Universal robot stacking clamp for turnover boxes and cartons

Abstract

The invention relates to the technical field of stacking equipment, and discloses a universal robot stacking clamp for turnover boxes and cartons, which comprises a clamp main frame, a carton clamping assembly and a turnover box clamping assembly, the carton clamping assembly comprises a fixed frame which is fixedly connected to the clamp main frame and extends downwards, a movable frame which is installed on the clamp main frame in a sliding mode and can move front and back along the clamp main frame, a transverse moving air cylinder used for driving the movable frame to move along the clamp main frame, and a carton pressing plate which is connected to the rear end of the clamp main frame through a driving mechanism and can ascend and descend. The bottom supporting fork arms are arranged at intervals and fixedly connected to the lower end of the movable frame; the movable frame is located on the front side of the fixed frame. The bottom supporting fork arm is used for bottom supporting of the carton and horizontally stretches out towards the rear side, and the upper surface of the bottom supporting fork arm is lower than the lower end of the fixing frame. The multi-specification carton and turnover box grabbing device can meet the requirement for grabbing cartons and turnover boxes of various specifications, multiple purposes are achieved through one machine, and the problem that equipment is frequently replaced due to material type replacement of a traditional clamp is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of turnover equipment, in particular to a robot stacking clamp for turnover boxes and cartons. BACKGROUND

[0002] Turnover boxes and cartons are widely used in industrial production, logistics transportation and warehouse management due to their good load-bearing, portability and economy, greatly improving the efficiency and safety of material handling. With the development of automation technology, traditional manual stacking has been gradually replaced by robot automatic stacking system, especially in the scene of large-scale use of turnover boxes and cartons, automatic stacking has become the mainstream trend.

[0003] In the current widely used technology, the clamping type clamp driven by pneumatic is commonly used with industrial robots. This kind of clamp clamps the turnover box or carton from the side through the clamping arm to realize the grabbing and stacking operation. Although this method is simple in structure and convenient to control, it still has many shortcomings in practical application.

[0004] Firstly, the clamping type clamp needs to reserve enough opening and closing space for the clamping arm during clamping, which causes the adjacent goods to be unable to be closely fitted, resulting in low overall stacking density on the pallet and low space utilization. At the same time, due to the lack of bottom support structure, the stability of the goods is poor during the whole pallet handling, and there is a safety hazard of tipping over or even falling.

[0005] Secondly, most of the existing clamps have single function, and can usually only stack a certain type of goods (such as only suitable for cartons or turnover boxes), which has poor versatility and is difficult to meet the operation requirements in the scene of mixed goods. In addition, some carton special clamps adopt single piece grabbing mode, which can only grab one carton at a time, affecting the overall stacking efficiency and being difficult to match the rhythm of high-speed production line.

[0006] In summary, the existing clamping type pneumatic clamp has the problems of low space utilization, poor stability of goods, single function and low operation efficiency in the application of automatic stacking. Therefore, it is urgent to propose a new clamp structure or stacking method to overcome the above defects and improve the adaptability, stability and working efficiency of the stacking system. SUMMARY

[0007] The purpose of the present application is to overcome the deficiencies of the prior art and provide a robot stacking clamp for turnover boxes and cartons.

[0008] In order to solve the above technical problems, the present application is realized by the following technical scheme:

[0009] A robot stacking clamp for turnover boxes and cartons, comprising a clamp main frame, a carton clamping assembly, and a turnover box clamping assembly;

[0010] The carton clamping assembly comprises a fixed frame fixedly connected to the clamping main frame and extending downward, a movable frame slidingly mounted on the clamping main frame and movable along the clamping main frame, a horizontal moving cylinder for driving the movable frame to move along the clamping main frame, a carton pressing plate connected to the rear end of the clamping main frame through a driving mechanism and movable, and a plurality of bottom supporting fork arms arranged at intervals and fixedly connected to the lower end of the movable frame;

[0011] The movable frame is located at the front side of the fixed frame.

[0012] The bottom supporting fork arms are used for supporting the bottom of the carton, horizontally extend to the rear side, and the upper surface thereof is lower than the lower end of the fixed frame.

[0013] Preferably, the turnover box clamping assembly comprises a first mounting seat slidingly mounted on the movable frame and movable along the movable frame, a plurality of turnover box fork arms arranged at intervals and fixedly connected to the first mounting seat, a first cylinder for driving the first mounting seat to move, a second mounting seat slidingly mounted on the movable frame and movable along the movable frame, a limiting pressing plate fixedly connected to the second mounting seat, a second cylinder for driving the second mounting seat to move, a turnover fork arm hingedly connected to the lower end of the right side of the fixed frame and movable to the left side, a supporting plate fixedly connected to the right side of the turnover fork arm, and a turnover cylinder for driving the turnover fork arm to rotate.

[0014] The turnover box fork arms are L-shaped and used for supporting the upper edge rib at the front side of the turnover box, and are arranged alternately with the turnover box fork arms.

[0015] The supporting plate is used for supporting the upper edge rib at the right side of the turnover box.

[0016] The limiting pressing plate is used for pressing the cover of the turnover box, and the edge of the bottom surface thereof corresponding to the inner edge of the groove of the cover of the turnover box is provided with a circular chamfer.

[0017] Preferably, one of the turnover box fork arms is fixedly connected with a first proximity switch for detecting the position of the front side of the turnover box, and the turnover fork arm is fixedly connected with a second proximity switch for detecting the position of the right side of the turnover box.

[0018] Preferably, the radius of the circular chamfer is 6 mm.

[0019] Preferably, the first mounting seat is connected with the movable frame through two groups of first linear guides, and the second mounting seat is connected with the movable frame through two groups of second linear guides.

[0020] Preferably, the supporting plate is provided with a clamping groove for the vertical rib of the side wall of the turnover box to be embedded.

[0021] Preferably, the fixed frame is provided with a buffer block for reducing the impact force of the turnover of the turnover fork arm.

[0022] Preferably, the limiting pressing plate is two plates staggered with the bottom supporting fork arms.

[0023] Preferably, the driving mechanism comprises two symmetrically arranged telescopic mechanisms I and a double-rod cylinder I driving the two telescopic mechanisms I; the telescopic mechanism I comprises a first arm rod hinged at the upper end to the clamp main frame and a second arm rod hinged at the lower end to the carton pressing plate; the lower end of the first arm rod is hinged to the upper end of the second arm rod through a pivot I and forms a V shape, and the V-shaped openings of the two telescopic mechanisms I are oppositely arranged; the two piston rods of the double-rod cylinder I are respectively connected to the pivots I of the two telescopic mechanisms I.

[0024] Preferably, the driving mechanism comprises two symmetrically arranged telescopic mechanisms II and a double-rod cylinder II driving the two telescopic mechanisms II; the telescopic mechanism II comprises a first rod hinged at the upper end to the clamp main frame and a second rod hinged at the lower end to the carton pressing plate; the upper end of the second rod is hinged to the rod part of the first rod through a pivot II and forms an inverted V shape; the two piston rods of the double-rod cylinder II are respectively connected to the pivots II of the two telescopic mechanisms II; the lower end of the first rod is hinged with a sliding block, and the carton pressing plate is provided with a sliding rail slidingly matched with the sliding block; the distance between the two hinged points at the ends of the second rod is equal to the distance between the hinged point of the rod part of the first rod and the hinged point at the lower end thereof, and the hinged point at the lower end of the second rod is at the same height as the hinged point at the lower end of the first rod.

[0025] Preferably, the carton pressing plate is symmetrically provided with two upwardly extending guide rods, a linear bearing is slidingly sleeved on the guide rod, and the linear bearing is fixedly connected to the clamp main frame through a connecting plate.

[0026] Preferably, the movable frame is connected to the clamp main frame through two groups of third linear guide rails.

[0027] Preferably, the clamp main frame is fixedly connected with a connecting seat provided with a flange plate.

[0028] Preferably, it further comprises an electromagnetic valve provided on the clamp main frame, which is used to control the actions of the transverse moving cylinder, the first cylinder, the second cylinder, the overturning cylinder and the double-rod cylinder I.

[0029] Compared with the prior art, the present application has the following advantages:

[0030] 1. The clamp has good compatibility and can adapt to the grasping needs of paper boxes and turnover boxes of various specifications, realizing one machine with multiple uses and avoiding the problem of frequent replacement of equipment due to replacement of material types in traditional clamps.

[0031] 2. In terms of stacking efficiency, the clamp can realize the function of grasping multiple paper boxes at a time according to the number of paper boxes required, significantly improving the stacking speed, while having reliable clamping force and positioning structure to ensure the safety and stability of the grasping and carrying process and effectively prevent the goods from slipping or deviating.

[0032] 3. In the palletizing arrangement, the clamp structure design allows the paper boxes to be closely stacked, without the need to reserve extra space for the clamp arms, thereby greatly improving the palletizing density and space utilization. Meanwhile, during the whole pallet carrying process, the clamp bottom is provided with a bottom supporting structure, so that the whole stack is more stable, greatly reducing the risk of dumping during transportation. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0034] Figure 1 It is a front view of one of the embodiments of the present application.

[0035] Figure 2 It is an enlarged view of part A of the present application. Figure 1

[0036] Figure 3 It is a rear view of the present application. Figure 1

[0037] Figure 4 It is a left view of the present application. Figure 1

[0038] Figure 5 It is a right view of the present application. Figure 1

[0039] Figure 6 It is a top view of the present application. Figure 1

[0040] Figure 7 It is a bottom view of the present application. Figure 1

[0041] Figure 8 It is a perspective view of the present application. Figure 1

[0042] Figure 9 It is a perspective view from another angle. Figure 1

[0043] Figure 10 It is an enlarged view of part B of the present application. Figure 9

[0044] Figure 11 It is a perspective view from another angle. Figure 1

[0045] Figure 12 It is a perspective view from another angle.​​​​​​​​​​Figure 11 Enlarged view of part C.

[0046] Figure 13 Schematic diagram of the clamp of the present application for carton carrying.

[0047] Figure 14 Schematic diagram of the clamp of the present application for turnover box carrying.

[0048] Figure 15 Perspective view of another embodiment of the present application.

[0049] Figure 16 Perspective view of part D. Figure 15 Enlarged view of part D.

[0050] In the figure:

[0051] 1 - clamp main frame, 2 - carton clamping assembly, 3 - turnover box clamping assembly, 4 - connecting seat, 5 - electromagnetic valve;

[0052] 21 - fixed frame, 22 - movable frame, 23 - horizontal moving air cylinder, 24 - driving mechanism, 25 - carton pressing plate, 26 - bottom supporting fork arm, 27 - third linear guide rail;

[0053] 31 - first mounting seat, 32 - turnover box fork arm, 33 - first air cylinder, 34 - second mounting seat, 35 - limiting pressing plate, 36 - second air cylinder, 37 - overturning fork arm, 38 - supporting plate, 39 - overturning air cylinder, 40 - circular chamfer, 41 - first proximity switch, 42 - second proximity switch, 43 - first linear guide rail, 44 - second linear guide rail, 45 - clamping groove, 46 - buffer block;

[0054] 241 - first telescopic mechanism, 242 - first double-rod air cylinder, 243 - second telescopic mechanism, 244 - second double-rod air cylinder, 245 - sliding block, 246 - sliding rail, 247 - guide rod, 248 - linear bearing, 249 - connecting plate;

[0055] 2411 - first arm rod, 2412 - second arm rod, 2413 - pivot one;

[0056] 2431 - first rod, 2432 - second rod, 2433 - pivot two. DETAILED DESCRIPTION

[0057] In order to illustrate the purpose, technical scheme and advantages of the present application more clearly, the technical scheme of the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the following described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application described below, all other embodiments obtained by a person of ordinary skill in the art without any inventive effort fall within the scope of protection of the present application.

[0058] Embodiment 1

[0059] As shown in the accompanying drawings, a robot stacking clamp for general-purpose pallets and cartons is used for efficient and stable grabbing and carrying operations of cartons and pallets in an automatic stacking device. The clamp comprises a clamp main frame 1, a carton clamping assembly 2, and a pallet clamping assembly 3; Figures 1-14 The carton clamping assembly 2 comprises a fixed frame 21 fixedly connected to the clamp main frame 1 and extending downward, a movable frame 22 slidingly installed on the clamp main frame 1 and movable forward and backward along the clamp main frame 1, a horizontal moving cylinder 23 for driving the movable frame 22 to move along the clamp main frame 1, a carton pressing plate 25 connected to the rear end of the clamp main frame 1 through a driving mechanism 24 and liftable, and a plurality of bottom supporting fork arms 26 arranged at intervals and fixedly connected to the lower end of the movable frame 22.

[0060] The movable frame 22 is located at the front side of the fixed frame 21.

[0061] The bottom supporting fork arms 26 are used for supporting the bottom of the carton, horizontally extend to the rear side, and the upper surface thereof is lower than the lower end of the fixed frame 21.

[0062] In this embodiment, the horizontal moving cylinder 23 is a rodless cylinder, the cylinder body is fixedly connected to the clamp main frame 1, and the sliding block is fixedly connected to the movable frame 22.

[0063] As a preferred technical scheme of this embodiment, the driving mechanism 24 comprises two symmetrically arranged telescopic mechanisms 241 and a double-rod cylinder 242 for driving the two telescopic mechanisms 241; the telescopic mechanism 241 comprises a first arm rod 2411 hinged at the upper end to the clamp main frame 1 and a second arm rod 2412 hinged at the lower end to the carton pressing plate 25; the lower end of the first arm rod 2411 and the upper end of the second arm rod 2412 are hinged through a pivot 2413 and form a V shape, and the V-shaped opening sides of the two telescopic mechanisms 241 are oppositely arranged; the two piston rods of the double-rod cylinder 242 are connected to the pivots 2413 of the two telescopic mechanisms 241, respectively. Obviously, the carton pressing plate 25 can also adopt other driving forms, such as an electric screw rod cooperating with a guide structure, etc. The carton pressing plate 25 is lowered to press the upper end surface of the carton, for applying pressure above the carton to prevent deviation.

[0064] As a preferred technical scheme of this embodiment, the driving mechanism 24 comprises two symmetrically arranged telescopic mechanisms 241 and a double-rod cylinder 242 for driving the two telescopic mechanisms 241; the telescopic mechanism 241 comprises a first arm rod 2411 hinged at the upper end to the clamp main frame 1 and a second arm rod 2412 hinged at the lower end to the carton pressing plate 25; the lower end of the first arm rod 2411 and the upper end of the second arm rod 2412 are hinged through a pivot 2413 and form a V shape, and the V-shaped opening sides of the two telescopic mechanisms 241 are oppositely arranged; the two piston rods of the double-rod cylinder 242 are connected to the pivots 2413 of the two telescopic mechanisms 241, respectively. Obviously, the carton pressing plate 25 can also adopt other driving forms, such as an electric screw rod cooperating with a guide structure, etc. The carton pressing plate 25 is lowered to press the upper end surface of the carton, for applying pressure above the carton to prevent deviation.

[0065] As the preferred technical solution of the embodiment, in order to ensure the stability of the movement of the movable frame 22, the movable frame 22 is connected with the clamp main frame 1 through two groups of third linear guides 27. Obviously, other guide structures such as dovetail grooves can also be used.

[0066] As the preferred technical solution of the embodiment, the toter clamping assembly 3 comprises a first mounting base 31 slidably mounted on the movable frame 22 and capable of ascending and descending along the movable frame 22, a plurality of toter fork arms 32 arranged at intervals and fixedly connected to the first mounting base 31, a first air cylinder 33 for driving the first mounting base 31 to ascend and descend, a second mounting base 34 slidably mounted on the movable frame 22 and capable of ascending and descending along the movable frame 22, a limiting pressing plate 35 fixedly connected to the second mounting base 34, a second air cylinder 36 for driving the second mounting base 34 to ascend and descend, a turnover fork arm 37 hingedly connected to the right lower end of the fixed frame 21 and capable of turning to the left side, a supporting plate 38 fixedly connected to the right side of the turnover fork arm 37, and a turnover air cylinder 39 for driving the turnover fork arm 37 to rotate.

[0067] The toter fork arms 32 are L-shaped and used for supporting the upper edge rib at the front side of the toter, and the toter fork arms 32 are arranged alternately.

[0068] The supporting plate 38 is used for supporting the upper edge rib at the right side of the toter.

[0069] The limiting pressing plate 35 is used for pressing the cover of the toter, and the edge of the bottom surface corresponding to the inner edge of the cover groove of the toter is provided with a circular chamfer 40. As a preferred mode, the limiting pressing plate 35 is used for positioning the inner corner at the front right end of the cover groove of the toter, the size of the circular chamfer 40 is consistent with the size of the inner edge of the cover groove of the toter, and the radius of the circular chamfer 40 is preferably 6 mm, that is, the front side and the right side of the lower end of the limiting pressing plate 35 are chamfered, so as to ensure the automatic positioning of the toter. In order to improve the stability of the positioning of the limiting pressing plate 35, the number of the limiting pressing plates 35 is further increased to two in the embodiment, and the limiting pressing plates 35 are arranged alternately with the bottom supporting fork arm 26, so as to ensure that the toter is effectively fixed.

[0070] As the specific technical solution of the embodiment, the first air cylinder 33, the second air cylinder 36 and the turnover air cylinder 39 all adopt rod air cylinders. The cylinder body of the first air cylinder 33 is fixedly connected with the movable frame 22, and the piston rod is fixedly connected with the first mounting base 31. The cylinder body of the second air cylinder 36 is fixedly connected with the movable frame 22, and the piston rod is fixedly connected with the second mounting base 34. The cylinder body of the turnover air cylinder 39 is hingedly connected with the fixed frame 21, and the piston rod is hingedly connected with the turnover fork arm 37. The turnover fork arm 37 is hingedly connected with the fixed frame 21 through a hinge.

[0071] As a further improved technical solution of the embodiment, a first proximity switch 41 for detecting the front side position of the turnover box is fixed on the turnover box fork arm 32, and a second proximity switch 42 for detecting the right side position of the turnover box is fixed on the turnover fork arm 37. The positioning of the turnover box clamping assembly 3 during operation is realized by the first proximity switch 41 and the second proximity switch 42, and other commonly used positioning detection methods can also be used as an alternative.

[0072] As a preferred technical solution of the embodiment, in order to ensure the stability of movement, the first mounting seat 31 is connected with the movable frame 22 through two groups of first linear guides 43, and the second mounting seat 34 is connected with the movable frame 22 through two groups of second linear guides 44.

[0073] As a preferred technical solution of the embodiment, in order to meet the use of turnover boxes with vertical ribs on the side, the supporting plate 38 is provided with a clamping groove 45 for embedding the vertical ribs of the side wall of the turnover box.

[0074] As a preferred technical solution of the embodiment, in order to reduce the impact of the turnover fork arm 37 during operation, the fixed frame 21 is provided with a buffer block 46 for reducing the impact force of the turnover fork arm 37 during turnover.

[0075] As a further preferred technical solution of the embodiment, the clamp main frame 1 is fixed with a connecting seat 4 with a flange plate. The clamp main frame 1 serves as the basic support of the overall structure, and the connecting seat 4 with the flange plate can be used for fixed connection with a robot or an automatic stacking device.

[0076] As a specific technical solution of the embodiment, it further includes an electromagnetic valve 5 provided on the clamp main frame 1, which is used to control the actions of the horizontal moving cylinder 23, the first cylinder 33, the second cylinder 36, the turnover cylinder 39 and the double-rod cylinder 242.

[0077] Embodiment 2

[0078] As shown in the accompanying Figures 15-16As shown, a robot stacking clamp for general use of turnover boxes and cartons is adopted in the embodiment, and another driving mechanism 24 for stably pressing the carton is adopted, and the rest is basically the same as that in embodiment 1. Specifically, the driving mechanism 24 comprises two symmetrically arranged telescopic mechanisms 243 and a double-rod cylinder 244 for driving the two telescopic mechanisms 243; the telescopic mechanism 243 comprises a first rod 2431 hingedly connected to the clamp main frame 1 at the upper end and a second rod 2432 hingedly connected to the carton pressing plate 25 at the lower end; the upper end of the second rod 2432 is hingedly connected to the rod part of the first rod 2431 through a pivot 2433 and forms an inverted Chinese character shape; the two piston rods of the double-rod cylinder 244 are respectively connected to the pivots 2433 of the two telescopic mechanisms 243; the lower end of the first rod 2431 is hingedly connected to a sliding block 245, and the carton pressing plate 25 is provided with a sliding rail 246 in sliding cooperation with the sliding block 245; the distance between the two end hingedly connected points of the second rod 2432 is equal to the distance between the hingedly connected point of the rod part of the first rod 2431 and the hingedly connected point at the lower end of the first rod 2431, and the hingedly connected point at the lower end of the second rod 2432 is at the same height as the hingedly connected point at the lower end of the first rod 2431, so as to ensure that the carton pressing plate 25 is in a horizontal state and remains horizontal during lifting. This structure can make the pressing contact between the carton pressing plate 25 and the carton more stable, so that the stacking operation process of a single carton is more stable and reliable, and effectively avoids the slipping or falling of the carton during handling and stacking. Through the synchronous driving of the two groups of symmetric "inverted Chinese character" shaped telescopic mechanisms by the double-rod cylinder, and in combination with the guiding cooperation of the sliding block 245 and the sliding rail 246, the carton pressing plate 25 can always remain accurately horizontal during lifting; at the same time, this design helps to uniformly disperse the stress during pressing, reduces local stress concentration, significantly improves the uniformity of pressing and the dynamic stability of the overall structure, and thus greatly improves the reliability and safety of the stacking operation.

[0079] In order to further increase the stability of the pressing contact between the carton pressing plate 25 and the carton, and avoid small shaking of the carton pressing plate 25 relative to the clamp main frame 1 during handling, two upwardly extending guide rods 247 are symmetrically arranged on the carton pressing plate 25, a linear bearing 248 is slidably sleeved on the guide rod 247, and the linear bearing 248 is fixedly connected to the clamp main frame 1 through a connecting plate 249. Obviously, other guiding structures can also be used to increase the vertical stability of the carton pressing plate 25. The cooperation of the guide rod 247 and the linear bearing 248 provides high-precision linear guidance, effectively inhibits the rotation and lateral deviation of the carton pressing plate 25 during movement, enhances the anti-disturbance ability of the system, ensures that the pressing plate can still maintain a stable posture under the working conditions of high speed or frequent start and stop, further improves the pressing accuracy and the smoothness of equipment operation, and prolongs the service life of mechanical parts.

[0080] The working process is as follows (embodiment 1 is taken as an example for illustration, and the working process of embodiment 2 is basically the same):

[0081] I. Carton stacking process

[0082] When the clamp grabs the carton, the clamp main frame 1 moves to the top of the roller conveyor with the robot, and the fixing frame 21 is close to the position of the carton. The electromagnetic valve 5 is started, the horizontal moving cylinder 23 pushes the movable frame 22 to move forward, and the bottom supporting fork arm 26 is extended into the gap between the rollers to the bottom of the carton, realizing the bottom supporting of the carton. Then, the piston rod of the double-rod cylinder 242 is retracted, the telescopic mechanism 241 is unfolded, and the carton pressing plate 25 is lowered to press the top of the carton, preventing the carton from shifting or falling during the carrying process.

[0083] Then the robot carries the carton with the clamp to a certain height above the designated stacking position, and the robot controls the clamp to slowly descend, the carton pressing plate 25 rises to reset, and the movable frame 22 moves backward, so that the bottom supporting fork arm 26 exits from the bottom of the carton, completing the release of the carton. The length of the pressing plate and the number of bottom supporting fork arms 26 can be adjusted according to actual needs to realize the function of carrying multiple cartons at a time. This embodiment supports grabbing one to three cartons at a time, and is suitable for stacking operations of various specifications of cartons.

[0084] II. Pallet stacking process

[0085] When the clamp grabs the pallet, the pallet fork arm 32 is pre-extended downward to ensure that its upper surface is at the same level as the upper surface of the supporting plate 38. The robot drives the clamp main frame 1 to approach the pallet, and stops when the pallet fork arm 32 contacts the side wall of the pallet and triggers the first proximity switch 41. Then the turnover fork arm 37 is turned down until the second proximity switch 42 is triggered. After both proximity switches are triggered, the second cylinder 36 drives the limiting pressing plate 35 to press down and press the cover of the pallet. The bottom surface of the limiting pressing plate 35 is provided with an R6 round corner structure, which can play a guiding and positioning role during the pressing process.

[0086] At this time, the pallet fork arm 32 holds the upper rib of the front side of the pallet, the supporting plate 38 holds the upper rib on the right side, and the limiting pressing plate 35 is embedded with the groove at the corner of the cover of the pallet, realizing stable clamping. Then the robot carries the pallet with the clamp to a certain distance above the target position, and the robot controls the clamp to descend, the turnover fork arm 37 is turned up to reset, and the limiting pressing plate 35 is synchronously lifted to reset. The robot drives the clamp to exit horizontally from the front side, and then the pallet fork arm 32 is retracted upward, completing the release of the pallet.

[0087] The clamp can select "carton mode" or "pallet mode" through the control system, and the electromagnetic valve 5 automatically switches the action logic of each cylinder according to the setting. During the switching process, the system automatically detects whether the current task is completed to avoid misoperation. If the target object type does not match or the position is abnormal, the system issues an alarm and pauses the action, waiting for manual intervention.

[0088] The above merely provides the preferred embodiments of the application, and is not intended to limit the protection scope of the application. Any modification, equivalent replacement, and improvement made by those skilled in the art based on the technical solutions and part of the technical features disclosed in the above specific embodiments, should be included in the protection scope of the application.

Claims

1. A robotic palletizing gripper that is common to both totes and cartons, characterized by It comprises a clamp main frame (1), a carton clamping assembly (2), and a turnover box clamping assembly (3); The carton clamping assembly (2) comprises a fixed frame (21) fixedly connected to the clamp main frame (1) and extending downward, a movable frame (22) slidingly installed on the clamp main frame (1) and movable along the clamp main frame (1), a horizontal moving cylinder (23) for driving the movable frame (22) to move along the clamp main frame (1), a carton pressing plate (25) connected to the rear end of the clamp main frame (1) through a driving mechanism (24) and movable, and a plurality of bottom supporting fork arms (26) arranged at intervals and fixedly connected to the lower end of the movable frame (22); The movable frame (22) is located at the front side of the fixed frame (21); The bottom supporting fork arms (26) are used for supporting the bottom of the carton, horizontally extend to the rear side, and the upper surface thereof is lower than the lower end of the fixed frame (21).

2. The robotic palletizing gripper of claim 1, wherein, The turnover box clamping assembly (3) comprises a first mounting seat (31) slidingly installed on the movable frame (22) and movable along the movable frame (22), a plurality of turnover box fork arms (32) arranged at intervals and fixedly connected to the first mounting seat (31), a first cylinder (33) for driving the first mounting seat (31) to move, a second mounting seat (34) slidingly installed on the movable frame (22) and movable along the movable frame (22), a limiting pressing plate (35) fixedly connected to the second mounting seat (34), a second cylinder (36) for driving the second mounting seat (34) to move, a turnover fork arm (37) hingedly connected to the right lower end of the fixed frame (21) and movable to the left side, a supporting plate (38) fixedly connected to the right side of the turnover fork arm (37), and a turnover cylinder (39) for driving the turnover fork arm (37) to rotate; The turnover box fork arms (32) are L-shaped and used for supporting the upper edge rib at the front side of the turnover box, and are arranged alternately with the turnover box fork arms (32); The supporting plate (38) is used for supporting the upper edge rib at the right side of the turnover box; The limiting pressing plate (35) is used for pressing the cover of the turnover box, and the edge of the bottom surface thereof corresponding to the inner edge of the cover groove of the turnover box is provided with a circular chamfer (40).

3. The case and carton general purpose robotic palletizing clamp of claim 2, wherein, One of the turnover box fork arms (32) is fixedly connected with a first proximity switch (41) for detecting the position of the front side of the turnover box, and the turnover fork arm (37) is fixedly connected with a second proximity switch (42) for detecting the position of the right side of the turnover box.

4. The case and carton general purpose robotic palletizing clamp of claim 2 or 3, wherein, The first mounting seat (31) is connected with the movable frame (22) through two groups of first linear guides (43), and the second mounting seat (34) is connected with the movable frame (22) through two groups of second linear guides (44).

5. The case and carton general purpose robotic palletizing clamp of claim 2 or 3, wherein, The supporting plate (38) is provided with a clamping groove (45) for the vertical rib of the side wall of the turnover box to be embedded.

6. The case and carton general purpose robotic palletizing clamp of claim 2 or 3, wherein, The fixed frame (21) is provided with a buffer block (46) for reducing the impact force of the turnover of the turnover fork arm (37).

7. The case and carton general purpose robotic palletizing clamp of claim 2 or 3, wherein, The limiting pressing plate (35) is two pieces and arranged alternately with the bottom supporting fork arms (26).

8. The case and carton general purpose robotic palletizing clamp of claim 1 or 2, wherein, The driving mechanism (24) comprises two symmetrically arranged telescopic mechanisms I (241) and a double-rod cylinder I (242) driving the two telescopic mechanisms I (241); the telescopic mechanism I (241) comprises a first arm rod (2411) with the upper end hinged to the clamp main frame (1) and a second arm rod (2412) with the lower end hinged to the carton pressing plate (25); the lower end of the first arm rod (2411) and the upper end of the second arm rod (2412) are hinged through a pivot I (2413) and form a V shape, and the V-shaped opening sides of the two telescopic mechanisms I (241) are oppositely arranged; the two piston rods of the double-rod cylinder I (242) are connected with the pivots I (2413) of the two telescopic mechanisms I (241) respectively.

9. The case and carton general purpose robotic palletizing clamp of claim 1 or 2, wherein, The driving mechanism (24) comprises two symmetrically arranged telescopic mechanisms II (243) and a double-rod cylinder II (244) driving the two telescopic mechanisms II (243); the telescopic mechanism II (243) comprises a first rod (2431) with the upper end hinged to the clamp main frame (1) and a second rod (2432) with the lower end hinged to the carton pressing plate (25); the upper end of the second rod (2432) and the rod part of the first rod (2431) are hinged through a pivot II (2433) and form an inverted V shape; the two piston rods of the double-rod cylinder II (244) are connected with the pivots II (2433) of the two telescopic mechanisms II (243) respectively; the lower end of the first rod (2431) is hinged with a sliding block (245), and the carton pressing plate (25) is provided with a sliding rail (246) slidingly matched with the sliding block (245); the distance between the two end hinged points of the second rod (2432) is equal to the distance between the hinged point of the rod part of the first rod (2431) and the hinged point of the lower end of the first rod (2431), and the hinged point of the lower end of the second rod (2432) is in the same height with the hinged point of the lower end of the first rod (2431).

10. The case and carton general purpose robotic palletizing clamp of claim 9, wherein, The carton pressing plate (25) is symmetrically provided with two upwardly extending guide rods (247), the guide rods (247) are slidingly sleeved with linear bearings (248), and the linear bearings (248) are fixedly connected with the clamp main frame (1) through a connecting plate (249).

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