Collaborative robot for palletizing

Abstract

This invention provides a collaborative robot for palletizing, belonging to the field of palletizing robot technology. The invention includes a robot body, a gripper mechanism, and auxiliary support components. The gripper mechanism has opposing first and second grippers. An auxiliary support component, adjustable along the front-rear direction of the box, is provided on the outer sides of both the first and second grippers. The auxiliary support component has a fixed sleeve and a movable plate. After the movable plate extends, it guides and limits the front and rear movement of the box. A hydraulic support structure is provided on the movable plate. A pressure magnetic seat is connected to the rod in a free-flowing manner. An oil channel within the rod transmits oil pressure from the oil storage chamber to the support part, pushing the support component to extend and support the lower edge of the box corner. During reset, the pressure magnetic seat first moves upwards in a free-flowing manner, keeping the oil channel in the return position, completing the end oil compensation return flow before driving the rod to reset. This invention is suitable for automated warehousing, packaging production lines, and intelligent palletizing operations, and can improve the handling and stacking stability of boxes of different specifications.

Description

Technical Field

[0001] This invention relates to the field of palletizing robot technology, and more specifically, to a collaborative robot for palletizing. Background Technology

[0002] With the increasing automation of warehousing and logistics, food and beverage, daily chemical packaging, pharmaceutical packaging, and carton packaging production lines, palletizing robots are widely used for gripping, handling, and stacking of boxes, turnover boxes, and regular packaging items. Palletizing robots typically have a gripper mechanism at the end of their robotic arm, which clamps the box using side clamps, and then the robotic arm lifts, transfers, and places it. This type of gripping method is simple in structure and direct in action, suitable for batch and continuous palletizing scenarios. However, in actual palletizing, the force state of the box is quite complex. During lifting, turning, acceleration, deceleration, and placement, the box is subjected to not only lateral clamping forces but also inertial forces, placement impacts, and its own center of gravity shift. For corrugated boxes, thin-walled packaging boxes, and packaging items with uneven internal loading, relying solely on the side clamps can easily cause the box to shift forward and backward, shift at the corners, sag at the bottom edge, or collapse at the edges, thus affecting the accuracy of the placement position and the stability of the stack.

[0003] In existing technologies, common methods to improve clamping stability include increasing the clamping plate area, increasing the clamping force, adding side baffles, and setting trays or claws. While increasing the clamping force can improve clamping reliability, it can easily cause indentations or deformation to the side walls of the carton. Fixed baffles or trays can provide some limiting effect, but they are not very adaptable to different sizes of cartons and may cause interference when the carton enters the clamping area or is stacked and released. External claws and independent cylinder bottom support mechanisms can increase support points, but they usually increase the size, weight and drive control complexity of the end effector, which is not conducive to the robot end effector moving quickly in a narrow stacking space. In addition, the specifications of boxes at the palletizing site are often not completely consistent. The same production line may need to switch box sizes according to different batches or different products. If the auxiliary limit or support structure on the gripper is fixed, the auxiliary structure may not be able to accurately act on the effective support area of ​​the box when the front and back dimensions of the box change, resulting in inadequate support, unstable limit or stacking posture deviation. Especially in high-speed handling and multi-layer stacking, the stability of the corners and bottom edges of the box will directly affect the neatness of subsequent stacking.

[0004] How to invent a collaborative robot for palletizing to solve these problems has become an urgent issue for those skilled in the art. Summary of the Invention

[0005] To overcome the above deficiencies, the present invention provides a collaborative robot for palletizing, which aims to solve the problems mentioned in the background.

[0006] This invention is implemented as follows:

[0007] This invention provides a collaborative robot for palletizing, including a robot body and a gripper mechanism installed on the moving end of the robot body. The gripper mechanism includes a first clamping plate and a second clamping plate arranged opposite to each other. The outer sides of the first clamping plate and the second clamping plate are provided with auxiliary support components that can be adjusted in the front-back direction of the box. The auxiliary support components on both sides are correspondingly arranged. The auxiliary support components include a mounting part and a telescopic limiting structure disposed inside the mounting part. The telescopic limiting structure includes a fixed sleeve and a movable plate. The movable plate is slidably disposed in the fixed sleeve and can extend out of the fixed sleeve to center and guide the box and limit its front-back movement.

[0008] The movable plate is equipped with a hydraulic support structure, which includes a pressure magnetic seat, an oil storage chamber, and a rod connected to the pressure magnetic seat in the movable plate. The rod has an oil guide channel, and the end of the rod has a support part. The support part has a retractable support component. After the movable plate extends from the fixed sleeve to the support position, the rod can move down to the oil guide position. The hydraulic oil in the oil storage chamber transmits oil pressure to the support part through the oil guide channel to push the support component out and support the lower edge of the corner of the box. During reset, the pressure magnetic seat first moves up relative to the rod in the idle position, so that the oil guide channel is kept in the return oil position, and the oil at the end of the upper port of the oil guide channel flows back to the oil storage chamber for compensation. After the compensation flow is completed, the pressure magnetic seat drives the rod to move up and reset.

[0009] Preferably, the gripper mechanism further includes a first cylinder and a second cylinder, the first clamping plate is connected to the output end of the first cylinder, the second clamping plate is connected to the output end of the second cylinder, and the first cylinder and the second cylinder are respectively used to drive the first clamping plate and the second clamping plate to move closer to each other or move away from each other.

[0010] Preferably, the auxiliary support assembly further includes a dual-axis motor, a lead screw, a lead screw nut, and a guide rail. A slot is provided on the side wall of the first clamping plate. Two mounting components are provided on the same side of the first clamping plate, symmetrically arranged along the front-rear direction of the housing. The fixing sleeve is at least partially slidably disposed within the slot. The dual-axis motor and the guide rail are fixedly disposed on the outside of the first clamping plate. The two output ends of the dual-axis motor are respectively connected to the lead screw. Lead screw nuts are provided on the two mounting components, and the lead screw nuts are threadedly engaged with the corresponding lead screws. Limiting portions are provided at both ends of the mounting components, and these limiting portions are slidably engaged within the guide rail. The auxiliary support assembly on the outside of the second clamping plate has the same structure as the auxiliary support assembly on the outside of the first clamping plate.

[0011] Preferably, when the dual-axis motor rotates, it can drive the two mounting parts to move closer or further apart through the lead screw and lead screw nut, so as to adjust the distance between the two mounting parts and adapt to the box with different front and rear dimensions.

[0012] Preferably, the fixed sleeve is flush with the inner wall of the first clamping plate on the side near the housing, and the movable plate is elastically connected to the inner cavity of the fixed sleeve by a first spring; in the initial state, the end of the movable plate facing the housing does not extend beyond the end face of the fixed sleeve near the housing; a third cylinder is fixedly installed inside the mounting component, the output end of the third cylinder is connected to a first guide block, and a second guide block is connected to the side of the movable plate facing the first guide block. The first guide block and the second guide block are configured to cooperate with each other, and a guide hole adapted to the first guide block is opened on the fixed sleeve; a guide part is provided on the side of the movable plate facing the housing.

[0013] Preferably, the movable plate has a first cavity inside, and an electromagnet is fixedly installed on the top of the first cavity. The pressure magnetic seat is slidably installed in the first cavity. The electromagnet is used to attract the pressure magnetic seat to move upward when energized, and to drive the rod to reset after the support retracts through the idle connection structure.

[0014] Preferably, the supporting part has a cavity communicating with the oil guide channel, the supporting element is a supporting magnetic block, a magnetic ring is fixedly installed in the cavity, the supporting magnetic block is slidably limited in the cavity, and the supporting magnetic block is magnetically connected to the magnetic ring; the bottom of the movable plate has a positioning groove, the supporting part is adapted to the positioning groove, the side wall of the fixed sleeve has a through groove corresponding to the supporting part, and the upper end face of the supporting magnetic block has a chamfer;

[0015] In the initial state, the support part is housed in the positioning groove; after the rod body moves down to the oil guiding position, the upper end surface of the support part is flush with or lower than the lower end surface of the first clamping plate.

[0016] Preferably, the lower end of the oil storage chamber is provided with an oil guide groove, and the oil storage chamber is connected to the oil guide groove; a second spring is fixedly connected to the bottom of the oil storage chamber, and a pressure plate is fixedly connected to the end of the second spring. The pressure plate is slidably and sealingly connected to the inner wall of the oil storage chamber, and the rod body passes through the pressure plate in a sealed manner. There is a gap between the inner cavity of the oil guide groove and the outer wall of the rod body; when the rod body moves down to the oil guide position and the pressure magnetic seat continues to move down, the pressure magnetic seat presses against the pressure plate to compress the hydraulic oil in the oil storage chamber.

[0017] The weight of the pressure magnetic base is configured to generate downward pressure after the movable plate extends to the support position and the electromagnet is de-energized, and to press against the pressure plate after the rod moves down to the oil guide position, so as to generate oil pressure in the oil storage cavity to push the supporting magnetic block to extend.

[0018] Preferably, hydraulic oil is kept in the oil storage chamber, oil guide groove, oil guide channel and the cavity of the support part, and a pressure valve is provided at the upper port of the oil guide channel. The pressure valve is a normally closed bidirectional pressure valve.

[0019] When the pressure valve is closed, the oil guide channel forms a closed full oil channel; when guiding oil, the upper end of the oil guide channel is in the oil guide groove, the pressure valve is opened, so that the oil storage chamber and the oil guide channel can have end oil compensation flow, and the pressure is transmitted to the cavity of the support part through the hydraulic oil that is kept full in the oil guide channel.

[0020] Preferably, the idle connection structure includes a vertical elongated hole on the pressure magnetic base and a positioning pin on the rod body, the positioning pin extending into the vertical elongated hole; a limit groove is formed in the movable plate corresponding to the positioning pin, and the positioning pin is slidably inserted into the limit groove;

[0021] After the movable plate extends to the support position and the electromagnet is de-energized, the pressure magnetic seat and the rod move down. When the rod moves down to the oil guide position, the positioning pin abuts against the bottom end of the limiting groove. At this time, the positioning pin is at the upper end of the vertical elongated hole, so that the upper end of the oil guide channel is kept in the oil guide groove.

[0022] During reset, the pressure magnetic seat moves upward first, and the positioning pin slides relative to the vertical elongated hole, keeping the rod temporarily in the lower position and keeping the upper end of the oil guide channel in the oil guide groove. During the retraction of the support, the oil guide channel remains full of oil, and the oil at the end of the upper end of the oil guide channel flows back to the oil storage chamber for compensation. After the end oil compensation is completed, the lower end of the vertical elongated hole moves upward with the pressure magnetic seat to abut against the positioning pin, thereby driving the rod to move upward and reset.

[0023] The beneficial effects of this invention are:

[0024] 1. This invention provides an auxiliary support assembly that is adjustable along the front-rear direction of the box by setting an auxiliary support component on the outer side of the first clamping plate. This allows the mounting component to adjust the positions of the fixed sleeve and movable plate corresponding to the front and rear corners of the box. This structure can adapt to boxes of different front-rear dimensions while ensuring that the telescopic limiting structure always acts near the corners of the box, avoiding the problem of unstable limiting of boxes of different specifications due to a fixed auxiliary support position. Simultaneously, the movable plate can be housed within the fixed sleeve in its initial state, without affecting the box's entry into the clamping area. After the box is clamped, the movable plate extends and guides the box through the guide portion for centering and front-rear limiting. This increases the front-rear support constraint of the box without changing the clamping method of the left and right clamping plates, reducing the risk of the box shifting, corner offset, and misalignment during robot transport, acceleration / deceleration, or stacking.

[0025] 2. This invention integrates a hydraulic support structure on the movable plate, enabling the movable plate to not only function as a front and rear limiting component, but also, after the rod moves down to the oil guide position, form a hydraulic pressure transmission path through the oil storage chamber, oil guide channel, and support part to push the support component out and support the lower edge of the box corner. Thus, the same telescopic limiting structure simultaneously achieves the dual functions of front and rear limiting and lower edge corner support, eliminating the need for an additional independent bottom-supporting cylinder or outward-swinging support claw outside the gripper, reducing the complexity of the external gripper structure and space occupation. At the same time, after the support component provides auxiliary support to the lower edge of the box corner, it can work together with the lateral clamping of the left and right clamping plates to improve the stability of the box during transportation and reduce the problems of bottom sagging, corner deformation, loose clamping, or box tilting that may occur when relying solely on left and right clamping.

[0026] 3. This invention sets the oil guide channel as a closed, full-oil channel and installs a normally closed bidirectional pressure valve at the upper port of the oil guide channel. This ensures that the oil guide channel remains fully oil-filled and closed when not guiding oil. During oil guiding, only end-point oil compensation flow occurs between the oil storage chamber and the upper port of the oil guide channel. This avoids the problems of response lag, air bubble mixing, and unstable pressure transmission caused by repeated emptying and refilling of long-distance oil guide channels. At the same time, a free-stroke connection structure is set between the pressure magnetic seat and the rod body. In the initial stage of reset, the pressure magnetic seat moves upward relative to the rod body, while the rod body temporarily remains in the lower position. The upper port of the oil guide channel remains in the oil guide groove, providing end-point oil compensation return time for the retraction of the support component. After the compensation return is completed, the pressure magnetic seat drives the rod body to move upward and reset. This avoids the rod body moving too early, which could cause the oil circuit to disconnect, ensures that the support component can retract stably, and improves the reliability of the hydraulic support structure in multiple cycles. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the gripper mechanism of the present invention;

[0030] Figure 3 This is a schematic diagram of the auxiliary support component structure of the present invention;

[0031] Figure 4 This is a schematic diagram of the installation position of the third cylinder of the present invention;

[0032] Figure 5This is a schematic cross-sectional view of the telescopic limiting structure in the initial state of the present invention;

[0033] Figure 6 This is the invention Figure 5 Enlarged structural diagram at point A in the middle;

[0034] Figure 7 This is a schematic diagram of the structure of the present invention when the supporting magnetic block is extended;

[0035] Figure 8 This is a cross-sectional structural diagram of the first cavity and the limiting groove of the present invention;

[0036] Figure 9 This is the invention Figure 8 Enlarged structural diagram at point B;

[0037] Figure 10 This is the invention Figure 8 Enlarged structural diagram at point C;

[0038] Figure 11 This is a schematic diagram of the telescopic limiting structure in the initial state of the present invention;

[0039] Figure 12 This is a schematic diagram of the hydraulic support structure of the present invention during operation;

[0040] Figure 13 This is a schematic diagram of the hydraulic support structure of the present invention after the transition from the initial state to the working state;

[0041] Figure 14 This is a schematic diagram of a partial explosion structure of the present invention;

[0042] Figure 15 This is a schematic diagram of the electromagnet and pressure magnetic base structure of the present invention;

[0043] Figure 16 This is a schematic diagram of the cross-sectional structure of the movable plate of the present invention.

[0044] In the diagram: 1. Robot body; 2. Gripper mechanism; 3. Auxiliary support assembly; 4. Third cylinder; 5. Fixed sleeve; 6. Movable plate; 7. Rod; 8. Oil reservoir; 9. Electromagnet; 21. First clamping plate; 22. Second clamping plate; 23. Slot; 31. Mounting component; 32. Dual-axis motor; 33. Lead screw; 34. Lead screw nut; 35. Guide rail; 41. First guide block; 42. Second guide block; 51. Guide hole; 52. 61. Through groove; 62. First cavity; 63. Limiting groove; 64. Guide part; 65. Positioning groove; 66. First spring; 71. Oil guide channel; 72. Support part; 73. Positioning pin; 81. Oil guide groove; 82. Second spring; 83. Pressure plate; 91. Pressure magnetic seat; 211. First cylinder; 221. Second cylinder; 311. Limiting part; 711. Pressure valve; 721. Magnetic ring; 722. Supporting magnetic block; 911. Vertical elongated hole. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1, refer to Figures 1 to 5 This embodiment provides a collaborative robot for palletizing, including a robot body 1 and a gripper mechanism 2 installed on the moving end of the robot body 1. The gripper mechanism 2 includes a first clamping plate 21 and a second clamping plate 22 arranged opposite to each other. The first clamping plate 21 is connected to a first cylinder 211, and the second clamping plate 22 is connected to a second cylinder 221. The first cylinder 211 and the second cylinder 221 respectively drive the first clamping plate 21 and the second clamping plate 22 to move closer to each other or move away from each other, so as to complete the clamping and release of the left and right sides of the box.

[0047] Furthermore, auxiliary support components 3 are provided on the outer sides of both the first clamping plate 21 and the second clamping plate 22. The auxiliary support components 3 on the outer side of the second clamping plate 22 can adopt the same or corresponding structural arrangement as the auxiliary support components 3 on the outer side of the first clamping plate 21. The following description takes the auxiliary support components 3 on the outer side of the first clamping plate 21 as an example. The auxiliary support components 3 include mounting parts 31, dual-axis motors 32, lead screws 33, lead screw nuts 34, guide rails 35, fixed sleeves 5, and movable plates 6. Two mounting parts 31 are provided on the same side of the first clamping plate 21. The two mounting parts 31 are symmetrically arranged along the front and rear direction of the box. The fixed sleeves 5 are at least partially slidably disposed in the slots 23 on the side wall of the first clamping plate 21. The limiting parts 311 at both ends of the mounting parts 31 are slidably engaged in the guide rails 35.

[0048] It should be noted that the two mounting components 31 arranged symmetrically along the front and rear directions of the box are designed to allow the auxiliary support assembly 3 to correspond to the front and rear corners or front and rear side areas of the box, thereby providing supplementary limiting in the front and rear directions of the box after the first clamping plate 21 and the second clamping plate 22 have completed the left and right clamping. The fixing sleeve 5 is at least partially slidably disposed in the slot 23, which allows the fixing sleeve 5 to move synchronously with the mounting component 31 and maintain its working position adjacent to the side of the box, thus avoiding the auxiliary support assembly 3 being fixed in a single position and making it difficult to adapt to different box sizes. The limiting part 311 is slidably engaged with the guide rail 35, which on the one hand restricts the mounting component 31 from disengaging from the first clamping plate 21, and on the other hand improves the stability of the mounting component 31 when it is adjusted in the front and rear directions.

[0049] During operation, based on the front and rear dimensions of the box to be stacked, the dual-axis motor 32 drives two lead screws 33 to rotate. The lead screws 33 and lead screw nuts 34 work together to move the two mounting parts 31 closer to each other or further away from each other, so that the two fixed sleeves 5 move to the vicinity of the front and rear corners of the box respectively. After the robot body 1 drives the gripper mechanism 2 to move to both sides of the box to be stacked, the first cylinder 211 and the second cylinder 221 drive the first clamping plate 21 and the second clamping plate 22 to clamp the box.

[0050] In this embodiment, the adjustable arrangement of the auxiliary support component 3 can adapt to boxes of different front and rear dimensions without changing the main structure of the gripper mechanism 2, and make the extension position of the subsequent telescopic limiting structure closer to the corner of the box, thereby improving the accuracy of front and rear limiting and corner support, and reducing the risk of the box moving forward or backward or tilting during handling, turning and stacking.

[0051] Example 2, refer to Figures 3 to 12 as well as Figures 14 to 16 This embodiment further describes the telescopic limiting structure and the hydraulic support structure based on Embodiment 1. The telescopic limiting structure includes a fixed sleeve 5 and a movable plate 6. The fixed sleeve 5 is fixed inside the mounting component 31, and the side of the fixed sleeve 5 near the box is flush with the inner wall of the first clamping plate 21. In the initial state, the end of the movable plate 6 facing the box does not exceed the end face of the fixed sleeve 5 near the box, and will not protrude prematurely to interfere with the box's entry. The movable plate 6 is slidably disposed inside the fixed sleeve 5 and is elastically connected to the inner cavity of the fixed sleeve 5 through a first spring 65. A third cylinder 4 is fixedly installed inside the mounting component 31. The output end of the third cylinder 4 is connected to a first guide block 41. A second guide block 42 is provided on the side of the movable plate 6 facing the first guide block 41. A guide hole 51 adapted to the first guide block 41 is provided on the fixed sleeve 5.

[0052] It should be noted that the fixed sleeve 5 is flush with the inner wall of the first clamping plate 21 on the side closest to the box body, so that the fixed sleeve 5 does not protrude significantly from the clamping surface when the movable plate 6 is not extended, thereby reducing interference to the box body entering the clamping area; the first guide block 41 and the second guide block 42 are configured to transmit the pushing action of the third cylinder 4 to the movable plate 6, so that the movable plate 6 extends out from the fixed sleeve 5; the first spring 65 is used to provide the retraction and return force of the movable plate 6 after the third cylinder 4 is unloaded; the movable plate 6 is provided with a guide part 63 on the side facing the box body, so that when the movable plate 6 extends, it first contacts the corner or side of the box body, so as to flexibly guide and center the box body, avoiding direct rigid pushing of the box body corners.

[0053] Furthermore, a hydraulic support structure is provided on the movable plate 6; the movable plate 6 has a first cavity 61 inside, an electromagnet 9 is fixedly installed on the top of the first cavity 61, and a pressure magnetic seat 91 is slidably installed inside the first cavity 61; the rod 7 is loosely connected to the pressure magnetic seat 91, an oil guiding channel 71 is formed inside the rod 7, and a support part 72 is provided at the end of the rod 7; a cavity communicating with the oil guiding channel 71 is formed inside the support part 72, a magnetic ring 721 is fixedly installed inside the cavity, and a supporting magnetic block 722 is slidably limited in the cavity and magnetically connected to the magnetic ring 721; the bottom of the movable plate 6 has a positioning groove 64, and in the initial state, the support part 72 is received in the positioning groove 64; after the rod 7 moves down to the oil guiding position, the upper end surface of the support part 72 is flush with or lower than the lower end surface of the first clamping plate 21.

[0054] It should be noted that by placing the pressure magnetic seat 91, rod 7, oil storage chamber 8, and support part 72 on the movable plate 6, the support action can be combined with the front and rear limiting action of the movable plate 6, eliminating the need for a large-volume base support assembly outside the gripper. The support part 72 is initially housed in the positioning groove 64, which reduces its interference with the extension and retraction of the fixed sleeve 5 and the movable plate 6. After the rod 7 moves down to the oil guiding position, the upper end face of the support part 72 is flush with or lower than the lower end face of the first clamping plate 21, so that when the support magnetic block 722 extends, it can correspond to the lower edge of the corner of the box without pressing against the middle of the side wall of the box. The upper end face of the support magnetic block 722 is chamfered, which helps to reduce the risk of scratching when the support magnetic block 722 extends, contacts the bottom edge of the box, or retracts.

[0055] The working process of this embodiment is as follows: After the gripper mechanism 2 clamps the box, the third cylinder 4 pushes the first guide block 41 to move. The first guide block 41 cooperates with the second guide block 42 and pushes the movable plate 6 to extend out of the fixed sleeve 5. The guide part 63 on the movable plate 6 contacts the front and rear corners or sides of the box, and performs centering guidance and front and rear limiting of the box.

[0056] It should be noted that the downward movement of the pressure magnetic seat 91 and the rod 7 is premised on the extension of the movable plate 6 to the support position. When the movable plate 6 is not extended, the support part 72 is still in the clearance position formed by the fixed sleeve 5 and the positioning groove 64, and the rod 7 does not move downward to guide oil. After the movable plate 6 is extended, the support part 72 obtains downward space. Only after the electromagnet 9 is de-energized can the pressure magnetic seat 91 and the rod 7 move downward to the oil guiding position.

[0057] Subsequently, the electromagnet 9 is de-energized, and the pressure magnetic seat 91 and the rod 7 move down to the oil guiding position under their own weight. The pressure magnetic seat 91 is a counterweight type magnetic seat. After the electromagnet 9 is de-energized, the pressure magnetic seat 91 and the rod 7 move down under their own weight. When the positioning pin 73 abuts the bottom end of the limiting groove 62, the rod 7 remains in the oil guiding position, so that the upper port of the oil guiding channel 71 is kept in the oil guiding groove 81. The pressure magnetic seat 91 continues to apply downward pressure to the pressure plate 83. This downward pressure acts on the hydraulic oil in the oil storage chamber 8 through the pressure plate 83, so that the oil storage chamber 8 forms an oil pressure for opening the pressure valve 711 and pushing the supporting magnetic block 722 to extend.

[0058] It should be noted that the pressure magnetic seat 91 can be made of ferromagnetic metal material, and the rod 7 can be made of metal rod. If necessary, a counterweight can be set on the pressure magnetic seat 91 so that the weight of the pressure magnetic seat 91 can meet the needs of downward movement when the power is off and the compression of hydraulic oil in the oil storage chamber 8.

[0059] It should be noted that a ventilation gap is reserved between the outer periphery of the pressure magnetic seat 91 and the inner wall of the first cavity 61. When the pressure magnetic seat 91 slides up and down in the first cavity 61, the air located on the upper and lower sides of the pressure magnetic seat 91 in the first cavity 61 can circulate through the ventilation gap, thereby avoiding the generation of air pressure difference due to local gas compression or negative pressure adsorption during the up and down movement of the pressure magnetic seat 91. This ensures that the pressure magnetic seat 91 can move down smoothly after the electromagnet 9 is de-energized and move up and reset stably after the electromagnet 9 is energized.

[0060] In this embodiment, the movable plate 6 serves both as a guide and limiter, and as a base for the installation of the hydraulic support structure; the support magnet 722 extends only after the rod 7 moves down to the oil guide position, which can reduce collisions or interference caused by long-term exposure, and can provide auxiliary support for the lower edge of the corner of the box without adding an independent bottom support cylinder, thereby improving the stacking stability of soft boxes or boxes with an off-center center of gravity.

[0061] It should be noted that after the supporting magnetic block 722 extends, its upper end face is used to support the lower edge of the corner of the box. The vertical load applied by the box to the supporting magnetic block 722 is transmitted to the supporting part 72 through the supporting magnetic block 722, and then borne by the supporting part 72, the movable plate 6 and the fixed sleeve 5. The hydraulic oil is mainly used for end oil compensation during the process of pushing the supporting magnetic block 722 to extend and reset, and is not used as the main vertical bearing medium after the supporting magnetic block 722 extends.

[0062] Example 3, referring to Figure 6 , Figures 8 to 10 as well as Figures 13 to 16 This embodiment further explains the working principle of the oil storage chamber 8, the oil guide channel 71, and the idle connection structure. The oil storage chamber 8 is located inside the movable plate 6, and an oil guide groove 81 is provided at the lower end of the oil storage chamber 8, which is connected to the oil guide groove 81. A second spring 82 is connected to the bottom of the oil storage chamber 8, and a pressure plate 83 is connected to the end of the second spring 82. The pressure plate 83 is slidably sealed to the inner wall of the oil storage chamber 8, and the rod 7 passes through the pressure plate 83 in a sealed manner. There is a gap between the inner cavity of the oil guide groove 81 and the outer wall of the rod 7. A pressure valve 711 is provided at the upper end of the oil guide channel 71. The pressure valve 711 is a normally closed bidirectional pressure valve.

[0063] It should be noted that there is a gap between the oil guide groove 81 and the outer wall of the rod 7. This gap is designed so that when the rod 7 moves down to the oil guide position, the upper end of the oil guide channel 71 can be located in the oil guide groove 81 and surrounded by oil, thereby achieving end oil compensation flow between the oil storage chamber 8 and the oil guide channel 71. The pressure plate 83 is slidably sealed to the inner wall of the oil storage chamber 8 and supported by the second spring 82. It can compress the hydraulic oil in the oil storage chamber 8 when the pressure magnetic seat 91 moves down and presses against the pressure plate 83. At the same time, it assists in oil replenishment and pressure plate 83 returning to its position during reset. The rod 7 seals through the pressure plate 83, which can reduce the possibility of hydraulic oil entering the first cavity 61.

[0064] Furthermore, a free-flow connection structure is provided between the pressure magnetic seat 91 and the rod body 7; the free-flow connection structure includes a vertical elongated hole 911 provided on the pressure magnetic seat 91 and a positioning pin 73 provided on the rod body 7, the positioning pin 73 extending into the vertical elongated hole 911; a limiting groove 62 is provided in the movable plate 6 corresponding to the positioning pin 73, the positioning pin 73 is slidably inserted into the limiting groove 62; when the rod body 7 is pressed down to the oil guiding position with the pressure magnetic seat 91, the positioning pin 73 is at the bottom end of the limiting groove 62 and at the upper end of the vertical elongated hole 911, so that the upper port of the oil guiding channel 71 is kept in the oil guiding groove 81.

[0065] It should be noted that the hydraulic oil channel 71 is not refilled with hydraulic oil with each operation, but is kept in a full and closed state when the pressure valve 711 is closed. During oil guiding, the upper end of the hydraulic oil channel 71 is in the hydraulic oil groove 81, the pressure valve 711 is open, and the oil reservoir 8 and the hydraulic oil channel 71 mainly undergo end oil compensation flow. The hydraulic oil kept full in the hydraulic oil channel 71 serves as the pressure transmission medium, transmitting the pressure to the cavity of the support part 72, thereby pushing the support magnetic block 722 to extend. This design avoids the response delay caused by repeated emptying and refilling of the long-distance hydraulic oil channel, and also helps to improve the consistency of the extension of the support magnetic block 722.

[0066] During reset, the electromagnet 9 is energized and attracts the pressure magnetic seat 91 to move upward. Since the positioning pin 73 is at the upper end of the vertical elongated hole 911, the pressure magnetic seat 91 can move upward relative to the rod body 7 in the initial reset stage. The positioning pin 73 slides relative to the vertical elongated hole 911, and the rod body 7 temporarily remains in the lower position. The upper port of the oil guide channel 71 continues to remain in the oil guide groove 81. During the process of the supporting magnetic block 722 retracting under the magnetic attraction of the magnetic ring 721, the oil guide channel 71 remains full of oil, and the oil at the end of the upper port of the oil guide channel 71 flows back to the oil storage chamber 8 for compensation. After the end oil compensation is completed, the lower end of the vertical elongated hole 911 moves upward with the pressure magnetic seat 91 to abut against the positioning pin 73, thereby driving the rod body 7 to move upward and reset.

[0067] In this embodiment, the vertical elongated hole 911, the positioning pin 73, and the limiting groove 62 together form a reset delay mechanism, so that the rod 7 will not leave the oil guide position immediately when the pressure magnetic seat 91 just begins to move upward, thereby ensuring that the oil can still perform end compensation backflow when the supporting magnetic block 722 retracts; this structure can reduce the risk of insufficient retraction of the supporting part, premature disconnection of the oil circuit, or jamming of the supporting part 72, and improve the reliability of the hydraulic supporting structure in multiple cycles.

[0068] The control method of this invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the field. Since this invention is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail. The specific model and specifications of the relevant electrical components need to be selected and determined according to the actual specifications of the device. The specific selection and calculation method adopts the existing technology in the field, so it will not be described in detail.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A collaborative robot for palletizing, comprising a robot body (1) and a gripper mechanism (2) mounted on the moving end of the robot body (1), characterized in that, The gripper mechanism (2) includes a first clamping plate (21) and a second clamping plate (22) arranged opposite to each other. The outer sides of the first clamping plate (21) and the second clamping plate (22) are provided with auxiliary support components (3) that can be adjusted in the front-back direction of the box, and the auxiliary support components (3) on both sides are arranged accordingly. The auxiliary support component (3) includes an installation part (31), a fixed sleeve (5) and a movable plate (6). The fixed sleeve (5) is disposed inside the installation part (31), and the movable plate (6) is slidably disposed inside the fixed sleeve (5) and can extend out of the fixed sleeve (5) to center and guide the box body and limit its front and rear positions. The movable plate (6) is provided with a hydraulic support structure, which includes a pressure magnetic seat (91), an oil storage chamber (8), a rod (7) and a support part (72). The rod (7) is connected to the pressure magnetic seat (91) in a free-flowing manner. An oil guide channel (71) is provided inside the rod (7). The support part (72) is located at the end of the rod (7) and is provided with a retractable support member. The support member can extend under the oil pressure of the oil storage chamber (8) to support the lower edge of the corner of the box.

2. The collaborative robot for palletizing according to claim 1, characterized in that, The gripper mechanism (2) further includes a first cylinder (211) and a second cylinder (221). The first clamping plate (21) is connected to the output end of the first cylinder (211), and the second clamping plate (22) is connected to the output end of the second cylinder (221). The first cylinder (211) and the second cylinder (221) are respectively used to drive the first clamping plate (21) and the second clamping plate (22) to move closer to each other or further away from each other.

3. The collaborative robot for palletizing according to claim 1, characterized in that, The auxiliary support assembly (3) also includes a dual-axis motor (32), a lead screw (33), a lead screw nut (34), and a guide rail (35). The side wall of the first clamping plate (21) is provided with a slot (23). Two mounting parts (31) are provided on the same side of the first clamping plate (21). The two mounting parts (31) are symmetrically arranged along the front and rear direction of the box. The fixing sleeve (5) is at least partially slidably disposed in the slot (23). The dual-axis motor (32) and the guide rail (35) are fixedly disposed on the outside of the first clamping plate (21). The two output ends of the dual-axis motor (32) are respectively connected to the lead screw (33), and the two mounting parts (31) are respectively provided with lead screw nuts (34). The lead screw nuts (34) are threadedly engaged with the corresponding lead screws (33). The two ends of the mounting parts (31) are respectively provided with limiting parts (311), and the limiting parts (311) are slidably engaged in the guide rail (35). The auxiliary support assembly (3) on the outside of the second clamping plate (22) has the same structure as the auxiliary support assembly (3) on the outside of the first clamping plate (21).

4. A collaborative robot for palletizing according to claim 3, characterized in that, When the dual-axis motor (32) rotates, it can drive the two mounting parts (31) to move closer or further apart through the lead screw (33) and lead screw nut (34) to adjust the distance between the two mounting parts (31) and adapt to the box with different front and rear dimensions.

5. A collaborative robot for palletizing according to claim 1, characterized in that, The fixed sleeve (5) is flush with the inner wall of the first clamping plate (21) on the side near the box body. The movable plate (6) and the inner cavity of the fixed sleeve (5) are elastically connected by the first spring (65). In the initial state, the end of the movable plate (6) facing the box body does not extend beyond the end face of the fixed sleeve (5) near the box body. A third cylinder (4) is fixedly installed in the mounting part (31). The output end of the third cylinder (4) is connected to a first guide block (41). A second guide block (42) is connected to the side of the movable plate (6) facing the first guide block (41). The first guide block (41) and the second guide block (42) are fitted together. A guide hole (51) adapted to the first guide block (41) is opened on the fixed sleeve (5). A guide part (63) is provided on the side of the movable plate (6) facing the box body.

6. A collaborative robot for palletizing according to claim 1, characterized in that, The movable plate (6) has a first cavity (61) inside. An electromagnet (9) is fixedly installed on the top of the first cavity (61). The pressure magnetic seat (91) is slidably installed in the first cavity (61). The electromagnet (9) is used to attract the pressure magnetic seat (91) to move upward and cause the pressure magnetic seat (91) to drive the rod (7) to reset after the support retracts through the idle connection structure.

7. A collaborative robot for palletizing according to claim 1, characterized in that, The support part (72) has a cavity communicating with the oil guide channel (71). The support member is a support magnetic block (722). A magnetic ring (721) is fixedly installed in the cavity. The support magnetic block (722) is slidably limited in the cavity, and the support magnetic block (722) and the magnetic ring (721) are magnetically connected. The bottom of the movable plate (6) is provided with a positioning groove (64). The support part (72) is adapted to the positioning groove (64). The side wall of the fixed sleeve (5) is provided with a through groove (52) corresponding to the support part (72). The upper end face of the support magnetic block (722) is provided with a chamfer. In the initial state, the support part (72) is housed in the positioning groove (64); after the rod (7) moves down to the oil guiding position, the upper end face of the support part (72) is flush with or lower than the lower end face of the first clamping plate (21).

8. A collaborative robot for palletizing according to claim 7, characterized in that, The lower end of the oil storage chamber (8) is provided with an oil guide groove (81), and the oil storage chamber (8) is connected to the oil guide groove (81); a second spring (82) is fixedly connected to the bottom of the oil storage chamber (8), and a pressure plate (83) is fixedly connected to the end of the second spring (82). The pressure plate (83) is slidably sealed to the inner wall of the oil storage chamber (8), and the rod (7) passes through the pressure plate (83) in a sealed manner. There is a gap between the inner cavity of the oil guide groove (81) and the outer wall of the rod (7). When the rod (7) moves down to the oil guide position and the pressure magnetic seat (91) continues to move down, the pressure magnetic seat (91) presses against the pressure plate (83) to compress the hydraulic oil in the oil storage chamber (8). The weight of the pressure magnet (91) is configured to generate downward pressure after the movable plate (6) extends to the support position and the electromagnet (9) is de-energized, and presses against the pressure plate (83) after the rod (7) moves down to the oil guide position, so that oil pressure is generated in the oil reservoir (8) to push the supporting magnet (722) to extend.

9. A collaborative robot for palletizing according to claim 8, characterized in that, Hydraulic oil is kept in the cavities of the oil storage chamber (8), the oil guide groove (81), the oil guide channel (71) and the support part (72). The upper port of the oil guide channel (71) is provided with a pressure valve (711), which is a normally closed bidirectional pressure valve. When the pressure valve (711) is closed, the oil guide channel (71) forms a closed full oil channel; when guiding oil, the upper port of the oil guide channel (71) is in the oil guide groove (81), the pressure valve (711) is opened, so that the oil storage chamber (8) and the oil guide channel (71) can perform end oil compensation flow, and the hydraulic oil that is kept full in the oil guide channel (71) can transmit pressure to the cavity of the support part (72).

10. A collaborative robot for palletizing according to claim 9, characterized in that, The idle connection structure includes a vertical elongated hole (911) on the pressure magnetic base (91) and a positioning pin (73) on the rod body (7). The positioning pin (73) extends into the vertical elongated hole (911). A limiting groove (62) is provided in the movable plate (6) corresponding to the positioning pin (73). The positioning pin (73) is slidably inserted into the limiting groove (62). After the movable plate (6) extends to the support position and the electromagnet (9) is de-energized, the pressure magnetic seat (91) and the rod (7) move down. When the rod (7) moves down to the oil guide position, the positioning pin (73) abuts against the bottom end of the limiting groove (62), and at this time the positioning pin (73) is at the upper end of the vertical elongated hole (911), so that the upper port of the oil guide channel (71) is kept in the oil guide groove (81); During reset, the pressure magnetic seat (91) moves upward first, and the positioning pin (73) slides relative to each other in the vertical elongated hole (911), so that the rod (7) is temporarily kept in the lower position, and the upper end of the oil guide channel (71) continues to be kept in the oil guide groove (81). During the retraction of the support, the oil guide channel (71) remains full of oil, and the oil at the end of the upper end of the oil guide channel (71) flows back to the oil storage chamber (8) for compensation. After the end oil compensation is completed, the lower end of the vertical elongated hole (911) moves upward with the pressure magnetic seat (91) to abut against the positioning pin (73), thereby driving the rod (7) to move upward and reset.

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