are the same in number as the number of notches on the first handling box 50 and correspond to the notches one by one. A bottle mouth fixture 9 for clamping the bottle mouths of the special-shaped bottles in the notches of the first handling box 50 is provided on each variable pitch end 80. Control the first linear conveying group 5 to drive the first handling box 50 to drive the palletized special-shaped bottles forward to the intersection of the palletizing end 41 and the cartoning end 42 of the palletizing and cartoning workbench 4, and control the XZ-axis linear module 7 to drive the XY-axis variable pitch mechanism 8 to move upward and then leftward to above the first handling box 50, and then control the XY-axis variable pitch mechanism 8 to drive the variable pitch ends 80 to drive all the bottle mouth fixtures 9 to expand until they correspond one by one to the bottle mouths of the special-shaped bottles in the notches of the first handling box 50. Then control the XZ-axis linear module 7 to drive the XY-axis variable pitch mechanism 8 to move downward, so that the variable pitch ends 80 drive the bottle mouth fixtures 9 to move downward to clamp the bottle mouths of the special-shaped bottles. After all the bottle mouth fixtures 9 clamp the bottle mouths of all the special-shaped bottles, control the XZ-axis linear module 7 to drive the XY-axis variable pitch mechanism 8 to move upward and then rightward to the cartoning end 42 of the palletizing and cartoning workbench 4, so as to carry out palletizing; As Figure 4 shown in the figure, a positioning frame 43 for placing the packaging box body is connected to the cartoning end 42. The positioning frame 43 is located at the lower end of the XY-axis variable pitch mechanism 8. When packing the palletized special-shaped bottles into boxes, control the XY-axis variable pitch mechanism 8 to drive the variable pitch ends 80 to drive all the bottle mouth fixtures 9 to approach until the special-shaped bottles on the bottle mouth fixtures 9 are in close contact. Then control the XZ-axis linear module 7 to drive the variable pitch ends 80 of the XY-axis variable pitch mechanism 8 to drive the bottle mouth fixtures 9 to move downward. Then control the bottle mouth fixtures 9 to release the closely contacted special-shaped bottles and place them into the packaging box body in the positioning frame 43 (as Figure 12 shown), thus completing the adaptive palletizing and cartoning operation. Finally, control the XZ-axis linear module 7 to drive the XY-axis variable pitch mechanism 8 to move upward and reset; in addition, for different palletizing and cartoning methods, it is also possible to control the XY-axis variable pitch mechanism 8 to drive the variable pitch ends 80 to drive all the bottle mouth fixtures 9 to expand more, so as to separately pack the palletized special-shaped bottles, and the usage method is diversified.

[0029] As Figure 3 shown in the figure, the machine grasping system 3 includes a machine frame 31. A parallel robot 32 is installed on the upper part of the machine frame 31. An electric gripper 33 for picking up the special-shaped bottles on the conveyor 1 is installed on the moving platform of the parallel robot 32. Control the parallel robot 32 to drive the electric gripper 33 to move to pick up the special-shaped bottles and drive the special-shaped bottles close to the first handling box 50 at the palletizing end 41. After the special-shaped bottles are palletized, control the electric gripper 33 to release.

[0030] As Figure 6As shown in the figure, the linear conveying group 5 includes two left and right opposite guide rails 51 connected to the palletizing and boxing workbench 4. A slide table 52 is connected between the sliders of the two guide rails 51. The handling box 50 is connected to the upper part of the slide table 52, so that the slide table 52 drives the handling box 50 to move back and forth along the guide rail 51. Two front and rear opposite synchronous pulleys 53 are rotatably installed on the palletizing and boxing workbench 4. A synchronous belt 54 is meshed and driven between the two synchronous pulleys 53. A connecting plate 55 is connected between one side of the synchronous belt 54 and the slide table 52. When the synchronous pulley 53 rotates, the synchronous belt 54 will rotate and drive the slide table 52 to move forward through the connecting plate 55. When the synchronous pulley 53 rotates in the reverse direction, the synchronous belt 54 will rotate in the reverse direction and drive the slide table 52 to move backward through the connecting plate 55. A servo motor 56 is installed on the palletizing and boxing workbench 4. The output shaft of the servo motor 56 is connected to one of the two synchronous pulleys 53 to control the servo motor 56 to drive the connected synchronous pulley 53 to rotate.

[0031] As Figure 6 and Figure 7 shown in the figure, it also includes a secondary handling group. The secondary handling group includes a linear conveying group 6 installed on the palletizing and boxing workbench 4. The linear conveying group 6 is located below the linear conveying group 5. The linear conveying group 6 is arranged front and rear at the palletizing end 41 of the palletizing and boxing workbench 4. The slider of the linear conveying group 6 is connected to a lifting drive group that moves between the palletizing end 41 and the intersection of the palletizing end 41 and the boxing end 42. The telescopic end of the lifting drive group is provided with a handling box 60. The structure of the handling box 60 is the same as that of the handling box 50. When the machine grasping system 3 stacks the picked special-shaped bottles into the slots on the handling box 50, the lifting drive group drives the handling box 60 to move downward to a retracted state, and then the handling box 50 drives the special-shaped bottles to move forward. When the bottle gripper 9 grips the special-shaped bottles in the slots on the handling box 50, control the linear conveying group 6 to drive the lifting drive group to drive the handling box 60 to move backward to the palletizing end 41 of the palletizing and boxing workbench 4, and then control the lifting drive group to drive the handling box 60 to move upward to replace the handling box 50 for a new special-shaped bottle stacking operation. At this time, the machine grasping system 3 stacks the picked special-shaped bottles into the slots on the handling box 60; after the old special-shaped bottles are taken away and the new special-shaped bottles are stacked, control the lifting drive group to drive the handling box 60 to drive the special-shaped bottles to move downward, and at the same time control the linear conveying group 5 to drive the handling box 50 to move backward to the palletizing end 41 to continue the stacking operation of the next batch of special-shaped bottles. Then control the linear conveying group 6 to drive the lifting drive group to drive the handling box 60 to move forward to the intersection of the palletizing end 41 and the boxing end 42, and then control the lifting group to drive the handling box 60 to drive the special-shaped bottles to move upward. At this time, the bottle gripper 9 grips the special-shaped bottles in the slots on the handling box 60. By alternately using the handling box 50 and the handling box 60 in this way, continuous operation can be achieved, improving work efficiency.

[0032] As Figure 6 and Figure 7 shown, the linear conveying group two 6 includes two left - and - right - opposite guide rails two 61 connected to the palletizing and boxing workbench 4. An elevating drive group is provided between the sliders of the two guide rails two 61, so that the slide table one 52 drives the handling box two 60 to move back and forth along the guide rail two 61 through the elevating drive group. Two front - and - rear - opposite synchronous pulleys two 65 are rotatably installed on the palletizing and boxing workbench 4. A synchronous belt two 66 is meshed and driven between the two synchronous pulleys two 65. One side of the synchronous belt two 66 is connected to the elevating drive group by a connecting plate two 67. When the synchronous pulley two 65 rotates, the synchronous belt two 66 rotates and drives the elevating drive group to move forward through the connecting plate two 67. When the synchronous pulley two 65 rotates in the reverse direction, the synchronous belt two 66 rotates in the reverse direction and drives the elevating drive group to move backward through the connecting plate two 67. A servo motor two 68 is installed on the palletizing and boxing workbench 4, and the output shaft of the servo motor two 68 is connected to one of the two synchronous pulleys two 65 to control the servo motor two 68 to drive the connected synchronous pulley two 65 to rotate.

[0033] As Figure 6 and Figure 7 shown, the elevating drive group includes a slide table two 62 connected between the sliders of the two guide rails two 61. The connecting plate two 67 is connected to the slide table two 62, and the movement of the connecting plate two 67 will drive the slide table two 62 to move. A sliding frame one 63 slides on the slide table two 62. The handling box two 60 is connected to the upper end of the sliding frame one 63. A cylinder one 64 is installed on the slide table two 62, and the telescopic end of the cylinder one 64 is connected to the handling box two 60 to control the cylinder one 64 to drive the handling box two 60 to lift and lower, and the handling box two 60 will drive the sliding frame one 63 to lift and lower along the slide table two 62.

[0034] As Figure 5 、 Figure 8 and Figure 9As shown, the XZ-axis linear module 7 includes a bracket 71 connected to the case loading end 42. Two front and rear opposite guide rails III 72 are connected to the upper side of the bracket 71. A slide III 73 is connected between the sliders of the two guide rails III 72. A rack 74 is connected to the upper part of the bracket 71. A driving motor 75 is installed on one side of the slide III 73. The output shaft of the driving motor 75 is connected to a gear 76 that meshes with the rack 74. By controlling the driving motor 75 to drive the gear 76 to rotate and mesh with the rack 74, the gear 76 can roll left and right along the rack 74. The gear 76 will drive the slide III 73 to move left and right along the guide rail III 72 through the driving motor 75. A sliding frame II 77 slides on the slide III 73. The XY-axis variable pitch mechanism 8 is installed at the lower end of the sliding frame II 77. A cylinder II 78 is installed on the slide III 73. The telescopic end of the cylinder II 78 is connected to the sliding frame II 77. By controlling the cylinder, the sliding frame II 77 is driven to drive the XY-axis variable pitch mechanism 8 to move up and down. A protective frame 79 that surrounds the front, rear, left, and right four sides of the XY-axis variable pitch mechanism 8 is connected to the lower part of the sliding frame II 77.

[0035] As Figure 8 and Figure 10As shown in the figure, the XY-axis variable distance mechanism 8 includes four rectangular guide rods 81 connected to the lower side of the sliding frame. Among them, a plurality of rod frames one 82 slide between two relatively left and right guide rods 81. In addition, a plurality of rod frames two 86 slide between two relatively front and rear guide rods 81. The rod frames two 86 are vertically staggered with the rod frames one 82. A scissor-type telescopic frame one 83 is jointly hinged between all the rod frames one 82. When two mutually distant rod frames one 82 move away from each other, the remaining rod frames one 82 will move towards each other at an equal interval under the telescopic action of the scissor-type telescopic frame one 83. An electric bidirectional lead screw one 84 is installed on the lower side of the sliding frame two 77. Two threaded shafts of the electric bidirectional lead screw one 84 are both threadedly connected with a transmission frame 85. The two transmission frames 85 are respectively connected to the two rod frames one 82. By controlling the bidirectional lead screw one to drive the two transmission frames 85 to drive the two rod frames one 82 connected thereto to approach each other, all the rod frames one 82 will approach each other. When the two transmission frames 85 move away from each other, all the rod frames one 82 will move away from each other. A scissor-type telescopic frame two 87 is jointly hinged between all the rod frames two 86. When two mutually distant rod frames two 86 move away from each other, the remaining rod frames two 86 will move towards each other at an equal interval under the telescopic action of the scissor-type telescopic frame two 87. An electric bidirectional lead screw two 88 is installed on the lower side of the sliding frame two 77 and is located below the electric bidirectional lead screw one 84. The axial direction of the electric bidirectional lead screw two 88 is perpendicular to the axial direction of the electric bidirectional lead screw one 84. Two threaded shafts of the electric bidirectional lead screw two 88 are both threadedly connected with a transmission rod 89. The two transmission rods 89 are respectively connected to the two rod frames two 86. By controlling the bidirectional lead screw two to drive the two transmission rods 89 to drive the rod frames two 86 connected thereto to approach each other, all the rod frames two 86 will approach each other. When the two transmission rods 89 move away from each other, all the rod frames two 86 will move away from each other. A variable distance end 80 slides at the intersection of each rod frame one 82 and each rod frame two 86. Thus, when all the rod frames one 82 are unfolded, the rod frames one 82 will drive the variable distance ends 80 thereon to move along the rod frames two 86, thereby realizing the Y-axis variable distance unfolding of the bottle mouth fixture 9 driven by the variable distance ends 80. When all the rod frames two 86 are unfolded, the rod frames two 86 will drive the variable distance ends 80 thereon to move along the rod frames one 82, thereby realizing the X-axis variable distance unfolding of the bottle mouth fixture 9 driven by the variable distance ends 80. Vice versa, so as to control the bottle mouth fixture 9 to perform variable distance corresponding to the special-shaped bottle and be able to drive the special-shaped bottle to approach.

[0036] As Figure 11As shown in the figure, the bottle mouth fixture 9 includes a connecting column 91 embedded and connected to the lower side of the variable pitch end 80. The lower end of the connecting column 91 is an airbag end 92. When the control XZ-axis linear module 7 drives the XY-axis variable pitch mechanism 8 to move downward, the variable pitch end 80 will drive the airbag end 92 to move downward to the inner side of the bottle mouth of the special-shaped bottle through the connecting column 91. At this time, expanding the airbag can clamp the special-shaped bottle. When it is necessary to release the special-shaped bottle, contracting the airbag can release the special-shaped bottle. A through hole communicating with the airbag is opened on the connecting column 91, and an air hole communicating with the through hole on the connecting column 91 is opened on the variable pitch end 80. An air inlet head 93 communicating with its air hole is connected to the upper side of the variable pitch end 80. The air inlet head 93 is used to connect an external air supply hose. The gas is input from the air inlet head 93 into the through hole of the connecting column 91 through the air hole in the variable pitch end 80. The through hole of the connecting column 91 will input the gas into the airbag, so that the airbag expands. On the contrary, when the gas is sucked out by the air inlet head 93, the airbag contracts.

[0037] For those of ordinary skill in the art, based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Claims

1. A robot adaptive palletizing and boxing device for special-shaped bottles, characterized in that It includes a conveyor (1), a vision sensing system (2) penetrated by the conveyor (1), and a machine grasping system (3). A palletizing and boxing workbench (4) is provided on the opening side of the machine grasping system (3). The two ends of the palletizing and boxing workbench (4) are respectively a palletizing end (41) and a boxing end (42). The palletizing end (41) extends to the opening side of the machine grasping system (3). A first linear conveying group (5) is installed on the palletizing and boxing workbench (4). The slider of the first linear conveying group (5) is connected to a first handling box (50) that moves between the palletizing end (41) and the intersection of the palletizing end (41) and the boxing end (42). A plurality of notches are opened on the first handling box (50). An XZ-axis linear module (7) is installed on the palletizing and boxing workbench (4). The moving end of the XZ-axis linear module (7) is installed with an XY-axis variable distance mechanism (8) that moves between the boxing end (42) and the intersection of the boxing end (42) and the palletizing end (41). The XY-axis variable distance mechanism (8) has a total of variable distance ends (80) that are the same in number as the notches on the first handling box (50) and correspond to the notches one by one. A bottle mouth fixture (9) is provided on each variable distance end (80). A positioning frame (43) is connected to the boxing end (42).

2. The robot adaptive palletizing and boxing device for special-shaped bottles according to claim 1, wherein, The machine grasping system (3) includes a frame (31). An articulated robot (32) is installed on the upper part of the frame (31). An electric gripper (33) for picking up special-shaped bottles on the conveyor (1) is installed on the moving platform of the articulated robot (32).

3. The robot adaptive palletizing and boxing device for special-shaped bottles according to claim 1, characterized in that, The first linear conveying group (5) includes a first guide rail (51) connected to the palletizing and boxing workbench (4). The slider of the first guide rail (51) is connected to a first sliding table (52). The first handling box (50) is connected to the first sliding table (52). Two first synchronous belt wheels (53) are rotatably installed on the palletizing and boxing workbench (4). A first synchronous belt (54) is meshed and driven between the two first synchronous belt wheels (53). A first connecting plate (55) is connected between one side of the first synchronous belt (54) and the first sliding table (52). A first servo motor (56) is installed on the palletizing and boxing workbench (4). The output shaft of the first servo motor (56) is connected to one of the two first synchronous belt wheels (53).

4. The robot adaptive palletizing and boxing device for special-shaped bottles according to claim 3, wherein, It also includes a secondary handling group. The secondary handling group includes a second linear conveying group (6) installed on the palletizing and boxing workbench (4). The second linear conveying group (6) is located below the first linear conveying group (5). The slider of the second linear conveying group (6) is connected to a lifting drive group that moves between the palletizing end (41) and the intersection of the palletizing end (41) and the boxing end (42). A telescopic end of the lifting drive group is provided with a second handling box (60). The structure of the second handling box (60) is the same as that of the first handling box (50).

5. The robot adaptive palletizing and boxing device for special-shaped bottles according to claim 4, wherein, The second linear feeding group (6) includes a second guide rail (61) connected to the palletizing and boxing workbench (4). The slider of the second guide rail (61) is provided with the lifting drive group. Two second synchronous pulleys (65) are rotatably installed on the palletizing and boxing workbench (4). A second synchronous belt (66) is meshed and driven between the two second synchronous pulleys (65). A second connecting plate (67) is connected between one side of the second synchronous belt (66) and the lifting drive group. A second servo motor (68) is installed on the palletizing and boxing workbench (4). The output shaft of the second servo motor (68) is connected to one of the two second synchronous pulleys (65).

6. The robot adaptive palletizing and boxing device for special-shaped bottles according to claim 5, characterized in that, The lifting drive group includes a second sliding table (62) connected between the sliders of the two second guide rails (61). The second connecting plate (67) is connected to the second sliding table (62). A first sliding frame (63) slides on the second sliding table (62). The second handling box (60) is connected to the upper end of the first sliding frame (63). A first cylinder (64) is installed on the second sliding table (62). The telescopic end of the first cylinder (64) is connected to the second handling box (60).

7. The robot adaptive palletizing and boxing device for special-shaped bottles according to claim 1, characterized in that, The XZ-axis linear module (7) includes a bracket (71) connected to the boxing end (42). A third guide rail (72) is connected to the upper side of the bracket (71). The slider of the third guide rail (72) is connected to a third sliding table (73). A rack (74) is connected to the bracket (71). A drive motor (75) is installed on one side of the third sliding table (73). The output shaft of the drive motor (75) is connected to a gear (76) that meshes with the rack (74). A second sliding frame (77) slides on the third sliding table (73). The XY-axis variable pitch mechanism (8) is installed at the lower end of the second sliding frame (77). A second cylinder (78) is installed on the third sliding table (73). The telescopic end of the second cylinder (78) is connected to the second sliding frame (77).

8. The robot adaptive palletizing and boxing device for special-shaped bottles according to claim 7, wherein, The XY-axis variable pitch mechanism (8) includes four rectangular guide rods (81) connected to the lower side of the sliding frame. A plurality of rod frames one (82) slide between two relatively opposed guide rods (81), and a plurality of rod frames two (86) slide between the other two relatively opposed guide rods (81). The rod frames two (86) are vertically staggered with the rod frames one (82). A scissor-type telescopic frame one (83) is commonly hinged between all the rod frames one (82). An electric bidirectional lead screw one (84) is installed on the lower side of the sliding frame two (77). Two threaded shafts of the electric bidirectional lead screw one (84) are both threadedly connected to a transmission frame (85), and the two transmission frames (85) are respectively connected to the two rod frames one (82). A scissor-type telescopic frame two (87) is commonly hinged between all the rod frames two (86). An electric bidirectional lead screw two (88) is installed on the lower side of the sliding frame two (77). The axis of the electric bidirectional lead screw two (88) is perpendicular to the axis of the electric bidirectional lead screw one (84). Two threaded shafts of the electric bidirectional lead screw two (88) are both threadedly connected to a transmission rod (89), and the two transmission rods (89) are respectively connected to the two rod frames two (86). A variable pitch end (80) slides at the intersecting part of each rod frame one (82) and each rod frame two (86).

9. The robot adaptive palletizing and boxing device for special-shaped bottles according to claim 8, wherein, The bottle mouth clamp (9) includes a connecting column (91) connected to the lower side of the variable pitch end (80). The lower end of the connecting column (91) is an airbag end (92). A through hole communicating with the airbag is formed in the connecting column (91). An air hole communicating with the through hole in the connecting column (91) is formed in the variable pitch end (80). An air inlet head (93) communicating with the air hole in the variable pitch end (80) is connected to the upper side of the variable pitch end (80). The air inlet head (93) is used for externally connecting an air supply hose.

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