A palletizing robot for packaging boxes

Abstract

The application discloses a kind of packing box's stacking robot, belongs to packing machinery technical field, and stacking robot includes operation terminal, the top of the operation terminal is equipped with six-axis robot arm, and the movable end of the six-axis robot arm is connected with clamping device by pressure sensing mechanism, the clamping device includes self-lifting clamping component, connecting plate, flexible suction cup component, centering component.The self-lifting clamping component, connecting plate, flexible suction cup component, centering component of the present application are set, two kinds of modes of integrated adsorption clamping and mechanical clamping, can be flexibly switched according to packing box type, without changing jig, simultaneously possess pressure response, self-adapting adsorption and centering function, effectively improve the degree of flexibility, reliability and precision of stacking operation.

Description

Technical Field

[0001] This invention belongs to the field of packaging machinery technology, specifically relating to a palletizing robot for packaging boxes. Background Technology

[0002] At the end of a modern packaging production line, palletizing is a crucial process involving stacking boxes onto pallets in a specific order and number of layers. Currently, with the diversification of product packaging formats, the materials, sizes, shapes, and surface flatness of packaging boxes vary greatly. For example, some packaging boxes are rigid cardboard boxes with smooth surfaces, suitable for suction cup handling; while others are flexible packaging bags, gift boxes with fragile films, or packaging with uneven surfaces, making suction cup adhesion prone to failure or damage to the packaging surface. Additionally, some packaging boxes are only suitable for side-gripping handling.

[0003] Existing palletizing robot gripping devices are functionally limited, typically only offering one of two functions: suction gripping or mechanical gripping. When changing packaging box types, manual replacement or adjustment of the gripping device is required, severely impacting the flexibility and automation of the production line. Furthermore, some packaging boxes vary in height. When the gripping device descends, if the suction cup contacts the top of the box first, excessive pressure may crush the box; if it doesn't contact, effective suction is impossible. Existing devices lack an adaptive flexible contact mechanism for packaging boxes of different heights. Moreover, to improve palletizing efficiency, when gripping multiple boxes at once, a centering mechanism is usually placed at the end of the conveyor to ensure palletizing accuracy. However, in palletizing environments without a conveyor mechanism, packaging boxes often exhibit irregular postures, affecting the accuracy of the palletizing robot and easily causing pallet collapse accidents. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a palletizing robot for packaging boxes.

[0005] The technical solution adopted to solve the above-mentioned technical problems is: a palletizing robot for packaging boxes, including an operating terminal, a six-axis robotic arm mounted on the top of the operating terminal, and a gripping device connected to the movable end of the six-axis robotic arm through a pressure sensing mechanism, which can realize the conversion of gripping mode. The gripping device includes:

[0006] The self-lifting clamping assembly includes a lateral drive mechanism fixed to the bottom of the pressure sensing mechanism, and a liftable gripper mechanism is symmetrically driven on the lateral drive mechanism.

[0007] A connecting plate is fixedly installed below the transverse drive mechanism. The connecting plate has a movable hole, and the front and rear walls of the movable hole are symmetrically provided with limiting protrusions. Dovetail grooves are provided on both the left and right sides of the connecting plate along the length direction.

[0008] The flexible suction cup assembly is located below the connecting plate. The flexible suction cup assembly cooperates with the movable hole and the limiting protrusion to achieve flexible clamping of packaging boxes with different heights.

[0009] The centering component is located above the flexible suction cup component. The centering component slides with the dovetail groove to center and clamp the packaging box.

[0010] Furthermore, the pressure sensing mechanism includes a movable block fixed to the movable end of the six-axis robotic arm and a fixed plate fixed to the top of the self-lifting clamping assembly. A movable shell is fixed to the top of the fixed plate, and a storage groove is provided at the bottom of the movable shell. A pressure sensor is installed in the storage groove. The outer wall of the movable block is slidably connected to the inner wall of the movable shell, and a buffer pad is provided between the movable block and the pressure sensor.

[0011] Through the above technical solution, the pressure sensing mechanism uses the relative sliding of the movable block and the movable shell, together with the buffer pad, to transmit the reaction force when the clamping device contacts the packaging box to the pressure sensor, thereby realizing real-time monitoring of the contact pressure, and thus accurately controlling the descent stroke of the six-axis robotic arm, preventing damage to the packaging box due to excessive pressure or failure of adsorption or clamping due to insufficient pressure.

[0012] Furthermore, the lateral drive mechanism includes a strip-shaped shell arranged symmetrically front and rear. A bidirectional threaded rod is rotatably connected between the left and right ends of the strip-shaped shell. A symmetrically arranged drive block is rotatably connected through each bidirectional threaded rod, and two drive blocks on the same side form a group. A synchronous pulley is fixedly connected to one end of each bidirectional threaded rod on the same side. The two synchronous pulleys are connected by a synchronous belt drive. A motor is fixedly connected to one end of one side of the strip-shaped shell, and the output end of the motor is fixedly connected to one end of the adjacent bidirectional threaded rod.

[0013] Through the above technical solution, the lateral drive mechanism drives a set of bidirectional threaded rods to rotate via a motor, and drives another set of bidirectional threaded rods to rotate synchronously with the help of a synchronous pulley and synchronous belt, thereby realizing the synchronous movement of the two drive blocks in opposite directions or in opposite directions, ensuring that the two lifting gripper mechanisms can accurately and smoothly approach or move away from the packaging box, and realize the clamping adaptation to packaging boxes of different widths.

[0014] Furthermore, the liftable gripper mechanism includes symmetrically arranged movable plates. Each set of driving blocks is fixed to the top of the movable plate on the same side. An electric push rod is vertically fixed to the top of each movable plate. A top plate is fixed to the top of each electric push rod. L-shaped grippers are equidistantly arranged and fixed to the bottom of each top plate. The L-shaped grippers on both sides are symmetrically arranged. The bottom edges of each L-shaped gripper are provided with bevels. Mounting holes are opened at the bottom of each L-shaped gripper. Rollers are rotatably connected in each mounting hole.

[0015] Through the above technical solution, the electric push rod can drive the top plate and L-shaped gripper to lift and lower as a whole, so that the L-shaped gripper can adjust the clamping position according to the height of different packaging boxes, and use the inclined surface and rollers to guide the bottom of the packaging box into the clamping space of the L-shaped gripper during clamping, reducing frictional resistance and avoiding scratches to the side wall of the packaging box.

[0016] Furthermore, the flexible suction cup assembly includes a sponge suction cup and a rotating frame. The rotating frame is fixed inside the movable hole. A gear is rotatably connected inside the rotating frame. Two gears are arranged as a group. A rack is vertically fixed to the top of each pair of gears. The racks on both sides are meshed with the gears. A limiting groove is formed on the side wall of each rack. The inner wall of the limiting groove is slidably connected to the side wall of the adjacent limiting protrusion.

[0017] With the above technical solution, when the sponge suction cup contacts the top of the packaging box, the reaction force it receives will drive the rack to slide upward under the guidance of the limiting protrusion, and drive the gear to rotate, so that the sponge suction cup on the other side rises or falls synchronously, realizing the height self-adjustment of the sponge suction cups on both sides, thereby ensuring that all sponge suction cups can be tightly attached to the top surface of the packaging box, adapting to uneven or tilted tops of the packaging box.

[0018] Furthermore, there is a gap between the two sponge suction cups, and the gap corresponds to the position of the L-shaped gripper. When the flexible suction cup assembly clamps the packaging box alone, the L-shaped gripper is located above the gap. When the self-lifting clamping assembly clamps the side wall of the packaging box, the bottom end of the L-shaped gripper penetrates through the gap.

[0019] Through the above technical solution, the interval setting allows the L-shaped gripper and the sponge suction cup to not interfere with each other in space. When side wall clamping is required, the L-shaped gripper can smoothly pass through the interval and descend to the side of the packaging box, realizing the flexible conversion between adsorption clamping and mechanical clamping, without affecting their respective working strokes.

[0020] Furthermore, the centering component includes dovetail blocks symmetrically arranged front and back, and electric push rods and limiting shells symmetrically fixed on the left and right sides of the connecting plate. Movable plates are fixedly connected to the opposite ends of the dovetail blocks on both sides. Racks are fixedly connected to the opposite faces of the two movable plates. Gears are rotatably connected inside the limiting shells. The two racks on the same side are meshed with gears. The sidewalls of the movable plates slide against the inner wall of the dovetail groove. Foldable baffle mechanisms are installed on the opposite back sides of the two movable plates to avoid obstructing the packaging box during transportation.

[0021] Through the above technical solution, when the electric push rod 2 pushes the movable plate on one side to slide along the dovetail groove, the meshing transmission of rack 2 and gear 2 drives the movable plate on the other side to slide synchronously in the opposite direction, thereby realizing the synchronous centering movement of the foldable baffle mechanism on both sides, ensuring that the packaging box is always in the center position of the clamping device before being clamped or adsorbed, and improving the accuracy of the palletizing position.

[0022] Furthermore, the foldable baffle mechanism includes baffles symmetrically rotatably mounted on the side wall of the movable plate. The top of each of the two baffles is provided with teeth along the circumference. A fixed frame is fixedly connected to the top of the movable plate. An electric push rod three is fixedly connected to the top of the fixed frame. A double-sided rack is fixedly connected to the bottom of the output end of the electric push rod three. The double-sided rack is located between the two baffles and meshes with each other. When the baffles are perpendicular to the movable plate, the bottom ends of the baffles are all located below the sponge suction cup.

[0023] Through the above technical solution, the electric push rod three-drive double-sided rack moves up and down, and drives the two side baffles to unfold or fold synchronously through the teeth; when the baffle is unfolded to be perpendicular to the movable plate, its bottom end is lower than the sponge suction cup, which can effectively push the packaging box during the centering process; when the baffle is folded up, it retracts to the side of the movable plate and no longer occupies the space below, avoiding collision and interference with the assembly line or pallet during the robot's transportation of the packaging box.

[0024] Furthermore, the operating terminal is electrically connected to the six-axis robotic arm, pressure sensor, motor, electric push rod one, sponge suction cup, electric push rod two, and electric push rod three.

[0025] Through the above technical solution, the operating terminal, as the main controller, can receive feedback signals from the pressure sensor and precisely control the movement trajectory of the six-axis robotic arm, as well as the start, stop, extension, and retraction strokes of the motor and each electric push rod. At the same time, it controls the vacuum adsorption and release of the sponge suction cup, realizing fully automatic and high-precision palletizing operation control.

[0026] The beneficial effects of this invention are as follows:

[0027] (1) By setting up a self-lifting clamping component and a flexible suction cup component, and integrating the two with a connecting plate, the flexible conversion between adsorption clamping and mechanical clamping is realized. The best clamping method can be selected according to the material and shape of different packaging boxes. There is no need to manually change the fixture, which significantly improves the flexibility of the production line and the palletizing efficiency.

[0028] (2) By setting a gear and rack linkage mechanism and a limiting guide structure in the flexible suction cup assembly, multiple sponge suction cups can adaptively adjust their height when they contact the top of the packaging box, ensuring that each suction cup can fit tightly against the surface of the packaging box. This effectively solves the problem of poor adsorption or pressure damage caused by uneven or tilted top of the packaging box, and improves the reliability and safety of adsorption clamping.

[0029] (3) The foldable baffle mechanism in the centering component can be unfolded to push the material accurately when centering is required, and the baffle can be folded up during transportation. This not only ensures the centering accuracy of the packaging box, but also avoids interference between the baffle and external equipment, thereby improving the flexibility of robot movement and the safety of the work space. Attached Figure Description

[0030] Figure 1 This is a perspective view of a palletizing robot for packaging boxes according to the present invention;

[0031] Figure 2 This is a perspective view of the clamping device of a palletizing robot for packaging boxes according to the present invention;

[0032] Figure 3 This is a structural diagram of the pressure sensing mechanism of a palletizing robot for packaging boxes according to the present invention;

[0033] Figure 4 This is a perspective view of the self-lifting clamping component of a palletizing robot for packaging boxes according to the present invention;

[0034] Figure 5 This is a perspective view of the lifting gripper mechanism of a palletizing robot for packaging boxes according to the present invention.

[0035] Figure 6 This is a structural diagram of the flexible suction cup component of a palletizing robot for packaging boxes according to the present invention;

[0036] Figure 7 This is a structural diagram of the centering support for a palletizing robot for packaging boxes according to the present invention;

[0037] Figure 8 yes Figure 7 Enlarged view of point A.

[0038] Reference numerals: 1. Operating terminal; 2. Six-axis robotic arm; 3. Pressure sensing mechanism; 4. Self-lifting clamping assembly; 5. Connecting plate; 6. Flexible suction cup assembly; 7. Centering assembly; 301. Fixed plate; 302. Movable shell; 303. Storage slot; 304. Pressure sensor; 305. Buffer pad; 306. Movable block; 401. Lateral drive mechanism; 4011. Strip shell; 4012. Bidirectional threaded rod; 4013. Synchronous pulley; 4014. Synchronous belt; 4015. Motor; 4016. Drive block; 402. Moving plate; 403. Electric push rod one; 404. Top Plate; 405, L-shaped gripper; 406, roller; 4051, inclined plane; 501, movable hole; 502, limiting protrusion; 503, dovetail groove; 601, rotating frame; 602, gear one; 603, sponge suction cup; 604, rack one; 605, limiting groove; 701, dovetail block; 702, movable plate; 703, electric push rod two; 704, rack two; 705, gear two; 706, limiting shell; 707, foldable baffle mechanism; 7071, baffle; 7072, tooth; 7073, fixed frame; 7074, electric push rod three; 7075, double-sided rack. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0040] like Figures 1-8 As shown, this embodiment of a packaging box palletizing robot includes an operating terminal 1. The operating terminal 1 integrates a programmable logic controller (PLC) or an industrial computer and is equipped with a human-machine interface for receiving operating instructions, displaying the equipment's operating status, and storing palletizing trajectory programs. A six-axis robotic arm 2 is mounted on the top of the operating terminal 1. This six-axis robotic arm 2 adopts the standard six-axis articulated industrial robot of the prior art, has six degrees of freedom, and can achieve precise positioning in any posture in space. The movable end of the six-axis robotic arm 2 is connected to a gripping device through a pressure sensing mechanism 3, which can realize the transformation of the gripping mode. The gripping device has an overall cuboid frame structure and includes:

[0041] The self-lifting clamping assembly 4 includes a lateral drive mechanism 401 fixed at the bottom of the pressure sensing mechanism 3, and a liftable gripper mechanism is symmetrically driven on the lateral drive mechanism 401.

[0042] The connecting plate 5 is fixedly installed below the transverse drive mechanism 401. The connecting plate 5 has a movable hole 501. The front and rear walls of the movable hole 501 are symmetrically provided with limiting protrusions 502. The left and right sides of the connecting plate 5 are provided with dovetail grooves 503 along the length direction.

[0043] The flexible suction cup assembly 6 is located below the connecting plate 5. The flexible suction cup assembly 6 cooperates with the movable hole 501 and the limiting protrusion 502 to achieve flexible clamping of packaging boxes with different heights.

[0044] The centering component 7 is located above the flexible suction cup component 6. The centering component 7 slides with the dovetail groove 503 to center and clamp the packaging box.

[0045] like Figure 3 As shown, the pressure sensing mechanism 3 includes a movable block 306 fixed to the movable end of the six-axis robotic arm 2 and a fixed plate 301 fixed to the top of the self-lifting clamping assembly 4. A movable shell 302 is fixed to the top of the fixed plate 301. The movable shell 302 is a rectangular cylindrical structure with its inner wall precision machined to have high surface smoothness and dimensional accuracy. A storage groove 303 is provided at the bottom of the movable shell 302. A pressure sensor 304 is installed in the storage groove 303. The pressure sensor 304 is preferably a thin-film pressure sensor or a piezoelectric pressure sensor. The outer wall of the movable block 306 is slidably connected to the inner wall of the movable shell 302. A buffer pad 305 is provided between the movable block 306 and the pressure sensor 304. The buffer pad is made of silicone rubber, polyurethane or other polymer materials with good elasticity and damping properties. The thickness of the buffer pad 305 is 5mm to 15mm, which is used to buffer the instantaneous impact force generated when the clamping device contacts the packaging box.

[0046] The pressure sensing mechanism 3 utilizes the relative sliding of the movable block 306 and the movable shell 302, along with the buffer pad 305, to transmit the reaction force when the clamping device contacts the packaging box to the pressure sensor 304, thereby achieving real-time monitoring of the contact pressure. The pressure sensor 304 transmits the detected pressure signal to the operation terminal 1 in real time. The operation terminal 1 determines whether the clamping device has reached a suitable contact force with the packaging box based on a preset pressure threshold, such as 50N to 200N, and controls the six-axis robotic arm 2 to stop its descent or make fine adjustments accordingly, to prevent damage to the packaging box due to excessive pressure or failure of adsorption or clamping due to insufficient pressure.

[0047] like Figure 7 As shown, the transverse drive mechanism 401 includes a strip shell 4011 symmetrically arranged front and rear. A bidirectional threaded rod 4012 is rotatably connected between the left and right ends of the strip shell 4011. A symmetrically arranged drive block 4016 is rotatably connected through the bidirectional threaded rod 4012. Two drive blocks 4016 on the same side form a group. A synchronous pulley 4013 is fixedly connected to one end of the bidirectional threaded rod 4012 on the same side. The two synchronous pulleys 4013 are connected by a synchronous belt 4014. A motor 4015 is fixedly connected to one end of one side of the strip shell 4011. The motor 4015 is preferably a servo motor. The output end of the motor 4015 is fixedly connected to one end of the adjacent bidirectional threaded rod 4012.

[0048] The transverse drive mechanism 401 drives a set of bidirectional threaded rods 4012 to rotate via a motor 4015, and drives another set of bidirectional threaded rods 4012 to rotate synchronously via a synchronous pulley 4013 and a synchronous belt 4014, thereby realizing the synchronous opposite or opposite movement of the two drive blocks 4016, ensuring that the two lifting gripper mechanisms can accurately and smoothly approach or move away from the packaging box, and realize the clamping adaptation to packaging boxes of different widths.

[0049] like Figure 7 , Figure 8 As shown, the liftable gripper mechanism includes symmetrically arranged movable plates 402. Each set of drive blocks 4016 is fixed to the top of the movable plate 402 on the same side. The top of the movable plate 402 is vertically fixed with an electric push rod 403. The top of the electric push rod 403 is fixed with a top plate 404. The bottom of the top plate 404 is equidistantly arranged with L-shaped grippers 405. The L-shaped grippers 405 are integrally bent from metal materials such as No. 45 steel or stainless steel. The L-shaped grippers 405 on both sides are symmetrically arranged. The bottom corners of the L-shaped grippers 405 are provided with inclined surfaces 4051. The angle between the inclined surfaces 4051 and the horizontal plane is 30° to 60°, preferably 45°. The bottom of the L-shaped grippers 405 is provided with mounting holes. Rollers 406 are rotatably connected in the mounting holes. The rollers 406 are made of polyurethane or nylon.

[0050] The electric push rod 403 can drive the top plate 404 and the L-shaped gripper 405 to rise and fall as a whole, so that the L-shaped gripper 405 can adjust the clamping position according to the height of different packaging boxes. The inclined surface 4051 and the roller 406 guide the bottom of the packaging box into the clamping space of the L-shaped gripper 405 during clamping, reducing frictional resistance and avoiding scratches to the side wall of the packaging box.

[0051] like Figure 6 As shown, the flexible suction cup assembly 6 includes a sponge suction cup 603 and a rotating frame 601. The sponge suction cup 603 is a vacuum sponge suction cup in the prior art, which includes a suction cup base and a sponge body. The suction cup base is connected to an external vacuum generating device through an air pipe. The sponge body is made of porous flexible foam material, which can adapt to the adsorption of uneven surfaces. The rotating frame 601 is fixed in the movable hole 501. Gear 602 is rotatably connected in the rotating frame 601. Two gears 602 are set as a group. The top of each pair of gears 602 is vertically fixed with a rack 604. The racks 604 on both sides are meshed with the gears 602. The side wall of the rack 604 is provided with a limiting groove 605. The inner wall of the limiting groove 605 is slidably connected to the side wall of the adjacent limiting protrusion 502.

[0052] When the sponge suction cup 603 contacts the top of the packaging box, the reaction force it receives will cause the rack 604 to slide upward under the guidance of the limiting protrusion 502, and drive the gear 602 to rotate, so that the sponge suction cup 603 on the other side rises or falls synchronously, realizing the height self-adjustment of the sponge suction cups 603 on both sides, thereby ensuring that all sponge suction cups 603 can be tightly attached to the top surface of the packaging box, adapting to uneven or tilted top of the packaging box.

[0053] There is a gap between the two sponge suction cups 603, and the gap corresponds to the position of the L-shaped gripper 405. When the flexible suction cup assembly 6 clamps the packaging box alone, the L-shaped gripper 405 is located above the gap. When the self-lifting clamping assembly 4 clamps the side wall of the packaging box, the bottom end of the L-shaped gripper 405 penetrates the bottom of the gap, so that the L-shaped gripper 405 can move freely up and down within the gap without interfering with the sponge suction cup 603.

[0054] This spacing allows the L-shaped gripper 405 and the sponge suction cup 603 to not interfere with each other in space. When side wall clamping is required, the L-shaped gripper 405 can smoothly pass through the spacing and descend to the side of the packaging box, realizing a flexible conversion between adsorption clamping and mechanical clamping, without affecting their respective working strokes.

[0055] like Figure 7 As shown, the centering component 7 includes dovetail blocks 701 arranged symmetrically front and back, and electric push rods 703 and limiting shells 706 symmetrically fixed on the left and right sides of the connecting plate 5. Movable plates 702 are fixedly connected to the opposite ends of the dovetail blocks 701 on both sides. Racks 704 are fixedly connected to the opposite surfaces of the two movable plates 702. Gears 705 are rotatably connected inside the limiting shells 706. The two racks 704 on the same side are meshed with gears 705. The side walls of the movable plates 702 are slidably engaged with the inner walls of the dovetail grooves 503. Foldable baffle mechanisms 707 are installed on the opposite sides of the two movable plates 702 to avoid obstructing the packaging box during transportation.

[0056] When the electric push rod 703 pushes the movable plate 702 on one side to slide along the dovetail groove 503, the meshing transmission of the rack 704 and the gear 705 drives the movable plate 702 on the other side to slide synchronously in the opposite direction, thereby realizing the synchronous centering movement of the foldable baffle mechanisms 707 on both sides, ensuring that the packaging box is always in the center position of the clamping device before being clamped or adsorbed, and improving the accuracy of the palletizing position.

[0057] like Figure 8As shown, the foldable baffle mechanism 707 includes baffles 7071 symmetrically rotatably mounted on the side wall of the movable plate 702. The top ends of both baffles 7071 are provided with teeth 7072 along the circumference. A fixed frame 7073 is fixedly connected to the top end of the movable plate 702. An electric push rod 7074 is fixedly connected to the top end of the fixed frame 7073. A double-sided rack 7075 is fixedly connected to the bottom end of the output end of the electric push rod 7074. The double-sided rack 7075 is located between the two baffles 7071 and meshes with each other. When the baffles 7071 are perpendicular to the movable plate 702, the bottom ends of the baffles 7071 are all located below the sponge suction cup 603.

[0058] The electric push rod 7074 drives the double-sided rack 7075 to move up and down, and drives the two side baffles 7071 to unfold or fold simultaneously through the teeth 7072. When the baffle 7071 unfolds to be perpendicular to the movable plate 702, its bottom end is lower than the sponge suction cup 603, which can effectively push the packaging box during the centering process. When the baffle 7071 is folded up, it retracts to the side of the movable plate 702 and no longer occupies the space below, avoiding collision and interference with the assembly line or pallet during the robot's transportation of the packaging box.

[0059] like Figure 1 As shown, the operating terminal 1 is electrically connected to the six-axis robotic arm 2, pressure sensor 304, motor 4015, electric push rod 1 403, sponge suction cup 603, electric push rod 2 703, and electric push rod 3 7074. The operating terminal 1 acts as the main controller, which can receive the feedback signal from the pressure sensor 304 and precisely control the movement trajectory of the six-axis robotic arm 2, as well as the start, stop, and extension stroke of the motor 4015 and each electric push rod. At the same time, it controls the vacuum adsorption and release of the sponge suction cup 603, so as to realize fully automatic and high-precision palletizing operation control.

[0060] The working principle of this embodiment is as follows: First, according to the type of packaging box to be palletized, the operation terminal 1 controls the clamping device to switch to the corresponding working mode;

[0061] The six-axis robotic arm 2 lowers the gripping device. After the sponge suction cup 603 at the bottom of the gripping device contacts the surface of the packaging box, the packaging box generates an upward reaction force on the gripping device. This reaction force is transmitted to the pressure sensor 304 through the fixed plate 301 and the movable shell 302. The movable block 306 compresses the buffer pad 305, and the buffer pad 305 transmits the pressure to the pressure sensor 304. The pressure sensor 304 transmits the detected pressure signal to the operation terminal 1 in real time. The operation terminal 1 determines whether the gripping device has reached a suitable contact force with the packaging box according to the preset pressure threshold (e.g., 50N~200N), and controls the six-axis robotic arm 2 to stop the descent or make fine adjustments accordingly.

[0062] Before picking up the packaging box, if the packaging box is not positioned correctly on the pallet or workbench, the centering component 7 is activated. The operating terminal 1 controls the telescopic end of the electric push rod 7074 to extend downward, pushing the double-sided rack 7075 upward. The double-sided rack 7075 drives the two side baffles 7071 to rotate inward synchronously around the hinge axis through the teeth 7072 until the baffles 7071 are perpendicular to the side wall of the movable plate 702. Subsequently, the electric push rod 703 pushes one side of the movable plate 702. Slide inward along the dovetail groove 503. Through the meshing transmission of rack 2 704 and gear 2 705, the movable plate 702 on the other side slides inward synchronously. The baffles 7071 on both sides push the scattered packaging boxes to the middle position from the left and right sides to complete the centering. After the centering is completed, the telescopic end of the electric push rod 3 7074 extends downward, pulls the double-sided rack 7075 to move downward, and drives the baffles 7071 on both sides to rotate outward synchronously and parallel to the movable plate 702, no longer occupying the space below.

[0063] At the same time, the horizontal drive mechanism 401 drives the two lifting gripper mechanisms on both sides to move relative to each other. The specific operation steps are the same as those of the mechanical clamping mode below. The other two sides of the packaging box are centered, and the packaging box is adjusted to the center position in cooperation with the centering component 7 to ensure the accuracy of palletizing.

[0064] When the packaging box is a flat, rigid cardboard box, an adsorption clamping method is selected. The electric push rod 403 pushes the top plate 404 and the L-shaped gripper 405 to move upward as a whole, so that the L-shaped gripper 405 is above the sponge suction cup 603. Then, the six-axis robotic arm 2 drives the clamping device to descend. The sponge suction cup 603 first contacts the top surface of the packaging box. If the top of a certain packaging box is higher, the sponge suction cup 603 corresponding to that packaging box will be subjected to a larger upward reaction force, pushing the rack 604 fixedly connected to it to slide upward along the limiting protrusion 502. The rack 604 drives the gear 602 to rotate. The gear 602 drives the rack 604 on the other side of the same group to slide downward, so that the sponge suction cup 603 on the other side descends synchronously until all the sponge suction cups 603 are tightly attached to the top surface of the corresponding packaging box. Since the two sponge suction cups 603 in each group are linked by the rack and pinion, the height difference is automatically compensated, ensuring that all sponge suction cups 603 can effectively adsorb.

[0065] When the packaging box is a soft packaging bag or a gift box with an uneven surface, a mechanical clamping method is selected. The operating terminal 1 controls the extension end of the electric push rod 403 to extend, pushing the top plate 404 and the L-shaped gripper 405 downward as a whole. This allows the bottom end of the L-shaped gripper 405 to pass through the gap between the sponge suction cups 603 and descend to the side of the packaging box. Subsequently, the operating terminal 1 controls the motor 4015 to start. The motor 4015 drives the two bidirectional threaded rods 4012 through the synchronous pulley 4013 and the synchronous belt 4014. As the screw rotates, the two sets of drive blocks 4016 on the bidirectional threaded rod 4012 move towards each other under the action of the thread, driving the moving plates 402 on both sides, the electric push rod 403, the top plate 404 and the L-shaped gripper 405 to move towards each other synchronously until the horizontal section of the L-shaped gripper 405 inserts into the bottom of the packaging box. The inclined surface 4051 and the roller 406 guide the packaging box to fully enter the clamping space to achieve side wall clamping. When the packaging box is released, the motor 4015 rotates in the opposite direction, and the L-shaped grippers 405 on both sides move in opposite directions to release the packaging box.

[0066] When dealing with heavy packaging boxes, the flexible suction cup assembly 6 and the self-lifting clamping assembly 4 can work together as described above. First, the flexible suction cup assembly 6 adsorbs the top of the packaging box, and then the self-lifting clamping assembly 4 mechanically clamps it, thus improving the stability of clamping the heavy packaging box.

[0067] Finally, the six-axis robotic arm 2 transports the gripped or suctioned packaging boxes to the target palletizing position, places them precisely according to the preset program, and completes the palletizing operation.

[0068] 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.

Claims

1. A palletizing robot for packaging boxes, comprising an operating terminal (1), wherein a six-axis robotic arm (2) is mounted on the top of the operating terminal (1), characterized in that: The movable end of the six-axis robotic arm (2) is connected to a clamping device via a pressure sensing mechanism (3), which enables the conversion of the clamping mode. The clamping device includes: The self-lifting clamping assembly (4) includes a lateral drive mechanism (401) fixed at the bottom of the pressure sensing mechanism (3), and the lateral drive mechanism (401) is symmetrically driven with a liftable gripper mechanism on the left and right sides. A connecting plate (5) is fixedly installed below the transverse drive mechanism (401). The connecting plate (5) has an active hole (501). The front and rear walls of the active hole (501) are symmetrically provided with limiting protrusions (502). The left and right sides of the connecting plate (5) are provided with dovetail grooves (503) along the length direction. The flexible suction cup assembly (6) is located below the connecting plate (5). The flexible suction cup assembly (6) is matched with the movable hole (501) and the limiting protrusion (502) to achieve flexible clamping of packaging boxes with different heights. The centering component (7) is located above the flexible suction cup component (6). The centering component (7) slides with the dovetail groove (503) to center and clamp the packaging box.

2. The palletizing robot for packaging boxes according to claim 1, characterized in that, The pressure sensing mechanism (3) includes a movable block (306) fixed to the movable end of the six-axis robotic arm (2) and a fixed plate (301) fixed to the top of the self-lifting clamping assembly (4). A movable shell (302) is fixed to the top of the fixed plate (301). A storage groove (303) is provided at the bottom of the movable shell (302). A pressure sensor (304) is installed in the storage groove (303). The outer wall of the movable block (306) is slidably connected to the inner wall of the movable shell (302). A buffer pad (305) is provided between the movable block (306) and the pressure sensor (304).

3. The palletizing robot for packaging boxes according to claim 1, characterized in that, The transverse drive mechanism (401) includes a strip shell (4011) symmetrically arranged front and rear. A bidirectional threaded rod (4012) is rotatably connected between the left and right ends of the strip shell (4011). A symmetrically arranged drive block (4016) is rotatably connected through each bidirectional threaded rod (4012), and two drive blocks (4016) on the same side form a group. A synchronous pulley (4013) is fixedly connected to one end of each bidirectional threaded rod (4012) on the same side. The two synchronous pulleys (4013) are connected by a synchronous belt (4014). A motor (4015) is fixedly connected to one end of one side of the strip shell (4011). The output end of the motor (4015) is fixedly connected to one end of the adjacent bidirectional threaded rod (4012).

4. A palletizing robot for packaging boxes according to claim 3, characterized in that, The liftable gripper mechanism includes symmetrically arranged movable plates (402). Each set of drive blocks (4016) is fixed to the top of the movable plate (402) on the same side. The top of each movable plate (402) is vertically fixed with an electric push rod (403). The top of each electric push rod (403) is fixed with a top plate (404). The bottom of the top plate (404) is equidistantly arranged with L-shaped grippers (405). The L-shaped grippers (405) on both sides are symmetrically arranged. The bottom corners of each L-shaped gripper (405) are provided with inclined surfaces (4051). The bottom of each L-shaped gripper (405) is provided with mounting holes. Rollers (406) are rotatably connected in each mounting hole.

5. A palletizing robot for packaging boxes according to claim 1, characterized in that, The flexible suction cup assembly (6) includes a sponge suction cup (603) and a rotating frame (601). The rotating frame (601) is fixed in the movable hole (501). Gear 1 (602) is rotatably connected in the rotating frame (601). Two gears 1 (602) are set as a group. The top of each pair of gears 1 (602) is vertically fixed with rack 1 (604). Both sides of rack 1 (604) are meshed with gear 1 (602). Limiting grooves (605) are opened on the side walls of rack 1 (604). The inner wall of the limiting groove (605) is slidably connected to the side wall of the adjacent limiting protrusion (502).

6. A palletizing robot for packaging boxes according to claim 5, characterized in that, There is a gap between the two sponge suction cups (603), and the gap corresponds to the position of the L-shaped claw (405). When the flexible suction cup assembly (6) clamps the packaging box alone, the L-shaped claw (405) is located above the gap. When the self-lifting clamping assembly (4) clamps the side wall of the packaging box, the bottom end of the L-shaped claw (405) passes through the gap.

7. A palletizing robot for packaging boxes according to claim 1, characterized in that, The centering component (7) includes dovetail blocks (701) arranged symmetrically front and back, and electric push rods (703) and limiting shells (706) symmetrically fixed on the left and right sides of the connecting plate (5). Movable plates (702) are fixedly connected to the opposite ends of the dovetail blocks (701) on both sides. Racks (704) are fixedly connected to the opposite surfaces of the two movable plates (702). Gears (705) are rotatably connected inside the limiting shells (706). The two racks (704) on the same side are meshed with gears (705). The side walls of the movable plates (702) slide with the inner wall of the dovetail groove (503). Foldable baffle mechanisms (707) are installed on the opposite sides of the two movable plates (702) to avoid obstructing the packaging box during transportation.

8. A palletizing robot for packaging boxes according to claim 7, characterized in that: The foldable baffle mechanism (707) includes baffles (7071) symmetrically rotatably mounted on the side wall of the movable plate (702). The top ends of the two baffles (7071) are provided with teeth (7072) along the circumference. A fixed frame (7073) is fixedly connected to the top end of the movable plate (702). An electric push rod three (7074) is fixedly connected to the top end of the fixed frame (7073). A double-sided rack (7075) is fixedly connected to the bottom end of the output end of the electric push rod three (7074). The double-sided rack (7075) is located between the two baffles (7071) and meshes with each other. When the baffles (7071) are perpendicular to the movable plate (702), the bottom ends of the baffles (7071) are all located below the sponge suction cup (603).

9. A palletizing robot for packaging boxes according to claim 8, characterized in that: The operating terminal (1) is electrically connected to the six-axis robotic arm (2), pressure sensor (304), motor (4015), electric push rod one (403), sponge suction cup (603), electric push rod two (703), and electric push rod three (7074).

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