Intelligent packaging palletizing robot with three-axis mechanical arm

Abstract

The invention provides a three-axis mechanical arm intelligent packaging palletizing robot, and relates to the field of packaging palletizer equipment.The three-axis mechanical arm intelligent packaging palletizing robot comprises a mechanical arm body and a base, the top of the base is connected with a magnetic coding joint body, the top of the base is provided with a metal shell sleeve and a shell cover, and the metal shell sleeve and the shell cover form a protection cover; the protection cover wraps the magnetic coding joint body. The intelligent packaging palletizing robot with the three-axis mechanical arm is composed of a mechanical arm body, a base, a magnetic coding joint body and a mechanical claw, a protective shell is arranged outside the magnetic coding joint body, a metal pipe and an arc-shaped pipe are arranged in the protective shell, and through cooperation of a piston, nitrogen, water, an air bag and an air bag, when the temperature in the protective shell rises to a certain degree, the mechanical claw is driven to rotate; and cooling liquid is conveyed into the joint, so that the purpose of automatic regulation and control is achieved, automatic cooling is achieved, and the situation that high temperature causes certain interference on a magnetic field in the magnetic coding joint, and consequently large deviation is generated during rotation of the joint is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging and palletizing machine equipment, in particular to a three-axis mechanical arm intelligent packaging and palletizing robot. Background Art

[0002] Palletizing robots are widely used in the palletizing industry, which can greatly save labor and space. They also have the advantages of flexible operation, fast speed and high efficiency. Items are placed in cartons, and the cartons are stacked in a certain order by the palletizing robot.

[0003] Existing palletizing robots use magnetically encoded joints. However, this approach presents certain challenges: as the robot operates over time, the electronic components within the arm generate heat, causing the magnetic joints to gradually heat up. This high temperature interferes with the magnetic field within the joints, weakening the field. This in turn causes significant deviations in the rotation of the robot arm's joints, making it more likely that cartons will be misplaced during palletizing. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In view of the shortcomings of the existing technology, the present invention provides a three-axis robotic arm intelligent packaging and palletizing robot, which solves the problems raised in the above background technology.

[0006] (2) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a three-axis robotic arm intelligent packaging and palletizing robot, including a robotic arm body and a base, the top of the base is connected to a magnetic encoding joint body, the top of the base is provided with a metal shell and a shell cover, the metal shell and the shell cover form a protective cover, the protective cover wraps the magnetic encoding joint body, the upper end of the magnetic encoding joint body passes through the protective cover and is connected to the bottom of the robotic arm body, and a temperature compensation component is provided in the protective cover.

[0008] The temperature compensation component includes a metal tube, an arc tube and a hose. The metal tubes are symmetrically arranged on the left and right sides of the magnetic encoding joint body. The arc tube is located between the two metal tubes. The end of the arc tube is connected to the upper end of the metal tube. The hose is wrapped around the outer surface of the magnetic encoding joint body. The lower end of the hose extends to the bottom of the base and is connected to the coolant conveyor.

[0009] A piston is slidably fitted in the metal tube, which divides the interior of the metal tube into upper and lower chambers. The upper chamber is filled with water, and the lower chamber is filled with nitrogen. A temperature conducting ring is installed on the metal tube rod corresponding to the lower chamber.

[0010] An airbag is installed on the top of the arc tube, and the airbag is connected to the arc tube. Two support rods are connected to the outside of the airbag, and the support rods are symmetrically arranged on both sides of the airbag. A rope is provided between the two support rods, and the rope is in contact with the top of the airbag. A tension sensing unit is connected between the end of the rope and the support rod.

[0011] When the airbag is in a flat state, the airbag is flush with the surface of the arc tube, and the rope is in a just-tensioned state. A touch switch aligned with the airbag is connected to the bottom of the shell cover. When the airbag inflates, the rope is lifted, and the airbag presses the touch switch, allowing the coolant conveyor to deliver the coolant into the hose.

[0012] Preferably, a rotating disk is pivotally connected to the bottom of the metal tube, a thin spring is connected to the top of the rotating disk, the upper end of the thin spring is connected to the bottom of the piston, a through hole is opened at the upper end of the metal tube, the metal tube is connected to the arc tube through the through hole, and a rubber sheet is connected to the top of the piston. When the piston is at the lowest point, the rubber sheet blocks the through hole.

[0013] Preferably, the inner wall of the metal tube is connected to two rings, the piston is located between the two rings, the area between the two rings is an active cavity, the inner wall of the active cavity is provided with spiral patterns, and a spiral body is connected around the piston, and the spiral body and the spiral pattern are slidably matched.

[0014] Preferably, an auxiliary component is provided at the bottom of the shell cover, and the auxiliary component is symmetrically arranged on the front and rear sides of the magnetic encoding joint body. The auxiliary component includes a motor and a propeller. The motor is connected to the bottom of the shell cover, and the motor drive shaft is connected to the propeller. The propeller is vertical, and the touch switch is also electrically connected to the motor.

[0015] Preferably, the shell cover is placed on the top of the metal shell, the upper end of the magnetic encoding joint body passes through the shell cover, the top of the shell cover is threadedly connected with a bolt, and the bolt passes through the shell cover and is threadedly connected to the metal shell.

[0016] Preferably, the metal shell is divided into three layers, the inner layer is a conductive cloth nickel-plated layer with a thickness of 0.1 cm, the middle layer is a Permalloy layer with a thickness of 0.1 cm, and the outer layer is a copper foil with a thickness of 0.3 cm.

[0017] Preferably, a mechanical claw is installed at the front end of the robotic arm body, and the mechanical claw includes a base. A horizontal slide groove is opened on the front side of the base, and two electromagnet modules are slidably matched in the slide groove. Magnet blocks are connected to both ends of the base, and clamps are symmetrically connected to the upper and lower sides of the electromagnet modules. The front edge of the clamp is provided with a bevel, and a thick spring is connected between the two electromagnet modules. The bottom of the base is connected to an electric push rod, and the electric push rod can be extended and retracted forward.

[0018] (3) Beneficial effects

[0019] The present invention provides a three-axis robotic arm intelligent packaging and palletizing robot. It has the following beneficial effects:

[0020] This three-axis robotic arm intelligent packaging and palletizing robot consists of a robotic arm body, a base magnetic encoding joint body and a mechanical claw. A protective shell is set up outside the magnetic encoding joint body, and metal tubes and arc tubes are provided inside the protective shell. Through the cooperation of pistons, nitrogen, water, air bags and air bags, when the temperature inside the protective shell rises to a certain level, coolant is transported into the inside to achieve the purpose of automatic regulation and automatic cooling, so as to avoid high temperature from causing certain interference to the magnetic field inside the magnetic encoding joint, resulting in large deviations in the rotation of the joint parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the base structure of the present invention;

[0023] Figure 3 This is a diagram showing the local structure of the base of the present invention;

[0024] Figure 4 This is a schematic diagram of the shell cover structure of the present invention;

[0025] Figure 5 It is a partial structural cross-sectional view of the present invention;

[0026] Figure 6 For the present invention Figure 5 A magnified view of the structure at center A;

[0027] Figure 7 This is a schematic diagram of the metal tube structure of the present invention;

[0028] Figure 8 It is a schematic diagram of the base structure of the present invention.

[0029] In the figure: 1 robotic arm body, 2 base, 3 magnetic encoding joint body, 4 metal shell, 5 shell cover, 51 touch switch, 52 motor, 53 propeller, 6 metal tube, 61 thermal conductive ring, 62 ring, 63 spiral pattern, 64 through hole, 65 rotating disk, 66 thin spring, 67 piston, 671 spiral, 68 rubber sheet, 7 arc tube, 71 airbag, 72 rod, 73 tension sensing unit, 74 rope, 8 hose, 9 base, 91 slide, 92 magnet block, 93 electric push rod, 10 electromagnet module, 101 clamping strip, 102 bevel, 103 thick spring. DETAILED DESCRIPTION

[0030] The embodiment of the present invention provides a three-axis robotic arm intelligent packaging and palletizing robot. Figure 1-8As shown, it includes a robotic arm body 1 and a base 2, a magnetic encoding joint body 3 is fixedly installed on the top of the base 2, a metal shell 4 and a shell cover 5 are fixedly installed on the top of the base 2, the metal shell 4 and the shell cover 5 form a protective cover, the protective cover wraps the magnetic encoding joint body 3, the upper end of the magnetic encoding joint body 3 passes through the protective cover and is fixedly installed with the bottom of the robotic arm body 1, and a temperature compensation component is provided in the protective cover.

[0031] The temperature compensation assembly includes a metal tube 6, an arc tube 7, and a hose 8. The metal tubes 6 are symmetrically arranged on the left and right sides of the magnetically encoded joint body 3 and are fixedly connected to the base 2. The arc tube 7 is located between the two metal tubes 6, and the end of the arc tube 7 is welded to the upper end of the metal tube 6. The hose 8 is wrapped around the outer surface of the magnetically encoded joint body 3. The lower end of the hose 8 extends below the base 2 and is connected to the coolant delivery device.

[0032] A piston 67 slides within the metal tube 6, dividing it into upper and lower chambers. The upper chamber is filled with water, while the lower chamber is filled with nitrogen. A thermal conductive ring 61 is fixedly mounted on the metal tube 6, corresponding to the lower chamber. Nitrogen expands easily when heated, and its chemical properties are stable, making it less likely to explode.

[0033] An airbag 71 is fixedly installed on the top of the arc tube 7, and the airbag 71 is connected to the arc tube 7. Two support rods 72 are connected to the outside of the airbag 71. The support rods 72 are symmetrically arranged on both sides of the airbag 71. A rope 74 is provided between the two support rods 72. The rope 74 is in contact with the top of the airbag 71, and a tension sensing unit 73 is connected between the end of the rope 74 and the support rod 72.

[0034] When the airbag 71 is in a flat state, the airbag 71 is flush with the surface of the arc tube 7, the rope 74 is in a just tensioned state, and a touch switch 51 aligned with the airbag 71 is fixedly installed at the bottom of the shell cover 5.

[0035] Working Principle: When the magnetically encoded joint generates heat during operation, the temperature inside the protective cover slowly rises. This heat is transferred to the nitrogen gas inside the metal tube 6 via the thermal conductive ring 61. The nitrogen gradually expands upon exposure to heat, pushing piston 67 upward. This rise in piston 67 forces water into the arc tube 7, causing airbag 71 to inflate. This inflated airbag 71 lifts rope 74, pressing against touch switch 51. This closes the touch switch, and the coolant delivery device delivers coolant into hose 8. As the coolant flows along hose 8 across the outer surface of the magnetically encoded joint, it removes excess heat, achieving a cooling effect.

[0036] Secondly, when the airbag 71 inflates and props up the rope 74, the rope 74 tightens and puts pressure on the tension sensing unit 73, thereby applying tension to the tension sensing unit. The tension sensing unit feeds back a signal to an external computer terminal to inform the staff.

[0037] A rotating disk 65 is pivotally connected to the bottom of the metal tube 6, and a thin spring 66 is welded to the top of the rotating disk 65. The upper end of the thin spring 66 is welded to the bottom of the piston 67. A through hole 64 is opened at the upper end of the metal tube 6, and the metal tube 6 is connected to the arc tube 7 through the through hole 64. A rubber sheet 68 is fixedly installed on the top of the piston 67. The rubber sheet 68 has a certain flexibility, and the rubber sheet 68 always adheres to the inner wall of the metal tube 6 during the upward movement of the piston 67. When the piston 67 is at the lowest point, the rubber sheet 68 blocks the through hole 64.

[0038] Two rings 62 are welded to the inner wall of the metal tube 6. A piston 67 is located between the two rings 62. The area between the two rings 62 forms a movable chamber. The inner wall of the movable chamber is provided with a spiral pattern 63. A spiral body 671 is connected around the piston 67. The piston 67 and the spiral pattern 63 are integrally formed. The spiral body 671 slides in cooperation with the spiral pattern 63.

[0039] The helical body 671 cooperates with the spiral pattern 63 to deflect the piston 76 during its ascent. This, in turn, causes the piston 67 to deflect the rubber sheet 68, unblocking the through-hole 64 and allowing water to be forced into the arc-shaped tube 7. Furthermore, the inclined shape of the helical body 671 provides some resistance to the ascent of the piston 67. Therefore, only when the temperature rises to a preset value and the nitrogen gas below expands to the required level can the piston 67 be pushed forward. This prevents excessive use of coolant and the resulting waste of money.

[0040] An auxiliary component is provided at the bottom of the shell cover 5, and the auxiliary component is symmetrically arranged on the front and rear sides of the magnetic encoding joint body 3. The auxiliary component includes a motor 52 and a propeller 53. The motor 52 is fixedly installed on the bottom of the shell cover 5. The drive shaft of the motor 52 is welded to the propeller 53. The propeller 53 is vertical, and the touch switch 51 is also electrically connected to the motor 52.

[0041] When the airbag 71 expands and presses the touch switch 51, the motor 52 drives the propeller 53 to rotate, increasing the internal air flow and improving the temperature conversion efficiency.

[0042] The shell cover 5 is placed on the top of the metal shell 4 , the upper end of the magnetic encoding joint body 3 passes through the shell cover 5 , the top of the shell cover 5 is threadedly connected with a bolt, and the bolt passes through the shell cover 5 and is threadedly connected to the metal shell 4 .

[0043] The metal shell 4 consists of three layers: an inner layer of 0.1cm thick nickel-plated conductive cloth, a middle layer of 0.1cm thick Permalloy, and an outer layer of 0.3cm thick copper foil. The copper foil reflects high-frequency electromagnetic interference, while the Permalloy layer absorbs low-frequency magnetic field interference, thereby enhancing the shell's ability to protect against external interference.

[0044] A mechanical claw is mounted at the front end of the robot arm body 1, and the claw includes a base 9. A magnetic encoding joint is also fixedly mounted on the top of the base 9, and is connected to the robot arm body 1 via the magnetic encoding joint. Since the magnetic encoding joint is a conventional technical means, the specific structure will not be described in detail.

[0045] The front of the base 9 is provided with a horizontal slot 91, which slides with two electromagnet modules 10. Magnet blocks 92 are fixedly mounted at both ends of the base 9. By adjusting the direction of the current entering the electromagnet module, the magnet blocks 92 and the electromagnet module 10 can be forced to repel or approach each other.

[0046] Because traditional robotic grippers use suction cups to grip the carton, they only contact a limited area. The contact surface between the suction cup and the carton is small, and the carton itself is often quite heavy. This can easily cause the carton to deform or even break due to the excessive suction force. Therefore, a new robotic gripper was developed.

[0047] The electromagnet module 10 is symmetrically fixed with clamping strips 101 on the upper and lower sides. The front edge of the clamping strip 101 is provided with a bevel 102. A thick spring 103 is welded between the two electromagnet modules 10. An electric push rod 92 is fixedly installed at the bottom of the base 9, and the electric push rod 92 can be extended and retracted forward.

[0048] During grasping, a mutual attraction is generated between the magnet block 92 and the electromagnet module 10. The two electromagnet modules 10 are moved apart, and the clamping strip 101 is aligned with the edge of the carton. The robotic arm then extends forward, inserting the carton between the two electromagnet modules 10, with the clamping strip 101 wrapping around the carton edge. Next, the direction of the current is reversed, creating a mutual repulsive force between the electromagnet module 10 and the magnet block 92, causing the clamping strip 101 to clamp the carton.

[0049] When palletizing cartons, the gripper moves to the designated position, and the electric push rod 93 extends, pushing the carton out of the gripper. The electromagnet module 10 is conventional, and changing the current direction is also a common technique, so the specific structure and how to change the current direction are not described in detail. The spring 103 acts as a buffer, preventing excessive clamping force from the clamping bar 101, which could damage the carton.

[0050] To sum up, the three-axis robotic arm intelligent packaging and palletizing robot consists of a robotic arm body 1, a base 2, a magnetically encoded joint body 3 and a mechanical claw. A protective shell is set up outside the magnetically encoded joint body, and a metal tube 6 and an arc tube 7 are provided inside the protective shell. Through the cooperation of piston 67, nitrogen, water, airbag, and airbag 71, when the temperature inside the protective shell rises to a certain level, coolant is transported into the interior to achieve the purpose of automatic regulation and realize automatic cooling, thereby avoiding high temperature from causing certain interference to the magnetic field inside the magnetically encoded joint, resulting in large deviations in the rotation of the joint.

[0051] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A three-axis robotic arm intelligent packaging and palletizing robot, comprising a robotic arm body (1) and a base (2), characterized in that: The top of the base (2) is connected to a magnetic encoding joint body (3), and a metal shell (4) and a shell cover (5) are provided on the top of the base (2). The metal shell (4) and the shell cover (5) form a protective cover, which wraps the magnetic encoding joint body (3). The upper end of the magnetic encoding joint body (3) passes through the protective cover and is connected to the bottom of the robot arm body (1). A temperature compensation component is provided in the protective cover. The temperature compensation component includes a metal tube (6), an arc tube (7) and a hose (8), the metal tube (6) is symmetrically arranged on the left and right sides of the magnetic encoding joint body (3), the arc tube (7) is located between the two metal tubes (6), the end of the arc tube (7) is connected to the upper end of the metal tube (6), the hose (8) is wound around the outer surface of the magnetic encoding joint body (3), the lower end of the hose (8) extends to the bottom of the base (2), and is connected to the coolant conveyor; A piston (67) is slidably fitted in the metal tube (6), and the piston (67) divides the interior of the metal tube (6) into upper and lower chambers. The upper chamber is filled with water, and the lower chamber is filled with nitrogen. A temperature conducting ring (61) is installed on the metal tube (6) rod corresponding to the lower chamber. An airbag (71) is installed on the top of the arc tube (7), and the airbag (71) is connected to the arc tube (7). Two supporting rods (72) are connected to the outside of the airbag (71), and the supporting rods (72) are symmetrically arranged on both sides of the airbag (71). A rope (74) is provided between the two supporting rods (72), and the rope (74) is in contact with the top of the airbag (71). A tension sensing unit (73) is connected between the end of the rope (74) and the supporting rod (72); When the airbag (71) is in a flattened state, the airbag (71) is flush with the surface of the arc tube (7), and the rope (74) is in a just-tensioned state. The bottom of the shell cover (5) is connected to a touch switch (51) aligned with the airbag (71). When the airbag (71) bulges, the rope (74) is lifted, and the airbag (71) presses the touch switch (51), so that the coolant conveyor sends the coolant into the hose (8).

2. The three-axis robotic arm intelligent packaging and palletizing robot according to claim 1, characterized in that: The bottom of the metal tube (6) is pivotally connected to a rotating disk (65), the top of the rotating disk (65) is connected to a thin spring (66), the upper end of the thin spring (66) is connected to the bottom of the piston (67), the upper end of the metal tube (6) is provided with a through hole (64), the metal tube (6) and the arc tube (7) are connected through the through hole (64), the top of the piston (67) is connected to a rubber sheet (68), when the piston (67) is at the lowest point, the rubber sheet (68) blocks the through hole (64).

3. The three-axis robotic arm intelligent packaging and palletizing robot according to claim 2, characterized in that: The inner wall of the metal tube (6) is connected to two rings (62), and the piston (67) is located between the two rings (62). The area between the two rings (62) is an active cavity, and the inner wall of the active cavity is provided with a spiral pattern (63). The piston (67) is connected to a spiral body (671) around the periphery, and the spiral body (671) and the spiral pattern (63) are in sliding cooperation.

4. The three-axis robotic arm intelligent packaging and palletizing robot according to claim 3, characterized in that: The bottom of the shell cover (5) is provided with an auxiliary component, which is symmetrically arranged on the front and rear sides of the magnetic encoding joint body (3). The auxiliary component includes a motor (52) and a propeller (53). The motor (52) is connected to the bottom of the shell cover (5). The transmission shaft of the motor (52) is connected to the propeller (53). The propeller (53) is vertical. The touch switch (51) is also electrically connected to the motor (52).

5. The three-axis robotic arm intelligent packaging and palletizing robot according to claim 4, characterized in that: The shell cover (5) is placed on the top of the metal shell (4); the upper end of the magnetic encoding joint body (3) passes through the shell cover (5); the top of the shell cover (5) is threadedly connected with a bolt; the bolt passes through the shell cover (5) and is threadedly connected to the metal shell (4).

6. The three-axis robotic arm intelligent packaging and palletizing robot according to claim 5, characterized in that: The metal shell (4) is divided into three layers, the inner layer is a conductive cloth nickel-plated layer with a thickness of 0.1 cm, the middle layer is a Permalloy layer with a thickness of 0.1 cm, and the outer layer is a copper foil with a thickness of 0.3 cm.

7. The three-axis robotic arm intelligent packaging and palletizing robot according to claim 6, characterized in that: A mechanical claw is installed at the front end of the mechanical arm body (1), and the mechanical claw includes a base (9). A horizontal slide groove (91) is opened on the front of the base (9), and the slide groove (91) is slidably matched with two electromagnet modules (10). Both ends of the base (9) are connected to magnet blocks (92). The electromagnet modules (10) are symmetrically connected to clamping strips (101) on the upper and lower sides. The front edge of the clamping strip (101) is provided with a bevel (102). A thick spring (103) is connected between the two electromagnet modules (10). The bottom of the base (9) is connected to an electric push rod (93), and the electric push rod (93) can be extended and retracted forward.

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