Packaging box carrying robot

Abstract

The invention discloses a packaging box carrying robot, which belongs to the technical field of carrying devices and takes a moving part as a carrier, a plurality of material lifting belts with lifting parts higher than a slope surface are carried on the slope surface of the moving part, and a packaging box is transported up and down along the slope surface in cooperation with a rotationally mounted driving roller; a lifting plate capable of being switched between an embedded state and a horizontal state is arranged in the moving part, rotation is accurately controlled through a linear push rod, a sliding block and a connecting rod mechanism, and a double-fixed-position claw plate at the bottom end of a slope can automatically grab a packaging box and is connected with a material lifting belt. Crawler-type moving wheels on the two sides of the moving part enhance the adaptability to complex terrains, and the friction surfaces of the surfaces of a material lifting belt and a lifting plate guarantee stable clamping of the packaging box. During working, the claw plate grabs a packaging box and conveys the packaging box to the lifting belt, the lifting belt conveys the packaging box to the top end and then is borne and laid flat by the lifting plate, and finally the moving part drives the packaging box to move. The robot has efficient and stable carrying capacity, flexible terrain adaptability and accurate packaging box transferring and placing functions through cooperative operation of all the components.

Description

Technical Field

[0001] The present invention relates to the technical field of handling equipment, and in particular to a packaging box handling robot. Background Art

[0002] In many fields such as industrial production, logistics and warehousing, handling packaging boxes is a basic and frequent task. In the early days, handling work was mainly done manually, which was not only inefficient and labor-intensive for workers, but also prone to handling errors due to fatigue, resulting in damage to goods or safety accidents. With the advancement of industrial automation, traditional handling equipment, such as ordinary forklifts, has improved handling capabilities to a certain extent, but its flexibility is limited when facing complex terrain and narrow spaces, making it difficult to meet the needs of modern production for efficient, accurate and flexible handling. Especially in some emerging industry scenarios, such as large-scale cargo sorting in e-commerce logistics and refined material distribution in smart factories, traditional handling methods are even more stretched. In this context, the development of a packaging box handling robot with good mobility, adaptability to various working environments, and high efficiency and stability has become an urgent need for the development of the industry. Summary of the Invention

[0003] In response to the above-mentioned technical deficiencies, the purpose of the present invention is to provide a packaging box handling robot, which can achieve efficient and stable handling through a lifting belt, a switchable lifting plate, a double fixed position claw plate, a crawler moving wheel and a friction surface design to meet the needs of various handling scenarios.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution: The present invention provides a packaging box handling robot, comprising:

[0005] A moving member, wherein the moving member includes a slope, and the slope includes a top end and a bottom end;

[0006] A lifting belt is installed on the slope and can drive the packaging boxes on the slope to move up and down along the slope;

[0007] It also includes a lifting plate, which is installed inside the moving part. A top shaft is installed on the top of the slope. One end of the lifting plate is installed on the top of the slope and rotates around the top shaft. The lifting plate has at least two states. The first is that the lifting plate is embedded in the interior of the moving part, and the second is that the lifting plate rotates around the top shaft to a horizontal state.

[0008] Preferably, there are multiple lifting belts, and the position of the lifting belts on the slope is a lifting part, and the height of the lifting part is higher than the slope.

[0009] Preferably, driving rollers are rotatably mounted on both ends of the lifting belt inside the movable member, and the lifting belt is sleeved on the two driving rollers.

[0010] Preferably, each of the two adjacent raw material belts is provided with a clearance groove, the top shaft is installed inside the clearance groove, and a lifting plate is correspondingly installed inside each of the clearance grooves.

[0011] Preferably, a sliding block is installed at the bottom of the give way groove, a connecting rod is connected to the sliding block, and the connecting rod is rotatably installed at the bottom of the lifting plate at one end away from the sliding block.

[0012] Preferably, a linear push rod is fixed inside the clearance groove, and the output end of the linear push rod is connected to the slider.

[0013] Preferably, the interior of the movable part is located at the bottom end of the slope, and a claw plate is rotatably installed. The segment of the claw plate is a pointed end. The claw plate has at least two fixed positions, and the claw plate can move between the two fixed positions. The first fixed position is: the end of the claw plate faces the ground, and the second fixed position is: the end of the claw plate is tilted upward.

[0014] Preferably, when the claw plate is located at the second fixed position, the end of the claw plate extends to the outside of the lifting belt.

[0015] Preferably, a plurality of moving wheels are rotatably mounted on both sides of the moving member, and tracks are sleeved on the exterior of the moving wheels.

[0016] Preferably, the surfaces of the lifting belt and the lifting plate are both friction surfaces.

[0017] The beneficial effects of the present invention are:

[0018] Multiple lifting belts increase the contact area with the packaging box, and the lifting parts enhance the clamping force and guidance to prevent the packaging box from slipping and sliding, ensuring that the packaging box is stably lifted along the slope, improving the stability and reliability of vertical transportation, and is suitable for transporting large, irregular or heavy packaging boxes.

[0019] The double-fixed position design of the claw plate enables automatic grabbing of packaging boxes, and it can flexibly switch between the two fixed positions to complete the automated connection from ground grabbing to transportation on the lifting belt. When the claw plate is in the second fixed position, the end extends to the outside of the lifting belt, playing a limiting and supporting role in the initial transportation stage of the packaging box, optimizing the transition link from grabbing to transportation of the packaging box.

[0020] The friction surface between the lifting belt and the lifting plate increases the friction between the lifting belt and the packaging box, preventing the packaging box from sliding and shifting during the transportation of the lifting belt and the placement of the packaging box on the lifting plate, effectively ensuring the safety and stability of the packaging box during transportation and reducing the risk of damage caused by falling packaging boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1Schematic diagram of the structure of the box handling robot Figure 1 .

[0022] Figure 2 Schematic diagram of the structure of the box handling robot Figure 2 .

[0023] Figure 3 This is an internal diagram of the moving parts.

[0024] Figure 4 for Figure 1 A in the enlarged view.

[0025] Figure 5 This is an internal diagram of the give way slot.

[0026] Figure 6 A state diagram of the moving part and the claw plate.

[0027] Figure 7 Another state diagram of the moving part and the claw plate.

[0028] In the figure: 1. Moving part, 2. Lifting belt, 3. Lifting plate, 4. Track, 5. Moving wheel, 6. Driving roller, 7. Connecting rod, 8. Support body, 9. Claw plate, 10. Giving groove, 11. Slider, 12. Linear push rod, 13. Top shaft. DETAILED DESCRIPTION

[0029] The present invention is described below with specific examples, but is not intended to be limiting of the invention.

[0030] Example 1

[0031] like Figure 1-Figure 7 As shown, in this embodiment, a packaging box handling robot is provided, which includes a moving part 1 and a lifting belt 2.

[0032] The moving part 1 includes a slope, which includes a top end and a bottom end. The moving part 1 serves as a basic carrier of the packaging box handling robot, and the slope provides a path for the movement of the packaging box.

[0033] The lifting belt 2 is installed on the slope. The lifting belt 2 can drive the packaging boxes on the slope to move up and down along the slope. The lifting belt 2 is driven by a power source such as a motor to drive the packaging boxes on the slope to move up and down along the slope, thereby realizing vertical transportation of the packaging boxes.

[0034] It also includes a lifting plate 3, which is installed inside the moving part 1. A top shaft 13 is installed at the top of the slope. One end of the lifting plate 3 rotates around the top shaft 13 and is installed at the top of the slope. The lifting plate 3 has at least two states. The first state is that the lifting plate 3 is embedded in the inside of the moving part 1, and the second state is that the lifting plate 3 rotates around the top shaft 13 to a horizontal state. When transporting the packaging box, first lift one corner of the packaging box and place it on the lower end of the lifting belt 2. After the lifting belt 2 is started, it pushes the packaging box upward along the slope by virtue of its own transmission power. When the packaging box is pushed to the top of the slope, the lifting plate 3 rotates around the top shaft 13, and changes from the state of being embedded in the moving part 1 to the horizontal state, and synchronously rotates the packaging box to a horizontal state, so that the packaging box can be placed stably on the moving part 1. Finally, the moving part 1 relies on its own power to drive the entire system carrying the packaging box to move, completing the packaging box transportation process.

[0035] Multiple wheels 5 are rotatably mounted on both sides of the mobile element 1. Tracks 4 are attached to the outer surfaces of the wheels 5. When the power unit drives the wheels 5 to rotate, the friction between the surfaces of the wheels 5 and the tracks 4 causes the tracks 4 to roll on the ground. The friction between the tracks 4 and the ground propels the mobile element 1 and the entire robot forward, backward, or in a direction. The combination of multiple wheels 5 and tracks 4 disperses the robot's weight, enhancing its contact area and grip. This structure of wheels 5 and tracks 4 provides the box-handling robot with excellent mobility, enabling it to operate stably on a variety of complex terrains, including flat roads, sand, grass, and muddy ground.

[0036] The surfaces of the lifting belt 2 and the lifting plate 3 are both friction surfaces. When the packaging box contacts the surface of the lifting belt 2 or the lifting plate 3, the friction surface can increase the friction between the packaging box and the lifting belt 2. During the transportation of the packaging box by the lifting belt 2, the greater friction force can prevent the packaging box from sliding on the lifting belt 2, ensuring that the packaging box can rise steadily with the lifting belt 2; when the lifting plate 3 receives and places the packaging box, the friction surface can keep the packaging box firmly on the lifting plate 3, preventing the packaging box from falling due to tilting or movement. The design of the friction surface significantly improves the clamping and carrying capacity of the lifting belt 2 and the lifting plate 3 for the packaging box, effectively ensuring the stability of the packaging box during transportation. Whether it is the vertical lifting of the packaging box during transportation or the horizontal placement of the packaging box on the lifting plate 3, the friction surface can prevent the packaging box from sliding, shifting, etc., reducing the risk of damage caused by the packaging box falling.

[0037] Example 2

[0038] like Figure 1-Figure 7 As shown, based on the first embodiment, this embodiment provides a cross distribution of the lifting belt 2 and the lifting plate 3, as follows:

[0039] There are multiple lifting belts 2, and the position of the lifting belts 2 on the slope is the lifting part. The height of the lifting part is higher than the slope. When the power source drives the lifting belts 2 to operate, each lifting belt 2 rotates synchronously. Due to the height difference between the lifting part and the slope, after the packaging box is placed at the lower end of the lifting belt 2, it will be clamped and transported upward from multiple contact points by multiple lifting belts 2 at the same time. With the circulating motion of the lifting belts 2, the packaging box is stably lifted along the slope. Multiple lifting belts 2 increase the contact area with the packaging box. The design of the lifting part further enhances the clamping force and guidance of the packaging box, which can effectively prevent the packaging box from slipping or sliding during transportation.

[0040] Inside the moving part 1, driving rollers 6 are rotatably installed at both ends of the lifting belt 2. The lifting belt 2 is sleeved on the two driving rollers 6. The lifting belt 2 is sleeved on the two driving rollers 6 to form a closed loop. When the driving rollers 6 rotate under the action of power, the friction between the surface of the driving rollers 6 and the lifting belt 2 is used to drive the lifting belt 2 to perform a circular motion, thereby realizing continuous transportation of the packaging boxes on the lifting belt 2. The driving rollers 6 serve as the core component of power transmission for the operation of the lifting belt 2. A support body 8 is provided between the two driving rollers 6, and the support body 8 is fixed on the moving part 1.

[0041] There is a giveway groove 10 inside each of the two adjacent raw material belts, and the top shaft 13 is installed inside the giveway groove 10. A lifting plate 3 is installed inside each giveway groove 10. When the lifting plate 3 needs to be converted from the state of being embedded in the moving part 1 to a horizontal state, it rotates within the space defined by the giveway groove 10 with the top shaft 13 as the rotation center. Due to the existence of the giveway groove 10, the rotation process of the lifting plate 3 will not interfere with the lifting belt 2, ensuring the normal functioning of the respective functions of the lifting plate 3 and the lifting belt 2. The design of the giveway groove 10 cleverly solves the contradiction between the lifting plate 3 and the lifting belt 2 in spatial layout.

[0042] A slider 11 is mounted at the bottom of the clearance groove 10. A connecting rod 7 is connected to the slider 11. The end of the connecting rod 7, which is away from the slider 11, is pivotally mounted on the bottom of the lifting plate 3. When the slider 11 is moved by an external force within the clearance groove 10, it drives the lifting plate 3 to rotate about the top axis 13 via the connecting rod 7. For example, if the slider 11 moves away from the slope, the connecting rod 7 will push the lifting plate 3 to gradually rotate from the embedded state to the horizontal state; conversely, if the slider 11 moves in the opposite direction, the lifting plate 3 will rotate from the horizontal state back to the embedded state.

[0043] A linear push rod 12 is fixed inside the clearance groove 10, and the output end of the linear push rod 12 is connected to the slider 11. When the control system issues an instruction, the driving components such as the motor or hydraulic device inside the linear push rod 12 work, pushing the output end to perform linear telescopic motion, thereby driving the slider 11 to slide in the clearance groove 10. The sliding of the slider 11 transmits power through the connecting rod 7, causing the lifting plate 3 to rotate around the top shaft 13, realizing the conversion of the lifting plate 3 from the embedded state to the horizontal state, or from the horizontal state to the embedded state. The linear push rod 12 provides a precisely controllable power source for the rotation of the lifting plate 3. Through the precise control of the linear push rod 12, the moving distance and speed of the slider 11 can be accurately adjusted, and then the rotation angle and speed of the lifting plate 3 can be precisely controlled, realizing fast and accurate switching of the state of the lifting plate 3.

[0044] Example 3

[0045] like Figure 1-Figure 7 As shown, based on the first and second embodiments, this embodiment provides a structure of the claw plate 9, which is as follows:

[0046] The interior of the movable part 1 is located at the bottom of the slope, and a claw plate 9 is rotatably installed. The claw plate 9 has a pointed end and has at least two fixed positions. The claw plate 9 can move between these two fixed positions. The first fixed position is: the end of the claw plate 9 faces the ground, and the second fixed position is: the end of the claw plate 9 is tilted upward. When it is necessary to grab a package box on the ground, the driving device drives the claw plate 9 to rotate to the first fixed position, so that the end of the claw plate 9 faces the ground. The tip of the claw plate 9 is inserted into the bottom of the package box or hooked on the edge of the package box to achieve the grabbing of the package box. After the grabbing is completed, the driving device is activated again, rotating the claw plate 9 to the second fixed position, so that the end of the claw plate 9 is tilted upward, so that the package box can be smoothly transferred to the lifting belt 2 for transportation. The dual fixed position design of the claw plate 9 gives the package box handling robot the function of automatically grabbing the package box, enabling it to adapt to different work scenarios and complete the package box picking operation without human assistance. The flexible switching of the claw plate 9 between the two fixed positions realizes the automatic connection of the package box from the ground grabbing to the lifting belt 2 transportation.

[0047] When the claw plate 9 is in the second fixed position, the end of the claw plate 9 extends beyond the lifting belt 2. When the box first contacts the lifting belt 2, the extended end of the claw plate 9 can provide a certain degree of positional support and support for the box, preventing it from sliding due to inertia or the impact of the lifting belt 2 when it is activated. As the lifting belt 2 rotates, the box is gradually and steadily conveyed. After completing the auxiliary conveyance, the end of the claw plate 9 can be rotated back to the appropriate position according to subsequent operational requirements. The design of the claw plate 9 end extending beyond the lifting belt 2 optimizes the transition from grabbing the box to transporting it.

[0048] Working principle:

[0049] The box handling robot uses a mobile unit 1 as its base carrier. After activation, to handle a box on the ground, the claw plate 9, driven by a drive mechanism, rotates to a fixed position with its tip facing the ground. The claw plate 9 then grabs the box by inserting its tip into the bottom of the box or hooking onto its edge. After grabbing the box, the claw plate 9 rotates to a fixed position with its tip tilted upward, pushing the box to the lower end of the lifting belt 2. The lifting belt 2 is driven by a power source such as a motor. Multiple lifting belts 2 operate synchronously, grasping the box at multiple contact points and transporting it upward along the slope by leveraging the height difference between the lifting area and the slope. When the box reaches the top of the slope, the lifting plate 3, controlled by a linear actuator 12 within a clearance groove 10, rotates around the top axis 13 from its embedded position within the mobile unit 1 to a horizontal position via a slider 11-connecting rod 7 mechanism. This synchronizes the rotation of the box to a horizontal position and places it securely on the mobile unit 1. Finally, the moving wheels 5 on either side of the mobile unit 1 rotate under the power of the power device, driving the tracks 4. The friction between the tracks 4 and the ground moves the robot and the loaded box, completing the handling process.

[0050] Multiple wheels 5 are rotatably mounted on either side of the mobile unit 1, and tracks 4 are attached to the outside. Power from the power unit rotates the wheels 5. Friction between the wheels 5 and the tracks 4 drives the tracks 4 in a circular motion. Friction between the tracks 4 and the ground propels the mobile unit 1 forward, backward, or in a direction. The combination of multiple wheels 5 and tracks 4 distributes the robot's weight, increases its contact area with the ground, and provides greater grip, ensuring stable operation on complex terrain.

[0051] Inside the moving element 1, drive rollers 6 are rotatably mounted at each end of the lifting belt 2. The lifting belt 2 is looped around these rollers 6, forming a closed loop. A motor or other power source drives the rollers 6, and friction between the rollers 6 and the lifting belt 2 creates a circular motion. Multiple lifting belts 2 are located above the slope, with their elevated positions elevated above the surface. Each belt 2 operates synchronously, gripping the boxes at multiple contact points and steadily lifting them along the slope.

[0052] Two adjacent lifting belts 2 are provided with clearance grooves 10, and the top shaft 13 is installed in the clearance grooves 10. One end of the lifting plate 3 is rotatably mounted around the top shaft 13. The slider 11 at the bottom of the clearance groove 10 is connected to the output end of the linear push rod 12. The linear push rod 12 pushes the slider 11 to slide on the bottom of the groove. The slider 11 drives the lifting plate 3 to rotate around the top shaft 13 through the hinged connecting rod 7, realizing the precise switching of the lifting plate 3 between the embedded state and the horizontal state.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the present invention can still be modified or replaced by equivalents. Any modification or partial replacement that does not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A packaging box handling robot, characterized in that: include: A moving member (1), the moving member (1) comprising a slope, the slope comprising a top end and a bottom end; A lifting belt (2), the lifting belt (2) is installed on the slope, and the lifting belt (2) can drive the packaging boxes on the slope to move up and down along the slope; The invention further comprises a lifting plate (3), wherein the lifting plate (3) is installed inside the moving part (1), a top shaft (13) is installed at the top of the slope, one end of the lifting plate (3) is rotated around the top shaft (13) and is installed at the top of the slope, and the lifting plate (3) has at least two states, the first state is that the lifting plate (3) is embedded in the moving part (1), and the second state is that the lifting plate (3) is rotated around the top shaft (13) to a horizontal state.

2. A packaging box handling robot according to claim 1, characterized in that: The number of the lifting belts (2) is multiple, and the position of the lifting belts (2) on the slope is a lifting portion, and the height of the lifting portion is higher than the slope.

3. The packaging box handling robot according to claim 2, characterized in that: Drive rollers (6) are rotatably mounted on both ends of the lifting belt (2) located inside the movable part (1), and the lifting belt (2) is sleeved on the two drive rollers (6).

4. The packaging box handling robot according to claim 2, characterized in that: The insides of the two adjacent raw material belts are each provided with a clearance groove (10), the top shaft (13) is installed inside the clearance groove (10), and a lifting plate (3) is correspondingly installed inside each of the clearance grooves (10).

5. The packaging box handling robot according to claim 4, characterized in that: A slider (11) is installed at the bottom of the displacement groove (10), and a connecting rod (7) is connected to the slider (11). The end of the connecting rod (7) away from the slider (11) is rotatably installed at the bottom of the lifting plate (3).

6. The packaging box handling robot according to claim 5, characterized in that: A linear push rod (12) is fixed inside the clearance groove (10), and the output end of the linear push rod (12) is connected to the slider (11).

7. The packaging box handling robot according to claim 6, characterized in that: The interior of the movable member (1) is located at the bottom end of the slope, and a claw plate (9) is rotatably installed. The segment of the claw plate (9) is a tip. The claw plate (9) has at least two fixed positions, and the claw plate (9) can move between the two fixed positions. The first fixed position is: the end of the claw plate (9) faces the ground, and the second fixed position is: the end of the claw plate (9) is tilted upward.

8. The packaging box handling robot according to claim 7, characterized in that: When the claw plate (9) is located at the second fixed position, the end of the claw plate (9) extends to the outside of the lifting belt (2).

9. The packaging box handling robot according to claim 1, characterized in that: A plurality of moving wheels (5) are rotatably mounted on both sides of the moving member (1), and tracks (4) are sleeved on the exterior of the moving wheels (5).

10. The packaging box handling robot according to claim 7, characterized in that: The surfaces of the lifting belt (2) and the lifting plate (3) are both friction surfaces.

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