A robotic palletizing fixture applicable to both turnover boxes and cartons

Abstract

The present application relates to the technical field of stacking equipment, and discloses a robot stacking clamp for general 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 fixedly connected to the clamp main frame and extending downward, a movable frame slidingly installed on the clamp main frame and movable along the clamp main frame forwards and backwards, a horizontal movement air cylinder for driving the movable frame to move along the clamp main frame, a carton pressing plate connected to the rear end of the clamp main frame through a driving mechanism and liftable, and a plurality of bottom supporting fork arms arranged at intervals and fixedly connected to the lower end of the movable frame; the movable frame is located at the front side of the fixed frame; 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. The present application can meet the grasping requirements of cartons and turnover boxes of various specifications, realize one machine with multiple uses, and avoid the problem that the traditional clamp frequently changes the equipment due to the replacement of material types.

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 connected to the pivots I of the two telescopic mechanisms I respectively.

[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 connected to the pivots II of the two telescopic mechanisms II respectively; 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 with the clamp main frame through a connecting plate.

[0026] Preferably, the movable frame is connected with 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 having a flange plate.

[0028] Preferably, it further comprises an electromagnetic valve provided on the clamp main frame, and the electromagnetic valve 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 requirements of paper boxes and turnover boxes of various specifications, realizes one machine with multiple uses, and avoids 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 improves the stacking speed, and at the same time has reliable clamping force and positioning structure, ensures the safety and stability of the grasping and carrying process, and effectively prevents the goods from slipping or deviating.

[0032] 3. Regarding palletizing, the clamp structure design allows cartons to be stacked tightly together without the need for extra space for the clamp arms, thus significantly improving palletizing density and space utilization. Simultaneously, during pallet handling, the clamps have a support structure at the bottom, making the stack more stable and greatly reducing the risk of tipping over during transport. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a front view of one embodiment of the present invention.

[0035] Figure 2 For this Figure 1 Enlarged view of part A in the middle.

[0036] Figure 3 for Figure 1 Rear view.

[0037] Figure 4 for Figure 1 The left view.

[0038] Figure 5 for Figure 1 The right view.

[0039] Figure 6 for Figure 1 Top view.

[0040] Figure 7 for Figure 1 A bottom view.

[0041] Figure 8 for Figure 1 A three-dimensional image.

[0042] Figure 9 for Figure 1 A stereoscopic view from another perspective.

[0043] Figure 10 for Figure 9 Enlarged view of section B.

[0044] Figure 11 for Figure 1 A stereoscopic view from another perspective.

[0045] Figure 12 forFigure 11 Enlarged view of section C.

[0046] Figure 13 This is a schematic diagram of the clamp of the present invention used for handling cardboard boxes.

[0047] Figure 14 This is a schematic diagram of the clamp of the present invention used for handling turnover boxes.

[0048] Figure 15 This is a perspective view of another embodiment of the present invention.

[0049] Figure 16 for Figure 15 Enlarged view of section D.

[0050] In the picture:

[0051] 1-Clamping main frame, 2-Carton clamping assembly, 3-Turning box clamping assembly, 4-Connecting seat, 5-Solenoid valve;

[0052] 21-Fixed frame, 22-Movable frame, 23-Transverse cylinder, 24-Drive mechanism, 25-Carton pressing plate, 26-Bottom support fork arm, 27-Third linear guide rail;

[0053] 31-First mounting base, 32-Turbobox fork arm, 33-First cylinder, 34-Second mounting base, 35-Limit pressure plate, 36-Second cylinder, 37-Tilting fork arm, 38-Panel, 39-Tilting cylinder, 40-Rounded chamfer, 41-First proximity switch, 42-Second proximity switch, 43-First linear guide rail, 44-Second linear guide rail, 45-Slot, 46-Buffer block;

[0054] 241-Telescopic mechanism one, 242-Double rod cylinder one, 243-Telescopic mechanism two, 244-Double rod cylinder two, 245-Sliding block, 246-Slide rail, 247-Guide rod, 248-Linear bearing, 249-Connecting plate;

[0055] 2411 - First boom, 2412 - Second boom, 2413 - Pivot 1;

[0056] 2431 - First stroke, 2432 - Second stroke, 2433 - Pivot 2. Detailed Implementation

[0057] To more clearly illustrate the objectives, technical solutions, and advantages of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are merely some embodiments of this invention, and not all embodiments. Based on the embodiments described below, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0058] Example 1

[0059] As attached Figures 1-14 As shown, a universal robotic palletizing fixture for both tote boxes and cartons is used in automated palletizing equipment for efficient and stable gripping and handling of cartons and tote boxes. The fixture includes a main fixture frame 1, a carton gripping assembly 2, and a tote box gripping assembly 3.

[0060] The carton clamping assembly 2 includes a fixed frame 21 that is fixed to the main clamp frame 1 and extends downward, a movable frame 22 that is slidably installed on the main clamp frame 1 and can move back and forth along the main clamp frame 1, a transverse cylinder 23 for driving the movable frame 22 to move along the main clamp frame 1, a carton pressure plate 25 that is connected to the rear end of the main clamp frame 1 through a drive mechanism 24 and can be raised and lowered, and a number of spaced-apart bottom support fork arms 26 that are fixed to the lower end of the movable frame 22.

[0061] The movable frame 22 is located in front of the fixed frame 21;

[0062] The bottom support fork arm 26 is used to support the bottom of the carton. It extends horizontally to the rear side, and its upper surface is lower than the lower end of the fixing frame 21.

[0063] In this embodiment, the transverse cylinder 23 is a rodless cylinder, with the cylinder body fixedly connected to the main frame 1 of the fixture, and the slider fixedly connected to the movable frame 22.

[0064] As a preferred technical solution in this embodiment, the driving mechanism 24 includes two symmetrically arranged telescopic mechanisms 241 and a double-rod cylinder 242 for driving the two telescopic mechanisms 241. Each telescopic mechanism 241 includes a first arm 2411 with its upper end hinged to the main clamp frame 1, and a second arm 2412 with its lower end hinged to the carton pressing plate 25. The lower end of the first arm 2411 and the upper end of the second arm 2412 are hinged to a pivot 2413, forming a V-shape. The V-shaped opening sides of the two telescopic mechanisms 241 are arranged opposite to each other. The two piston rods of the double-rod cylinder 242 are respectively connected to the pivot 2413 of the two telescopic mechanisms 241. Obviously, the carton pressing plate 25 can also adopt other driving methods, such as an electric screw with a guide structure. After the carton pressing plate 25 descends, it presses down on the upper surface of the carton to apply pressure above the carton to prevent displacement.

[0065] As a preferred technical solution in this embodiment, to ensure the smooth movement of the movable frame 22, the movable frame 22 is connected to the main frame 1 of the clamp via two sets of third linear guide rails 27. Obviously, other guide structures, such as dovetail grooves, can also be used.

[0066] As a preferred technical solution in this embodiment, the turnover box clamping assembly 3 includes a first mounting base 31 that is slidably mounted on the movable frame 22 and can be raised and lowered along the movable frame 22, multiple turnover box fork arms 32 that are spaced apart and fixed to the first mounting base 31, a first cylinder 33 for driving the first mounting base 31 to rise and fall, a second mounting base 34 that is slidably mounted on the movable frame 22 and can be raised and lowered along the movable frame 22, a limiting pressure plate 35 fixed to the second mounting base 34, a second cylinder 36 for driving the second mounting base 34 to rise and fall, a flipping fork arm 37 that is hinged to the lower right side of the fixed frame 21 and can be flipped to the left, a support plate 38 fixed to the right side of the flipping fork arm 37, and a flipping cylinder 39 for driving the flipping fork arm 37 to rotate.

[0067] The turnover box fork arm 32 is L-shaped and is used to support the upper edge rib at the front side of the turnover box, and is arranged in an alternating manner with the turnover box fork arm 32;

[0068] The tray 38 is used to support the upper edge rib on the right side of the turnover box;

[0069] The limiting pressure plate 35 is used to press down the lid of the turnover box. A circular chamfer 40 is provided on the bottom surface of the plate corresponding to the inner edge of the groove of the turnover box lid. Preferably, the limiting pressure plate 35 is used to position the inner corner of the front right end of the groove of the turnover box lid. The size of the circular chamfer 40 is consistent with the inner edge size of the groove of the turnover box lid. The radius of the circular chamfer 40 is preferably a common size of 6mm, that is, the front and right sides of the lower end of the limiting pressure plate 35 are both chamfered to ensure the automatic positioning of the turnover box. In order to improve the positioning stability of the limiting pressure plate 35, the number of limiting pressure plates 35 is further increased in this embodiment, making it two pieces, and they are staggered with the bottom support fork arm 26 to ensure that the turnover box is effectively fixed.

[0070] As a specific technical solution in this embodiment, the first cylinder 33, the second cylinder 36, and the tilting cylinder 39 are all rod cylinders. The cylinder body of the first cylinder 33 is fixedly connected to the movable frame 22, and the piston rod is fixedly connected to the first mounting base 31. The cylinder body of the second cylinder 36 is fixedly connected to the movable frame 22, and the piston rod is fixedly connected to the second mounting base 34. The cylinder body of the tilting cylinder 39 is hinged to the fixed frame 21, and the piston rod is hinged to the tilting fork arm 37. The tilting fork arm 37 is hinged to the fixed frame 21 via a hinge.

[0071] As a further improvement to this embodiment, a first proximity switch 41 for detecting the front position of the turnover box is fixedly connected to the turnover box fork arm 32, and a second proximity switch 42 for detecting the right position of the turnover box is fixedly connected to the flipping fork arm 37. Positioning of the turnover box clamping assembly 3 during operation is achieved through the first proximity switch 41 and the second proximity switch 42. Obviously, other commonly used positioning and detection methods can also be used as alternatives.

[0072] As a preferred technical solution in this embodiment, in order to ensure the stability of movement, the first mounting base 31 is connected to the movable frame 22 through two sets of first linear guide rails 43; the second mounting base 34 is connected to the movable frame 22 through two sets of second linear guide rails 44.

[0073] As a preferred technical solution in this embodiment, in order to meet the use of turnover boxes with vertical ribs on the side, the pallet 38 is provided with a slot 45 for the vertical ribs of the turnover box side wall to be inserted.

[0074] As a preferred technical solution in this embodiment, in order to reduce the impact when the flipping fork 37 is working, a buffer block 46 is provided on the fixing frame 21 to reduce the impact force of the flipping fork 37.

[0075] As a further preferred technical solution in this embodiment, a connecting seat 4 with a flange is fixedly connected to the main frame 1 of the clamp. The main frame 1 of the clamp serves as the basic support component of the overall structure, and the connecting seat 4 with the flange can be used for fixed connection with a robot or automatic palletizing equipment.

[0076] As a specific technical solution in this embodiment, it also includes an electromagnetic valve 5 provided on the main frame 1 of the clamp. The electromagnetic valve 5 is used to control the operation of the transverse cylinder 23, the first cylinder 33, the second cylinder 36, the tilting cylinder 39 and the double rod cylinder 242.

[0077] Example 2

[0078] As attached Figures 15-16As shown, a robot palletizing fixture applicable to both turnover boxes and cartons is presented in this embodiment. This embodiment employs a different driving mechanism 24 for more stable carton pressing, while the rest is basically the same as in Embodiment 1. Specifically, the driving mechanism 24 includes two symmetrically arranged telescopic mechanisms 243 and a double-rod cylinder 244 driving the two telescopic mechanisms 243. Each telescopic mechanism 243 includes a first rod 2431 with its upper end hinged to the main frame 1 of the fixture, and a second rod 2432 with its lower end hinged to the carton pressing plate 25. The upper end of the second rod 2432 is hinged to the rod portion of the first rod 2431 via a pivot 2433, forming an "I" shape. The two piston rods of the double-rod cylinder 244 are respectively connected to the two telescopic mechanisms. The first rod 2431 is connected to a pivot 2433; a sliding block 245 is hinged to the lower end of the first rod 2431, and a slide rail 246 is provided on the carton pressure plate 25 to slide in cooperation with the sliding block 245; the distance between the hinge points at both ends of the second rod 2432 is equal to the distance between the hinge point of the first rod 2431 and its lower hinge point, and the hinge point at the lower end of the second rod 2432 is at the same height as the hinge point at the lower end of the first rod 2431, to ensure that the carton pressure plate 25 is in a horizontal state and remains horizontal during lifting. This structure makes the pressing contact between the carton pressure plate 25 and the carton more stable, thereby making the stacking operation of a single carton more stable and reliable, and effectively preventing the carton from slipping or falling off during handling and stacking. By synchronously driving two sets of symmetrical "in"-shaped telescopic mechanisms with dual-rod cylinders, and combined with the guiding cooperation of sliding block 245 and slide rail 246, the carton pressing plate 25 can always maintain a precise level during the lifting process. At the same time, this design helps to evenly distribute the force during pressing, reduce local stress concentration, significantly improve the uniformity of pressing and the dynamic stability of the overall structure, thereby greatly improving the reliability and safety of palletizing operations.

[0079] To further enhance the stability of the carton pressing plate 25 in contact with the carton and prevent slight swaying of the carton pressing plate 25 relative to the main clamp frame 1 during handling, two upwardly extending guide rods 247 are symmetrically arranged on the carton pressing plate 25. Linear bearings 248 are slidably mounted on the guide rods 247, and the linear bearings 248 are fixedly connected to the main clamp frame 1 via connecting plates 249. Obviously, other guiding structures can also be used to increase the vertical stability of the carton pressing plate 25. The cooperation between the guide rods 247 and the linear bearings 248 provides high-precision linear guidance, effectively suppressing the rotation and lateral displacement of the carton pressing plate 25 during movement, enhancing the system's anti-disturbance capability, ensuring that the pressing plate maintains a stable posture even under high-speed or frequent start-stop conditions, further improving pressing accuracy and equipment operation smoothness, and extending the service life of mechanical components.

[0080] The workflow is as follows (using Example 1 as an example; the workflow for Example 2 is basically the same):

[0081] I. Carton Palletizing Process

[0082] When the gripper picks up the carton, the main gripper frame 1 moves with the robot to above the roller conveyor, and the fixed frame 21 approaches the carton. The solenoid valve 5 is activated, and the lateral cylinder 23 pushes the movable frame 22 forward, causing the bottom-supporting fork arm 26 to extend from the gap between the rollers to the bottom of the carton, providing support. Subsequently, the piston rod of the double-rod cylinder 242 retracts, driving the telescopic mechanism 241 to unfold, causing the carton pressure plate 25 to descend and press down on the top of the carton, preventing it from shifting or falling during transport.

[0083] The robot then uses a gripper to lift and transport the carton. Once it reaches a certain height above the designated stacking position, the robot controls the gripper to slowly descend, the carton pressure plate 25 rises and resets, and the movable frame 22 moves backward, causing the bottom support fork arm 26 to retract from the bottom of the carton, completing the carton release. The length of the pressure plate and the number of bottom support fork arms 26 can be adjusted according to actual needs to achieve the function of handling multiple cartons at once. This embodiment is designed to support gripping one to three cartons at a time, and is suitable for stacking operations of cartons of various sizes.

[0084] II. Palletizing Process of Turnover Boxes

[0085] When the gripper picks up the turnover box, the turnover box fork arm 32 extends downwards beforehand to ensure that its upper surface is at the same level as the upper surface of the pallet 38. The robot moves the gripper main frame 1 close to the turnover box. When the turnover box fork arm 32 contacts the side wall of the turnover box and triggers the first proximity switch 41, it stops moving forward. Then the flipping fork arm 37 flips downwards until the second proximity switch 42 is triggered. After both proximity switches are triggered, the second cylinder 36 drives the limiting pressure plate 35 to press down, pressing the turnover box lid. The bottom surface of the limiting pressure plate 35 has an R6 rounded corner structure, which can play a guiding and positioning role during the pressing process.

[0086] At this point, the fork arm 32 of the turnover box supports the upper edge rib on the front side of the turnover box, the support plate 38 supports the upper edge rib on the right side, and the limiting pressure plate 35 engages with the groove at the corner of the turnover box cover to achieve stable clamping. The robot then drives the gripper to lift and transport the turnover box. After reaching a certain distance above the target position, the robot controls the gripper to descend, the flipping fork arm 37 flips upward to reset, and the limiting pressure plate 35 rises and resets simultaneously. The robot then drives the gripper to exit horizontally from the front side, after which the turnover box fork arm 32 retracts upward, completing the release of the turnover box.

[0087] The fixture can be selected as either "carton mode" or "turnover box mode" via the control system, and solenoid valve 5 automatically switches the action logic of each cylinder according to the settings. During the switching process, the system automatically detects whether the current task has been completed to avoid erroneous actions. If a mismatch in the target object type or an abnormal position is detected, the system issues an alarm and pauses the operation, awaiting manual intervention.

[0088] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, any modifications, equivalent substitutions, and improvements made to the technical solutions or some technical features described in the above specific embodiments within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

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); 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).

2. The robotic palletizing gripper of claim 1, 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.

3. The robotic palletizing gripper of claims 1 or 2, 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).

4. The robotic palletizing gripper of claims 1 or 2, 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.

5. The case and carton general purpose robotic palletizing clamp of claim 1 or 2, 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).

6. The case and carton general purpose robotic palletizing clamp of claim 1 or 2, wherein, The limiting pressing plate (35) is two pieces and arranged alternately with the bottom supporting fork arms (26).

7. The case and carton general purpose robotic palletizing clamp of claim 1 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.

8. The case-and-carton general-purpose robotic palletizing gripper according to claim 1, 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).

9. The case and carton general purpose robotic palletizing clamp of claim 8, 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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