Automatic robot for target product production and use method thereof

Abstract

The invention relates to the technical field of manipulators, and discloses an automatic robot for target product production and a using method thereof.The automatic robot comprises the manipulator, a negative pressure adsorption assembly is installed on the manipulator, and the negative pressure adsorption assembly comprises a negative pressure bearing base plate and a negative pressure adsorption disc arranged at the bottom of the negative pressure bearing base plate; the negative pressure bearing base plate is arranged on the top of the packaging box, avoiding type supporting assemblies for providing lateral supporting force for the target product are arranged on the two sides of the negative pressure bearing base plate, and the avoiding type supporting assemblies are driven by independent power sources, the innovative design of cooperation of top adsorption and side avoiding type supporting is adopted, when the target product is clamped and taken, the negative pressure adsorption disc exerts adsorption force on the top of the packaging box, and therefore the target product is clamped and taken. Meanwhile, the receding type supporting assembly continuously provides supporting force from the side portion, the receding type supporting assembly and the receding type supporting assembly form a composite force system, single-point stress on the top of the packaging box is effectively dispersed through the design, deformation and protrusion caused by concentrated stress on the top of the packaging box are avoided, and the core pain point that a whole pile deviates due to deformation of the top of the packaging box in traditional suction cup type stacking is fundamentally solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, in particular to an automatic robot for target product production and a use method thereof. BACKGROUND

[0002] In the field of automatic production and stacking of small-bowl tonics, gapless stacking of packaging boxes is a core link to improve the utilization rate of storage space and ensure the stability of logistics transportation. In the existing technology, for small-bowl tonics packaged by adhesive tape, a suction cup type automatic robot is generally used to carry out stacking operation, that is, a mechanical hand carries a negative pressure suction cup to directly adsorb the top of the packaging box, and a "single-point adsorption on the top + multi-axis transfer of the mechanical hand" mode is used to realize gapless stacking. Such equipment is widely used in finished product storage scenes in the food and tonic industries due to its simple structure and small interference with stacking gaps, and is one of the mainstream solutions to realize automatic stacking.

[0003] In actual application, although the technical logic of the suction cup type stacking robot can meet the basic requirement of "no gap", for packaging boxes containing small-bowl tonics (especially when the internal loading capacity is large), the following key defects still exist:

[0004] 1. Deformation protrusion on the top of the packaging box causes stacking deviation: the existing suction cup type robot only applies force to the packaging box through the top negative pressure suction cup. When the box contains multiple small-bowl tonics, the top of the box is prone to deformation protrusion due to single-point force concentration. This deformation will destroy the flatness of the top of the packaging box, so that the subsequent stacked packaging boxes cannot be accurately fitted with the lower box body. With the increase of stacking layers, the horizontal deviation continues to accumulate, eventually leading to the inclination and deviation of the whole stack of packaging boxes - which may damage the neatness of the stack, or cause the edge packaging boxes to fall off due to lack of support, or some boxes to be deformed, causing damage to the internal small-bowl tonics, and seriously reducing the stability and safety of stacking.

[0005] 2. Deviation of the stack causes chain quality and safety hazards: stacking deviation not only destroys the appearance neatness, but also causes unbalanced stress inside the stack. The deviated packaging box will exert additional lateral extrusion force on the adjacent box, which may cause the adhesive tape packaging to crack over a long period of stacking, causing the internal small-bowl tonics to be exposed, affecting the sealing and integrity of the product. At the same time, the deviated stack may collapse during storage and transportation if it is subjected to slight external forces such as forklift operation vibration and transportation jolt, causing serious economic loss and safety hazards.

[0006] 3. The application scenario is limited, and the stability of the heavy load packaging box stacking is insufficient: the existing technology only relies on the top adsorption force. For small bowl tonics packaging boxes with large internal loading capacity and high weight, the top adsorption force is difficult to balance the gravity moment of the box body. In addition to the deformation of the box top, the box body is also prone to tilting and rotating during the transfer process, which further reduces the stacking accuracy. This makes the application scenario of the existing suction cup type stacking robot strictly limited to the packaging box stacking operation of "light load and few pieces", which cannot meet the "full load and multiple specifications" stacking demand of small bowl tonics after large-scale production, and the universality and practicality are greatly discounted.

[0007] Therefore, the application provides an automatic robot for target product production and a use method thereof. SUMMARY

[0008] The application aims to provide an automatic robot for target product production and a use method thereof to solve the problems in the background art.

[0009] To achieve the above-mentioned purpose, the application provides the following technical scheme: an automatic robot for target product production, comprising a manipulator, wherein a negative pressure adsorption assembly is installed on the manipulator, the negative pressure adsorption assembly comprises a negative pressure bearing base plate and a negative pressure adsorption disc arranged at the bottom of the negative pressure bearing base plate, and an avoidance type support assembly providing lateral support force for the target product is arranged on both sides of the negative pressure bearing base plate, and the avoidance type support assembly is driven by a separate power source; when the target product is clamped and taken, the negative pressure adsorption disc applies adsorption force to the top of the target product, and the avoidance type support assembly provides support force to the side of the target product, and the two cooperate to realize the grabbing of the target product; during the stacking process, the power source drives the avoidance type support assembly away from the target product and does not contact the placed product.

[0010] Preferably, the manipulator is assembled on a control console.

[0011] Preferably, the avoidance type support assembly comprises two symmetrical servo-driven linear adjustment units arranged outside the negative pressure bearing base plate, at least one composite stress adaptation member is installed at the bottom of the output shaft of each servo-driven linear adjustment unit, and the composite stress adaptation member does not interfere with the motion trail of the manipulator.

[0012] Preferably, the servo-driven linear adjustment unit is a pneumatic cylinder.

[0013] Preferably, the composite stress adaptation member comprises a force transmission base shell, the force transmission base shell is fixedly connected with the bottom of the output shaft of the servo-driven linear adjustment unit, and a friction adaptation belt is sleeved in the composite stress adaptation member.

[0014] Preferably, the force transmission base shell is symmetrically mounted with flexible arc surface support parts on the side close to the target product, and the bottom of the flexible arc surface support parts is provided with a guide inclined surface section inclined away from the target product.

[0015] Preferably, the thickness of the friction adaptation band is greater than the edge of the force transmission base shell, and the thickness does not exceed the flexible arc surface support part.

[0016] Preferably, the friction adaptation band is attached to the target product, and the surface of the negative pressure bearing base plate is mounted with a bearing frame, and the servo-driven linear adjustment unit two is mounted on the surface of the bearing frame.

[0017] Preferably, the avoidance type support assembly comprises a servo-driven linear adjustment unit one symmetrically mounted on the surface of the negative pressure bearing base plate, and the outer side of the negative pressure bearing base plate is symmetrically fixedly connected with a hinged support seat, the outer surface of the hinged support seat is rotatably connected with a transmission connecting rod, the side away from the hinged support seat of the transmission connecting rod is rotatably connected with a clamping plate, and the top of the clamping plate is rotatably connected with the output shaft of the servo-driven linear adjustment unit one.

[0018] Preferably, the servo-driven linear adjustment unit one is a gas cylinder.

[0019] Preferably, each clamping plate is mounted with an elliptical elastic protrusion on the side close to the target product.

[0020] The use method comprises the following steps:

[0021] Step one: start the automatic robot, initialize the mechanical hand, the negative pressure adsorption assembly and the avoidance type support assembly, identify the spatial position, shape specification and distribution of the products placed in the stacking area of the target product through the visual detection unit, and generate a work path;

[0022] Step two: the mechanical hand drives the negative pressure adsorption assembly and the avoidance type support assembly to reach the target product, the power source controls the avoidance type support assembly to feed and apply support force to the side of the target product, and the negative pressure adsorption disc generates adsorption force on the top of the target product at the same time, realizing the stable and gapless grabbing of the target product;

[0023] Step three: the mechanical hand drives the target product to the stacking station along the planned path, and in the moving process, the negative pressure adsorption disc continuously maintains the adsorption force, and the avoidance type support assembly maintains the side support state, ensuring that the target product has no displacement deviation in the X, Y and Z axis directions, realizing the smooth moving of the target product in multiple dimensions;

[0024] Step four: when the target product approaches the preset height of the stacking station, the power source drives the avoiding support assembly to move away from the target product and the stacked product to achieve avoidance, the mechanical hand controls the negative pressure suction disc to release the suction force, and the target product falls smoothly along the vertical direction to the stacking station, completing a stacking cycle.

[0025] Preferably, in step two, the negative pressure suction disc applies a suction force of 50-200N to the top of the target product, and the avoiding support assembly applies a support force of 30-150N to the side of the target product.

[0026] Compared with the prior art, the beneficial effects of the present application are:

[0027] 1. In view of the defect that the existing suction disc type stacking is prone to deformation and bulging of the top of the packaging box, and causes the whole stack to deviate, the present application adopts the innovative design of "top suction + side avoiding support cooperation", when clamping and taking the target product, the negative pressure suction disc applies suction force to the top of the packaging box, and the avoiding support assembly continuously provides support force from the side, forming a "composite force system", which effectively disperses the single-point force on the top of the packaging box, avoids deformation and bulging of the box top due to concentrated force, and solves the core pain point of the traditional suction disc type stacking that the whole stack deviates due to box top deformation, ensuring the stability and safety of the stacking, even heavy packaging boxes can achieve precise stacking without deformation.

[0028] 2. In view of the defect that the traditional stacking lacks continuous support during placement and is prone to deviation of the center of gravity of the box, the avoiding support assembly of the present application can continuously provide support to the side of the packaging box during stacking and placement, and the flexible arc surface support part relies on its own elasticity to always maintain the support of the side during the falling process of the packaging box, providing lateral stability for the falling process. After the packaging box is stably placed, the support assembly completely avoids the support. This "continuous support to complete placement" action logic ensures that the packaging box is balanced during placement, avoids the decrease of stacking accuracy caused by deviation of the center of gravity during placement, further improves the neatness and stability of the stack, and eliminates the risk of local collapse caused by unstable placement.

[0029] 3. To address the shortcomings of existing palletizing equipment, such as limited applicability and insufficient stability in palletizing heavy-duty boxes, this invention features two complementary and adaptable avoidance-type support components. Implementation Example 1, with its composite force-bearing adaptable component, is suitable for small bowl-shaped health supplement packaging boxes with larger internal loads and higher weights. Stable operation is achieved through multiple safeguards: top adsorption, side elastic support, and sliding friction cooperation. Implementation Example 2, with its simplified clamping structure, is suitable for lighter-loaded boxes with smaller loads. Side elastic clamping is achieved through cylinder and linkage transmission. This "dual implementation method adapting to different loads" design overcomes the limitation of traditional suction cup palletizing robots that can only handle light-loaded boxes, meeting the "full load, multiple specifications" palletizing requirements in the large-scale production of small bowl-shaped health supplements, and significantly improving the equipment's versatility and practicality.

[0030] 4. To address the chain of safety hazards such as stack collapse and box damage caused by palletizing misalignment, this invention employs a complete action logic of "adsorption-side support coordinated clamping → continuous side support during transfer → gradual avoidance during palletizing while maintaining side support until complete placement." This ensures the force balance and precise positioning of the packing boxes in the three key stages of clamping, transfer, and placement. Whether it's the continuous side support for heavy-load boxes or the elastic clamping and precise release of light-load boxes, it effectively avoids the problems of packing boxes shifting or tilting during the palletizing process. This allows the stack to maintain structural stability during warehousing and transportation, even under slight external forces such as forklift vibrations and transportation bumps, fundamentally eliminating safety hazards such as collapse and box damage caused by palletizing misalignment, and providing reliable protection for the finished product warehousing and logistics transportation of small bowl health supplements. Attached Figure Description

[0031] Figure 1 This is a frontal perspective three-dimensional schematic diagram of the main structure in Embodiment 2 of the present invention;

[0032] Figure 2 This is a plan view of the avoidance support component in the clamping state in Embodiment 2 of the present invention;

[0033] Figure 3 This is a three-dimensional schematic diagram of the avoidance support component in Embodiment 2 of the present invention;

[0034] Figure 4 This is a plan view of the avoidance support component in the non-clamping state in Embodiment 2 of the present invention;

[0035] Figure 5 This is a frontal perspective three-dimensional schematic diagram of the main structure in Embodiment 1 of the present invention;

[0036] Figure 6 For the present invention Figure 5 Enlarged 3D structural diagram at point A;

[0037] Figure 7A planar schematic diagram of the avoidance type support assembly in a clamping state in Embodiment One of the present application;

[0038] Figure 8 A planar schematic diagram of the avoidance type support assembly in a non-clamping state in Embodiment One of the present application;

[0039] Figure 9 A disassembled three-dimensional schematic diagram of the composite stress adaptation component in Embodiment One of the present application;

[0040] Figure 10 A flow chart of Embodiment Three of the present application.

[0041] In the figure:

[0042] 1, robot; 2, negative pressure suction assembly; 21, negative pressure bearing base plate; 22, negative pressure suction disc; 3, control console; 4, avoidance type support assembly; 41, servo drive linear adjustment unit one; 42, hinged support seat; 43, transmission connecting rod; 44, clamping plate; 441, elliptical elastic protrusion; 45, servo drive linear adjustment unit two; 46, composite stress adaptation component; 461, force transmission base shell; 462, flexible cambered surface support part; 463, friction adaptation belt; 464, guide inclined surface section; 47, bearing frame. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0044] It should be noted that the robot 1 in the present case only provides a multi-axis linkage execution function (through the existing mechanical arm principle of servo motor driving, multi-joint transmission, precise movement of spatial position, driving the negative pressure suction assembly 2 and the avoidance type support assembly 4 to complete the actions of grabbing, transferring and stacking), the negative pressure suction assembly 2 only provides a top negative pressure suction function (through the existing negative pressure generation principle of vacuum pump and vacuum generator, the negative pressure suction disc 22 and the target product surface form a suction force), the negative pressure suction disc 22 only provides an end face suction execution function (through the existing suction principle of the disc surface vacuum cavity and atmospheric pressure difference, the top of the target product is suctioned and fixed), the servo drive linear adjustment unit one 41 and the servo drive linear adjustment unit two 45 only provide a linear drive function (through the existing linear execution principle of air cylinder pneumatic transmission and electric push rod motor screw transmission, the components of the avoidance type support assembly 4 are driven to realize the actions of stretching and clamping).

[0045] The working principles (such as the motion control principle of the multi-axis robotic arm, the pressure difference generation principle of negative pressure adsorption, and the drive transmission principle of the linear actuator) and specific structures (such as the number of joints and arm length parameters of the robotic arm 1, the negative pressure value range of the negative pressure adsorption component 2, the disk size and sealing structure of the negative pressure adsorption disk 22, and the stroke and thrust parameters of the servo drive linear adjustment unit) of the above components are all existing technologies. Given the universality of these structures, their specific principles will not be elaborated further.

[0046] Example 1, as Figure 5 As shown, an automated robot for producing a target product includes a robotic arm 1, on which a negative pressure adsorption component 2 is mounted. The negative pressure adsorption component 2 includes a negative pressure bearing substrate 21 and a negative pressure adsorption plate 22 disposed at the bottom of the negative pressure bearing substrate 21. Alternating support components 4, which provide lateral support for the target product, are disposed on both sides of the negative pressure bearing substrate 21 and are driven by a separate power source. When gripping and picking up the target product, the negative pressure adsorption plate 22 applies an adsorption force to the top of the target product, and the alternating support components 4 provide support to the sides of the target product; the two work together to achieve the gripping of the target product. During palletizing, the power source drives the alternating support components 4 away from the target product and prevents them from contacting the already placed products.

[0047] It should be noted that robotic arm 1 is mounted on console 3.

[0048] It should be noted that, as Figure 6 As shown, the avoidance support assembly 4 includes servo drive linear adjustment units 45 symmetrically arranged on the outside of the negative pressure bearing base plate 21. At least one composite force adapter 46 is installed at the bottom of the output shaft of each servo drive linear adjustment unit 45. The composite force adapter 46 does not interfere with the movement trajectory of the robot 1. The servo drive linear adjustment unit 45 is a cylinder.

[0049] like Figure 8 and Figure 9 As shown, each of the composite force-bearing adapter components 46 includes a force transmission base housing 461, which is fixedly connected to the bottom of the output shaft of the servo drive linear adjustment unit 45. A friction adapter strip 463 is sleeved inside the composite force-bearing adapter component 46. Flexible arc surface support parts 462 are symmetrically installed on the side of the force transmission base housing 461 near the target product. The bottom of the flexible arc surface support part 462 is provided with a guide slope section 464 that is inclined away from the target product. The thickness of the friction adapter strip 463 is greater than the edge of the force transmission base housing 461, and its thickness does not exceed that of the flexible arc surface support part 462. The friction adapter strip 463 is in contact with the target product. A support frame 47 is installed on the surface of the negative pressure bearing substrate 21, and the servo drive linear adjustment unit 45 is installed on the surface of the support frame 47.

[0050] It should be noted that the present automatic robot is mainly applied to the production and stacking scene of small bowl tonics, specifically, after the packaging box containing small bowl tonics is packaged by adhesive tape, automatic stacking operation is carried out. In this scene, each box needs to contain multiple small bowl tonics, and the stacked products are required to be gapless to maximize the utilization rate of storage space.

[0051] Therefore, the suction cup type manipulator 1 is used for clamping, which can avoid the interference of the clamp on the gap of the packaging box, but also causes technical problems: when the top of the packaging box is packaged by adhesive tape and the inside is full of small bowl tonics, only the top negative pressure adsorption disc 22 adsorption is easy to make the box top produce deformation bulge due to stress concentration, which will gradually cause the whole product to deviate in the subsequent stacking, seriously affecting the stacking stability and storage safety.

[0052] Based on this, the working principle of the present automatic robot is as follows: when the packaging box of small bowl tonics after packaging is clamped, the manipulator 1 drives the negative pressure adsorption assembly 2 and the avoidance type support assembly 4 to move to the target packaging box at the same time.

[0053] The negative pressure adsorption disc 22 of the negative pressure adsorption assembly 2 moves down first, and the adsorption force is applied to the packaging box top adhesive tape packaging surface, at the same time, the servo driven linear adjustment unit two 45 of the avoidance type support assembly 4 drives the composite stress adaptive component 46 to feed to the side of the packaging box, the guide inclined surface section 464 provides a smooth channel for the packaging box to enter, and the packaging box side slides along the guide inclined surface section 464 and compresses the flexible arc surface support part 462.

[0054] Because the flexible arc surface support part 462 has elasticity, it generates reverse elastic support force when compressed, and the friction adaptive belt 463 sleeved inside forms sliding friction fit with the side of the packaging box, which not only enhances the clamping stability, but also avoids rigid wear to the side of the packaging box.

[0055] At this time, the force transmission base shell 461 forms clamping support to the packaging box from the side through the cooperation of the flexible arc surface support part 462 and the friction adaptive belt 463, and the adsorption force of the top negative pressure adsorption disc 22 forms a composite force system of "top adsorption + side elastic support", which effectively disperses the stress on the top of the packaging box and prevents it from deforming and bulging due to single point adsorption.

[0056] During the transfer process, the manipulator 1 drives the packaging box to the stacking station, and in this process, the negative pressure adsorption disc 22 continuously maintains the adsorption force, and the flexible arc surface support part 462 of the avoidance type support assembly 4 is always in contact with the side of the packaging box, relying on its elastic properties to continuously provide lateral support, ensuring that the packaging box has no displacement deviation in X, Y and Z axis directions, and realizing multi-dimensional stable transfer.

[0057] When the packing box approaches the preset height of the stacking station, the manipulator 1 controls the negative pressure adsorption assembly 2 to gradually move the packing box downward along the vertical direction, and the servo-driven linear adjustment unit two 45 gradually drives the composite stress adaptive component 46 to rise.

[0058] During this process, the flexible arc surface support part 462 continuously adheres to the side of the packing box by relying on its own elasticity, providing lateral stability for the falling of the packing box, until the packing box is completely embedded in the placement space of the stacking station.

[0059] After the packing box is stably positioned, the negative pressure adsorption disc 22 releases the adsorption force, and the servo-driven linear adjustment unit two 45 continues to drive the composite stress adaptive component 46 to rise to the limit position, so that the flexible arc surface support part 462 and the friction adaptive belt 463 completely avoid the packing box, avoiding interference with the placed packing box.

[0060] Through this process, when the negative pressure adsorption assembly 2 is placed, the flexible arc surface support part 462 of the avoidance type support assembly 4 continuously elastically supports the side of the packing box, effectively dispersing the stress on the top of the packing box, preventing deformation due to single-point adsorption, and the sliding friction of the friction adaptive belt 463 avoids rigid wear of the packing box.

[0061] Finally, it realizes precise stacking without deformation and interference, solves the technical problem of traditional suction disc stacking that is prone to whole stack deviation caused by box top deformation, and guarantees the stability and efficiency of small bowl tonic packing box stacking. The action logic of "adsorption-side support cooperative clamping → continuous side support during moving → gradual avoidance during stacking and side support remaining until complete placement" not only solves the problem of deformation of the top of the packing box due to single-point adsorption, but also ensures the stability of placement during the placing process by continuous side support, thereby effectively avoiding the whole stack deviation problem caused by the deformation of the top of the packing box in traditional suction disc stacking, significantly improving the efficiency and stability of small bowl tonic packing box stacking.

[0062] In embodiment two, the core difference between this embodiment and embodiment one is that the specific structure of the avoidance type support assembly 4 is different, and the rest of the structure and connection relationship of the manipulator 1 and the negative pressure adsorption assembly 2 are consistent with embodiment one, which will not be described in detail here.

[0063] As shown in Figures 1 to 3 , the avoidance type support assembly 4 includes a servo-driven linear adjustment unit one 41 symmetrically installed on the surface of the negative pressure bearing substrate 21. The outer side of the negative pressure bearing substrate 21 is fixedly connected with a hinged support seat 42, the outer surface of the hinged support seat 42 is rotatably connected with a transmission connecting rod 43, the side of the transmission connecting rod 43 away from the hinged support seat 42 is rotatably connected with a clamping plate 44, and the top of the clamping plate 44 is rotatably connected with the output shaft of the servo-driven linear adjustment unit one 41.

[0064] It should be noted that the servo-driven linear adjustment unit 41 is a cylinder, and each clamping plate 44 is provided with an elliptical elastic protrusion 441 on the side close to the target product.

[0065] Specifically, when the packing box containing a small amount of small bowl tonics is stacked, in the initial state, the servo-driven linear adjustment unit 41 is in the contracted state, the transmission connecting rod 43 drives the clamping plate 44 to be in an open posture, which is convenient for the negative pressure suction assembly 2 to carry out the grabbing work.

[0066] After the manipulator 1 drives the negative pressure suction assembly 2 and the avoidance type support assembly 4 to move synchronously above the target packing box, the negative pressure suction disc 22 firstly moves downward to exert the suction force on the top of the packing box to complete the preliminary suction.

[0067] Subsequently, the piston rod of the servo-driven linear adjustment unit 41 is stretched, and through the transmission action of the transmission connecting rod 43, the clamping plate 44 is driven to rotate around the hinged support seat 42, so that the elliptical elastic protrusion 441 on the inner side of the clamping plate 44 gradually contacts and compressively deforms the side of the packing box.

[0068] The elliptical elastic protrusion 441 generates a reverse supporting force by relying on its own elasticity, and cooperates with the suction force of the negative pressure suction disc 22 to realize the composite fixation of the packing box by “top suction + side elastic clamping”, and since the number of small bowl tonics in the packing box is small and the weight is light in this scene, this clamping mode is sufficient to guarantee the stability of the packing box during the transfer process, and can also simplify the structure and control the cost.

[0069] During the transfer process, the manipulator 1 drives the packing box to move stably, the servo-driven linear adjustment unit 41 remains in the stretched state, and the clamping plate 44 continuously elastically clamps the side of the packing box through the elliptical elastic protrusion 441, so as to ensure that there is no displacement deviation during the transfer.

[0070] When approaching the stacking station, the piston rod of the servo-driven linear adjustment unit 41 is contracted, the transmission connecting rod 43 drives the clamping plate 44 to rotate reversely around the hinged support seat 42, and the elliptical elastic protrusion 441 gradually separates from the side of the packing box to release the side clamping, and then the manipulator 1 controls the negative pressure suction assembly 2 to drive the packing box to move downward and accurately place it on the stacking station.

[0071] The avoidance support assembly 4 of this embodiment is more simplified in structure, and the side clamping and avoidance are realized through the transmission cooperation of the air cylinder and the connecting rod. Although there is no action of continuously supporting the side to complete placement as in the first embodiment, the top of the packing box is deformed very little when it is adsorbed under negative pressure because the packing box is adapted to small internal bowl tonics with less loading and lighter weight. Therefore, the action logic of "adsorption-clamping-transportation-release-placement" can not only meet the stability requirements of stacking, but also simplify the structure and reduce the cost, and is suitable for the stacking of packing boxes with less loading of small bowl tonics, and forms a complement to the first embodiment, thereby expanding the application range of the automatic robot.

[0072] As shown in the third embodiment, Figure 9 the method comprises the following steps:

[0073] Step one: start the automatic robot, initialize the mechanical hand 1, the negative pressure adsorption assembly 2 and the avoidance support assembly 4, identify the spatial position, shape specification of the target product and the distribution of the placed products in the stacking area through the visual detection unit, and generate a work path;

[0074] Step two: the mechanical hand 1 drives the negative pressure adsorption assembly 2 and the avoidance support assembly 4 to reach the target product, the power source controls the avoidance support assembly 4 to feed to the side of the target product and apply a supporting force, and the negative pressure adsorption disc 22 generates an adsorption force on the top of the target product at the same time, so as to realize the stable and gapless grabbing of the target product;

[0075] Step three: the mechanical hand 1 drives the target product to the stacking station along the planned path, and in the transportation process, the negative pressure adsorption disc 22 continuously maintains the adsorption force, and the avoidance support assembly 4 maintains the side supporting state, so as to ensure that the target product has no displacement deviation in the X, Y and Z axis directions, and realizes the smooth transportation in multiple dimensions;

[0076] Step four: when the target product approaches the preset height of the stacking station, the power source drives the avoidance support assembly 4 to move away from the target product and the stacked products to realize avoidance, the mechanical hand 1 controls the negative pressure adsorption disc 22 to release the adsorption force, so that the target product is smoothly placed along the vertical direction to the stacking station, and one stacking cycle is completed.

[0077] It should be noted that in step two, the adsorption force range of the negative pressure adsorption disc 22 on the top of the target product is 50-200N, and the supporting force range of the avoidance support assembly 4 on the side of the target product is 30-150N.

[0078] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0079] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A target product production-oriented automatic robot, comprising a manipulator (1), a negative pressure adsorption assembly (2) is installed on the manipulator (1), the negative pressure adsorption assembly (2) comprises a negative pressure bearing base plate (21) and a negative pressure adsorption disc (22) arranged at the bottom of the negative pressure bearing base plate (21), characterized in that: The two sides of the negative pressure bearing base plate (21) are provided with an evasive support assembly (4) for providing lateral support force for the target product, and the evasive support assembly (4) is driven by a separate power source; when the target product is clamped and taken, the negative pressure suction disc (22) applies suction force to the top of the target product, and the evasive support assembly (4) provides support force to the side of the target product, and the two cooperate to realize the grabbing of the target product; in the stacking process, the power source drives the evasive support assembly (4) away from the target product and does not contact the placed product.

2. An automated robotic machine for targeted product production as claimed in claim 1, wherein: The evasive support assembly (4) includes a servo-driven linear adjustment unit two (45) symmetrically arranged outside the negative pressure bearing base plate (21), and at least one composite stress adaptation member (46) is installed at the bottom of the output shaft of each servo-driven linear adjustment unit two (45), and the composite stress adaptation member (46) does not interfere with the movement track of the manipulator (1).

3. An automated robotic machine for targeted product production as claimed in claim 2, wherein: The composite stress adaptation member (46) includes a force transmission base shell (461), which is fixedly connected with the bottom of the output shaft of the servo-driven linear adjustment unit two (45), and a friction adaptation band (463) is sleeved in the composite stress adaptation member (46).

4. An automated robotic machine for targeted product production as claimed in claim 3, wherein: The force transmission base shell (461) is symmetrically installed with a flexible arc surface support portion (462) on the side close to the target product, and the bottom of the flexible arc surface support portion (462) is provided with a guide inclined surface section (464) inclined away from the target product.

5. An automated robotic machine for targeted product production as claimed in claim 4, wherein: The thickness of the friction adaptation band (463) is greater than the edge of the force transmission base shell (461), and the thickness does not exceed the flexible arc surface support portion (462).

6. An automated robotic machine for targeted product production according to any one of claims 3-5, characterized in that: The friction adaptation band (463) is attached to the target product, and a bearing frame (47) is installed on the surface of the negative pressure bearing base plate (21), and the servo-driven linear adjustment unit two (45) is installed on the surface of the bearing frame (47).

7. An automated robotic machine for targeted product production as claimed in claim 1, wherein: The evasive support assembly (4) includes a servo-driven linear adjustment unit one (41) symmetrically installed on the surface of the negative pressure bearing base plate (21), and a hinged support seat (42) is symmetrically fixedly connected outside the negative pressure bearing base plate (21), a transmission connecting rod (43) is rotatably connected to the outer surface of the hinged support seat (42), and a clamping plate (44) is rotatably connected to the side away from the hinged support seat (42) of the transmission connecting rod (43). The top of the clamping plate (44) is rotatably connected with the output shaft of the servo-driven linear adjustment unit one (41).

8. An automated robotic machine for targeted product production as claimed in claim 7, wherein: Each clamping plate (44) is installed with an elliptical elastic protrusion (441) on the side close to the target product.

9. A method of use, applied to an automated robotic machine for targeted product production as claimed in claim 1, characterized in that: The method comprises the following steps: Step one: start the automatic robot, initialize the manipulator (1), the negative pressure suction assembly (2) and the evasive support assembly (4), identify the spatial position, shape specification of the target product and the distribution of the placed products in the stacking area through the visual detection unit, and generate the operation path. Step two: the mechanical arm (1) drives the negative pressure adsorption assembly (2) and the avoidance support assembly (4) to reach the target product, the power source controls the avoidance support assembly (4) to feed to the side of the target product and apply support force, and the negative pressure adsorption disc (22) generates adsorption force on the top of the target product at the same time, realizing stable and gapless grabbing of the target product; Step three: the mechanical arm (1) drives the target product to the stacking station along the planned path, and in the process of transfer, the negative pressure adsorption disc (22) continuously maintains the adsorption force, and the avoidance support assembly (4) maintains the side support state, so as to ensure that the target product has no displacement deviation in the X, Y and Z axis directions, and realizes smooth transfer in multiple dimensions; Step four: when the target product approaches the preset height of the stacking station, the power source drives the avoidance support assembly (4) to move away from the target product and the stacked product to realize avoidance, the mechanical arm (1) controls the negative pressure adsorption disc (22) to release the adsorption force, so that the target product is smoothly dropped along the vertical direction to the stacking station, and a stacking cycle is completed.

10. The method of use of claim 9, wherein: In the step two, the adsorption force range of the negative pressure adsorption disc (22) applied to the top of the target product is 50-200N, and the support force range of the avoidance support assembly (4) applied to the side of the target product is 30-150N.

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