Robot end effector for carton opening

Abstract

The utility model relates to the technical field of robots, in particular to a robot end effector for carton opening, which comprises an effector unit provided with a mounting support connected with the tail end of a robot. A first suction assembly, a driving assembly and a second suction assembly rotationally arranged relative to the first suction assembly are arranged on the mounting support, the output end of the driving assembly is connected with the second suction assembly, and the first suction assembly and the second suction assembly of the actuator unit suck two adjacent side plates of an external folding carton. The driving assembly drives the second suction assembly to rotate relative to the first suction assembly, so that the two adjacent side plates of the folded carton are opened from the folded coplanar state to be in the square-shaped vertical state, the carton opening efficiency is improved, the carton opening device can adapt to the folded cartons of different sizes by adjusting the positions and parameters of the suction assemblies, and high universality is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly discloses a robot end effector for opening cartons. Background Art

[0002] In modern industrial production, cartons are widely used, especially in the fields of logistics, warehousing, manufacturing, etc. However, the traditional way of opening cartons mainly relies on manual operation, which has low efficiency, high labor intensity, and is prone to problems such as inconsistent carton opening and carton damage. With the development of industrial automation, the demand for efficient, precise, and reliable carton opening equipment is becoming increasingly urgent.

[0003] Although there are some carton opening devices on the market at present, they often have the following deficiencies: First, they have poor flexibility and are difficult to adapt to cartons of different sizes and shapes; second, the carton opening efficiency is not high and cannot meet the needs of large-scale production; third, the operation accuracy is insufficient, which is likely to lead to poor carton opening effects; fourth, the reliability and stability of the equipment need to be improved, and it is prone to failures, affecting the production progress. Therefore, it is necessary to develop a robot end effector for opening cartons to improve the carton opening efficiency, reduce the labor intensity, enhance the accuracy and reliability of the operation, and adapt to cartons of different sizes. Summary of the Utility Model

[0004] In order to overcome the shortcomings and deficiencies existing in the prior art, the purpose of the utility model is to provide a robot end effector for opening cartons.

[0005] To achieve the above purpose, a robot end effector for opening cartons of the utility model includes an actuator unit. The actuator unit has a mounting bracket connected to the robot end. The mounting bracket is provided with a first suction component, a driving component, and a second suction component rotatably arranged relative to the first suction component. The output end of the driving component is connected to the second suction component. The first suction component and the second suction component of the actuator unit suck two adjacent side plates of an external folded carton. The driving component drives the second suction component to rotate relative to the first suction component, so that two adjacent side plates of the folded carton are opened from the folded coplanar state to the vertical state of a square.

[0006] Opening cartons through the robot end effector eliminates the need for manual operation, greatly improving the carton opening speed. It is especially suitable for scenarios such as large-scale production and logistics, and can quickly process a large number of cartons. The mounting bracket ensures the stable connection between the actuator unit and the robot end, providing a solid foundation for the entire carton opening operation. The cooperation of the first suction component and the second suction component can accurately suck the specific side plates of the carton, ensuring the accuracy of the carton opening action. By adjusting the position and parameters of the suction component, it can adapt to folded cartons of different sizes and has strong versatility.

[0007] Furthermore, the robot includes a base, a multi-stage driver disposed on the base, an actuator unit disposed at the end of the multi-stage driver, a mounting bracket connected to the end of the multi-stage driver, a vacuum generator provided on the mounting bracket, and the vacuum generator is communicated with the suction assembly via a pipeline; the multi-stage driver drives the actuator unit to move with multiple degrees of freedom.

[0008] The multi-stage driver drives the actuator unit to move with multiple degrees of freedom, which can quickly and accurately position to the position of the folding carton, greatly shortening the time required for the carton opening operation and improving the overall production efficiency. The actuator unit is communicated with the suction assembly through the vacuum generator, and the carton is sucked by using the vacuum suction force. This method can ensure that the carton is stably grabbed during the carton opening process, is not easy to fall or shift, and improves the reliability of the operation. The consistency of mechanical carton opening is relatively high, which can ensure that the carton opening effect of each carton is basically the same, avoiding the inconsistency that may occur in manual carton opening, thereby improving the overall quality of the product.

[0009] Furthermore, the driving assembly has a cylinder movably connected to the first suction assembly, a push rod performing reciprocating motion is provided at the output end of the cylinder, a connecting rod is provided on the second suction assembly, a rotating member is provided on the push rod, and the rotating member is rotatably connected to the connecting rod; the cylinder drives the push rod to perform reciprocating motion, and the reciprocating motion of the push rod is converted into the rotation of the second suction assembly via the rotating member and the connecting rod.

[0010] Using a cylinder as the driving assembly has the characteristics of fast response speed and large output force, and can quickly drive the second suction assembly to rotate, improving the execution efficiency of the carton opening action. The output end of the cylinder performs reciprocating motion through the push rod, and the stroke and speed of the motion can be controlled more precisely, so that the rotation angle and speed of the second suction assembly can be accurately controlled, ensuring the accuracy and stability of the carton opening process. The rotating member and the connecting rod are rotatably connected through a pin shaft. This connection method makes the force transmission smoother, reduces energy loss, and also improves the rotation accuracy and reliability. The parameters of the cylinder and the stroke of the push rod can be adjusted according to different carton sizes and carton opening requirements to adapt to different working scenarios, improving the adaptability and flexibility of the equipment.

[0011] Furthermore, the first suction assembly has a first suction plate connected to the mounting bracket. The first suction plate is provided with a first suction cup for sucking an external carton and a support member for cooperating with the first suction cup to abut against the external carton. The first suction plate is formed with a first adjustment hole and a mounting groove for cooperating with the first adjustment hole. The first adjustment hole is used to adjust the mounting position of the first suction cup, and the mounting groove is used in cooperation with the first adjustment hole to facilitate the installation of the first suction cup. The first suction cup is detachably connected to the first suction plate.

[0012] The setting of the first adjustment hole enables the installation position of the first suction cup to be flexibly adjusted according to cartons of different sizes, capable of adapting to the requirements of opening cartons of various specifications, and improving the versatility of the equipment. The detachable connection design facilitates the replacement and maintenance of the first suction cup. The installation groove is used in conjunction with the first adjustment hole, providing convenience for the installation of the first suction cup, making the installation process simpler and faster, and improving production efficiency. The support member cooperates with the first suction cup to provide additional support force when sucking the carton, preventing the carton from deforming or becoming unstable during the sucking process, and ensuring the smooth progress of the carton opening operation.

[0013] Furthermore, the second suction component has a second suction plate rotatably connected to the first suction component, a second suction cup detachably connected to the second suction plate, and a second adjustment hole provided on the second suction plate, and the second adjustment hole is used to adjust the installation position of the second suction cup; a rotating shaft is provided on the first suction component, and the rotating shaft is connected to the second suction plate.

[0014] The second adjustment hole can adjust the installation position of the second suction cup, capable of flexibly adjusting the suction position according to cartons of different sizes, adapting to the requirements of opening cartons of various specifications, and improving the adaptability of the equipment to different working scenarios. The setting of the rotating shaft enables the second suction plate to rotate flexibly relative to the first suction component, facilitating the adjustment of the angle during the carton opening process, better adapting to the shape and folding state of the carton, and improving the efficiency and quality of carton opening. The second suction cup is detachably connected to the second suction plate, facilitating the replacement of suction cups of different types or specifications to meet the suction requirements of cartons of different materials, further enhancing the versatility of the equipment. By adjusting the position of the second adjustment hole, the suction position of the second suction cup can be accurately determined. Cooperating with the first suction component, it can suck the carton more stably, improving the accuracy and reliability of the carton opening operation.

[0015] Furthermore, the multi-stage driver has a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint, a first arm, and a second arm provided on the base; the first joint is rotatably connected to the mounting seat, the second joint is rotatably connected to the first joint, both ends of the first arm are respectively connected to the second joint and the third joint, the fourth joint is rotatably connected to the third joint, both ends of the second arm are respectively connected to the fourth joint and the fifth joint, the sixth joint is rotatably connected to the fifth joint, the seventh joint is rotatably connected to the sixth joint, and the seventh joint is connected to the actuator unit.

[0016] The setting of multiple joints enables the actuator unit to achieve multi-degree-of-freedom motion, be able to flexibly locate to the position of the folding carton in three-dimensional space, and adapt to different working environments and carton placement positions. The connection method of the first arm and the second arm further increases the flexibility of motion, can achieve more complex actions, and improves the adaptability and versatility of the device. Each joint can be independently controlled, can accurately adjust the position and posture of the actuator unit, ensure that the first suction component and the second suction component accurately suck the carton, and open it to the required state. The multi-joint design enables the actuator unit to operate with higher precision, reduces the error during the unpacking process, and improves the product quality. The multi-joint structure design usually has high strength and stability, can withstand large loads and impact forces, and ensures the reliability of the device during long-term operation. It can adapt to the layouts of different production lines and the storage methods of cartons, increasing the practicality of the device.

[0017] Further, the directions of the rotation axes between the first joint and the second joint are perpendicular to each other, the directions of the rotation axes of the second joint and the third joint are respectively perpendicular to the length direction of the first arm, and the third joint and the fourth joint rotate coaxially; the directions of the rotation axes of the fourth joint and the fifth joint are respectively perpendicular to the length direction of the second arm, the directions of the rotation axes between the fifth joint and the sixth joint are perpendicular to each other, and the directions of the rotation axes between the sixth joint and the seventh joint are perpendicular to each other.

[0018] The different combinations of the directions of the rotation axes between the joints enable the multi-stage driver to achieve flexible rotation in multiple directions, provide a wide range of motion spaces for the actuator unit, be able to easily reach folding cartons at different positions and angles, and improve the adaptability of the device. The specific directions of the rotation axes contribute to accurately controlling the position and posture of the actuator unit. Through the coordinated motion of each joint, the actuator unit can be accurately positioned at a specific position of the carton, improving the accuracy of suction and unpacking. The perpendicular directions of the rotation axes can increase the structural stability of the multi-stage driver, reduce the shaking and vibration during the motion process, and improve the running smoothness of the device.

[0019] Further, the number of the support members and the number of the first suction cups are both set to be multiple.

[0020] The arrangement of multiple support members and multiple first suction cups increases the contact points with the cardboard box, enabling a more uniform distribution of the adsorption force, enhancing the stability of the cardboard box during the suction and box-opening processes, and reducing the risks of shaking and dropping. The simultaneous operation of multiple suction cups can provide a greater total adsorption force, enabling reliable suction of heavier or harder cardboard boxes and expanding the applicable range of the equipment. Multiple support members can better adapt to the unevenness of the cardboard box surface, ensuring good contact between the cardboard box and the suction assembly during suction and improving the adsorption effect. During the continuous box-opening production process, multiple adsorption points can complete the grasping and positioning of the cardboard box faster, accelerating the production rhythm. The arrangement of multiple suction cups and support members allows for flexible adjustment according to different cardboard box requirements, such as adjusting the position, quantity, and adsorption force of the suction cups to achieve the best box-opening effect.

[0021] Further, two bearings are provided in parallel at both ends of the rotating shaft. The inner ring of the bearing is connected to the rotating shaft, and the first suction assembly is provided with a mounting seat for mounting the outer ring of the bearing.

[0022] The two bearings are arranged in parallel at both ends of the rotating shaft, providing stable support and guidance for the rotating shaft, ensuring that the rotating shaft remains stable during rotation, reducing shaking and deviation, and thus making the rotation of the second suction assembly more stable and reliable. The bearings can withstand large radial and axial loads, adapt to various forces that may occur during the suction of the cardboard box, and improve the overall stability of the equipment. The rolling friction coefficient of the bearings is small, greatly reducing the friction force during the rotation of the rotating shaft, reducing energy loss, making the rotation of the second suction assembly smoother, and improving the working efficiency of the equipment. The stable rotation and low-friction characteristics contribute to improving the rotation accuracy of the second suction assembly, ensuring that the side plates of the cardboard box can be accurately opened to the required angle during the box-opening process and improving product quality.

[0023] Further, the end of the support member for abutting against the external cardboard box is formed into a frustum-shaped structure.

[0024] When the frustum-shaped structure abuts against the cardboard box at one end, the contact area with the cardboard box gradually increases, enabling more stable support of the cardboard box. Compared with other shapes, the frustum shape can better disperse the pressure, reduce the local pressure on the cardboard box, and prevent the cardboard box from being damaged due to excessive local stress during the suction and box-opening processes. The frustum-shaped design has a certain guiding effect when contacting the cardboard box, which can help the first suction assembly and the second suction assembly to more accurately locate the correct position of the cardboard box, improving the suction accuracy and efficiency. During the suction and box-opening processes, the frustum-shaped support member can better resist external interference forces and maintain the stability of the cardboard box. Even when subjected to a certain lateral force or vibration, it can effectively prevent the cardboard box from shifting or tilting.

[0025] Advantages of the present utility model: It improves the unpacking efficiency. The multi-stage driver enables the actuator unit to move with multiple degrees of freedom, quickly positioning the folding carton. With the cooperation of the first and second suction components and the drive of the drive component, the unpacking action is completed quickly, greatly improving the production efficiency; the operation is accurate and reliable. The vacuum generator cooperates with the suction component to stably grasp the carton using vacuum suction. The multi-stage driver precisely controls the movement of the actuator unit to adapt to cartons of different sizes, ensuring the accuracy and reliability of the operation; it has strong adaptability. The adjustable design of each component, such as the adjustment holes of the first and second suction cups, can meet the unpacking requirements of cartons of different sizes, improving the versatility and adaptability of the equipment; it reduces the labor intensity. It replaces manual carton unpacking operations, reducing the labor intensity of workers, and reducing labor costs and physical fatigue and injuries caused by repetitive labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 FIG. is a schematic diagram of the overall structure of a robot end effector for unpacking cartons of the present utility model Figure 1 ;

[0027] Figure 2 FIG. is a schematic diagram of the overall structure of the present utility model Figure 2 ;

[0028] Figure 3 FIG. is a schematic diagram of the structure of the actuator unit of the present utility model Figure 1 ;

[0029] Figure 4 FIG. is a schematic diagram of the structure of the actuator unit of the present utility model Figure 2 ;

[0030] Figure 5 FIG. is a schematic diagram of the partial structure of the actuator unit of the present utility model Figure 1 ;

[0031] Figure 6 FIG. is a schematic diagram of the partial structure of the actuator unit of the present utility model Figure 2 ;

[0032] Figure 7 FIG. is a schematic diagram of the structure of the multi-stage driver of the present utility model.

[0033] The reference numerals include: 1, base; 2, multi-stage driver; 21, first joint; 22, second joint; 23, third joint; 24, fourth joint; 25, fifth joint; 26, sixth joint; 27, seventh joint; 28, first arm; 29, second arm; 3, actuator unit; 31, mounting bracket; 32, vacuum generator; 33, first suction assembly; 331, first suction plate; 332, first suction cup; 333, support; 334, first adjustment hole; 335, mounting groove; 336, rotating shaft; 337, bearing; 338, mounting seat; 34, second suction assembly; 341, second suction plate; 342, second suction cup; 343, second adjustment hole; 35, drive assembly; 351, cylinder; 352, push rod; 353, rotating member; 354, connecting rod. Detailed implementation manners

[0034] For the convenience of those skilled in the art to understand, the following further describes the present utility model in conjunction with embodiments and the attached drawings. The content mentioned in the implementation manners does not limit the present utility model.

[0035] Please refer to Figures 1 to 7 As shown, a robot end effector for opening a cardboard box of the present utility model includes an actuator unit 3. The actuator unit 3 has a mounting bracket 31 connected to the end of the robot. The mounting bracket 31 is provided with a first suction assembly 33, a drive assembly 35, and a second suction assembly 34 rotatably arranged relative to the first suction assembly 33. The output end of the drive assembly 35 is connected to the second suction assembly 34. The first suction assembly 33 and the second suction assembly 34 of the actuator unit 3 suck two adjacent side plates of an externally folded cardboard box. The drive assembly 35 drives the second suction assembly 34 to rotate relative to the first suction assembly 33, so that two adjacent side plates of the folded cardboard box are opened from the folded coplanar state to a vertical state in the shape of a square.

[0036] During actual use, when opening the cardboard box with the robot end effector, manual operation is not required, which greatly improves the opening speed. It is especially suitable for scenarios such as large-scale production and logistics, and can quickly process a large number of cardboard boxes. The mounting bracket 31 ensures the stable connection between the actuator unit 3 and the end of the robot, providing a solid foundation for the entire box-opening operation. The cooperation of the first suction assembly 33 and the second suction assembly 34 can accurately suck the specific side plates of the cardboard box, ensuring the accuracy of the box-opening action. By adjusting the position and parameters of the suction assembly, it can adapt to folded cardboard boxes of different sizes, having strong versatility.

[0037] Specifically, the robot includes a base 1, a multi-stage driver 2 disposed on the base 1, an actuator unit 3 is disposed at the end of the multi-stage driver 2, a mounting bracket 31 is connected to the end of the multi-stage driver 2, a vacuum generator 32 is provided on the mounting bracket 31, and the vacuum generator 32 is communicated with the suction assembly via a pipeline; the multi-stage driver 2 drives the actuator unit 3 to perform multi-degree-of-freedom movement.

[0038] During actual use, the multi-stage driver 2 drives the actuator unit 3 to perform multi-degree-of-freedom movement, which can quickly and accurately locate the position of the folding carton, greatly shortening the time required for the carton opening operation and improving the overall production efficiency. The actuator unit 3 is communicated with the suction assembly through the vacuum generator 32, and the carton is sucked by using the vacuum suction force. This method can ensure that the carton is stably grasped during the carton opening process, is not easy to fall or shift, and improves the reliability of the operation. The consistency of mechanical carton opening is relatively high, which can ensure that the carton opening effect of each carton is basically the same, avoiding the inconsistency that may occur in manual carton opening, thereby improving the overall quality of the product.

[0039] Specifically, the driving assembly 35 has a cylinder 351 movably connected to the first suction assembly 33. A reciprocating push rod 352 is provided at the output end of the cylinder 351. A connecting rod 354 is provided on the second suction assembly 34. A rotating member 353 is provided on the push rod 352, and the rotating member 353 is rotatably connected to the connecting rod 354; the cylinder 351 drives the push rod 352 to reciprocate, and the reciprocating movement of the push rod 352 is converted into the rotation of the second suction assembly 34 via the rotating member 353 and the connecting rod 354.

[0040] During actual use, using the cylinder 351 as the driving assembly 35 has the characteristics of fast response speed and large output force, and can quickly drive the second suction assembly 34 to rotate, improving the execution efficiency of the carton opening action. The output end of the cylinder 351 reciprocates through the push rod 352, and the stroke and speed of the movement can be controlled more precisely, so that the rotation angle and speed of the second suction assembly 34 can be accurately controlled, ensuring the accuracy and stability of the carton opening process. The rotating member 353 and the connecting rod 354 are rotatably connected by a pin shaft. This connection method makes the force transmission smoother, reduces energy loss, and also improves the rotation accuracy and reliability. The parameters of the cylinder 351 and the stroke of the push rod 352 can be adjusted according to different carton sizes and carton opening requirements to adapt to different working scenarios, improving the adaptability and flexibility of the equipment.

[0041] Specifically, the first suction component 33 has a first suction plate 331 connected to the mounting bracket 31. The first suction plate 331 is provided with a first suction cup 332 for sucking the external carton and a support member 333 that cooperates with the first suction cup 332 to abut against the external carton. The first suction plate 331 is formed with a first adjustment hole 334 and a mounting groove 335 that is used in conjunction with the first adjustment hole 334. The first adjustment hole 334 is used to adjust the mounting position of the first suction cup 332, and the mounting groove 335 facilitates the installation of the first suction cup 332 in cooperation with the first adjustment hole 334. The first suction cup 332 is detachably connected to the first suction plate 331.

[0042] During actual use, the setting of the first adjustment hole 334 enables the mounting position of the first suction cup 332 to be flexibly adjusted according to cartons of different sizes, capable of adapting to the requirements of opening cartons of various specifications, and improving the versatility of the equipment. The detachable connection design facilitates the replacement and maintenance of the first suction cup 332. The mounting groove 335 is used in conjunction with the first adjustment hole 334, providing convenience for the installation of the first suction cup 332, making the installation process simpler and faster, and improving production efficiency. The support member 333 cooperates with the first suction cup 332 to provide additional support force when sucking the carton, preventing the carton from deforming or becoming unstable during the suction process, and ensuring the smooth progress of the carton opening operation.

[0043] Specifically, the second suction component 34 has a second suction plate 341 rotatably connected to the first suction component 33, a second suction cup 342 detachably connected to the second suction plate 341, and a second adjustment hole 343 provided on the second suction plate 341. The second adjustment hole 343 is used to adjust the mounting position of the second suction cup 342; a rotating shaft 336 is provided on the first suction component 33, and the rotating shaft 336 is connected to the second suction plate 341.

[0044] During actual use, the second adjustment hole 343 can adjust the mounting position of the second suction cup 342, capable of flexibly adjusting the suction position according to cartons of different sizes, adapting to the requirements of opening cartons of various specifications, and improving the adaptability of the equipment to different working scenarios. The setting of the rotating shaft 336 enables the second suction plate 341 to rotate flexibly relative to the first suction component 33, facilitating the adjustment of the angle during the carton opening process, better adapting to the shape and folding state of the carton, and improving the efficiency and quality of carton opening. The second suction cup 342 is detachably connected to the second suction plate 341, facilitating the replacement of suction cups of different types or specifications to meet the suction requirements of cartons of different materials, further enhancing the versatility of the equipment. By adjusting the position of the second adjustment hole 343, the suction position of the second suction cup 342 can be accurately determined. In cooperation with the first suction component 33, the carton can be sucked more stably, improving the accuracy and reliability of the carton opening operation.

[0045] Specifically, the multi-stage drive 2 has a first joint 21, a second joint 22, a third joint 23, a fourth joint 24, a fifth joint 25, a sixth joint 26, a seventh joint 27, a first arm 28 and a second arm 29 disposed on the base 1; the first joint 21 is rotatably connected to the mounting seat 338, the second joint 22 is rotatably connected to the first joint 21, both ends of the first arm 28 are respectively connected to the second joint 22 and the third joint 23, the fourth joint 24 is rotatably connected to the third joint 23, both ends of the second arm 29 are respectively connected to the fourth joint 24 and the fifth joint 25, the sixth joint 26 is rotatably connected to the fifth joint 25, the seventh joint 27 is rotatably connected to the sixth joint 26, and the seventh joint 27 is connected to the actuator unit 3.

[0046] In actual use, the setting of multiple joints enables the actuator unit 3 to achieve multi-degree-of-freedom motion, be able to flexibly locate the position of the folding carton in three-dimensional space, and adapt to different working environments and carton placement positions. The connection method of the first arm 28 and the second arm 29 further increases the flexibility of motion, can achieve more complex actions, and improves the adaptability and versatility of the device. Each joint can be independently controlled, can accurately adjust the position and posture of the actuator unit 3, ensure that the first suction component 33 and the second suction component 34 accurately suck the carton and open it to the required state. The design of multiple joints enables the actuator unit 3 to operate with higher precision, reduces the error during the unpacking process, and improves the product quality. The structural design of multiple joints usually has high strength and stability, can withstand large loads and impact forces, and ensures the reliability of the device during long-term operation. It can adapt to the layout of different production lines and the storage methods of cartons, increasing the practicality of the device.

[0047] Specifically, the directions of the rotation axes between the first joint 21 and the second joint 22 are perpendicular to each other, the directions of the rotation axes of the second joint 22 and the third joint 23 are respectively perpendicular to the length direction of the first arm 28, and the third joint 23 and the fourth joint 24 rotate coaxially; the directions of the rotation axes of the fourth joint 24 and the fifth joint 25 are respectively perpendicular to the length direction of the second arm 29, the directions of the rotation axes between the fifth joint 25 and the sixth joint 26 are perpendicular to each other, and the directions of the rotation axes between the sixth joint 26 and the seventh joint 27 are perpendicular to each other.

[0048] In actual use, different combinations of the rotational axis directions between the joints enable the multi-stage drive 2 to achieve flexible rotation in multiple directions, providing a wide range of movement space for the actuator unit 3. It can easily reach folding cartons at different positions and angles, improving the adaptability of the equipment. Specific rotational axis directions contribute to precisely controlling the position and posture of the actuator unit 3. Through the coordinated movement of each joint, the actuator unit 3 can be accurately positioned at a specific position of the carton, improving the accuracy of suction and opening the carton. The vertical rotational axis direction can increase the structural stability of the multi-stage drive 2, reduce shaking and vibration during movement, and improve the running smoothness of the equipment.

[0049] Specifically, the number of the support members 333 and the number of the first suction cups 332 are both set to be multiple.

[0050] In actual use, the setting of multiple support members 333 and multiple first suction cups 332 increases the contact points with the carton, can more evenly distribute the adsorption force, improves the stability of the carton during the processes of being sucked and opened, and reduces the risks of shaking and dropping. The simultaneous operation of multiple suction cups can provide a greater total adsorption force, can reliably suck heavier or harder carton materials, and expands the applicable range of the equipment. Multiple support members 333 can better adapt to the unevenness of the carton surface, ensure good contact between the carton and the suction assembly during the suction process, and improve the adsorption effect. During the continuous production process of opening cartons, multiple adsorption points can complete the grasping and positioning of the cartons faster, accelerating the production rhythm. The setting of multiple suction cups and support members 333 enables flexible adjustment according to different carton requirements, such as adjusting the position, number, and adsorption force of the suction cups, to achieve the best carton-opening effect.

[0051] Specifically, two bearings 337 are arranged in parallel at both ends of the rotating shaft 336. The inner ring of the bearing 337 is connected to the rotating shaft 336, and the mounting seat 338 for mounting the outer ring of the bearing 337 is provided on the first suction assembly 33.

[0052] In actual use, the two bearings 337 are arranged in parallel at both ends of the rotating shaft 336, providing stable support and guidance for the rotating shaft 336, ensuring that the rotating shaft 336 remains stable during rotation, reducing shaking and deviation, and thus making the rotation of the second suction assembly 34 more stable and reliable. The bearing 337 can withstand large radial and axial loads, adapt to various forces that may be generated during the process of sucking the carton, and improve the overall stability of the equipment. The rolling friction coefficient of the bearing 337 is small, greatly reducing the frictional force when the rotating shaft 336 rotates, reducing energy loss, making the rotation of the second suction assembly 34 smoother, and improving the working efficiency of the equipment. The stable rotation and low-friction characteristics contribute to improving the rotation accuracy of the second suction assembly 34, ensuring that the side plates of the carton can be accurately opened to the required angle during the carton-opening process, and improving the product quality.

[0053] Specifically, one end of the support member 333 that abuts against the external cardboard box is formed into a frustum-shaped structure.

[0054] In actual use, when one end of the frustum-shaped structure abuts against the cardboard box, the contact area with the cardboard box gradually increases, enabling the cardboard box to be supported more stably. Compared with other shapes, the frustum shape can better disperse the pressure, reduce the local pressure on the cardboard box, and prevent the cardboard box from being damaged due to excessive local force during the suction and box-opening processes. The frustum-shaped design has a certain guiding effect when contacting the cardboard box, which can help the first suction component 33 and the second suction component 34 to be more accurately positioned at the correct position of the cardboard box, improving the accuracy and efficiency of suction. During the suction and box-opening processes, the frustum-shaped support member 333 can better resist external interference forces and maintain the stability of the cardboard box. Even when subjected to a certain lateral force or vibration, it can effectively prevent the cardboard box from shifting or tilting.

[0055] The above content is only the preferred embodiment of the present utility model. For those of ordinary skill in the art, based on the idea of the present utility model, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present utility model.

Claims

1. A robotic end effector for opening cardboard boxes, characterized in that: It includes an actuator unit (3). The actuator unit (3) has a mounting bracket (31) connected to the end of the robot. The mounting bracket (31) is provided with a first suction component (33), a driving component (35), and a second suction component (34) rotatably arranged relative to the first suction component (33). The output end of the driving component (35) is connected to the second suction component (34). The first suction component (33) and the second suction component (34) of the actuator unit (3) suck two adjacent side plates of an external folding carton. The driving component (35) drives the second suction component (34) to rotate relative to the first suction component (33), so that two adjacent side plates of the folding carton are opened from the folded coplanar state to the vertical state of a square.

2. The end effector of a robot for opening cartons according to claim 1, characterized in that: The robot includes a base (1) and a multi-stage driver (2) arranged on the base (1). The actuator unit (3) is arranged at the end of the multi-stage driver (2). The mounting bracket (31) is connected to the end of the multi-stage driver (2). A vacuum generator (32) is provided on the mounting bracket (31). The vacuum generator (32) is communicated with the suction component via a pipeline. The multi-stage driver (2) drives the actuator unit (3) to move with multiple degrees of freedom.

3. The end effector of a robot for opening cartons according to claim 1, characterized in that: The driving component (35) has a cylinder (351) movably connected to the first suction component (33). A reciprocating push rod (352) is provided at the output end of the cylinder (351). A connecting rod (354) is provided on the second suction component (34). A rotating member (353) is provided on the push rod (352). The rotating member (353) is rotatably connected to the connecting rod (354). The cylinder (351) drives the push rod (352) to reciprocate. The reciprocating motion of the push rod (352) is converted into the rotation of the second suction component (34) via the rotating member (353) and the connecting rod (354).

4. The robotic end effector for opening cartons according to claim 1, characterized in that: The first suction component (33) has a first suction plate (331) connected to the mounting bracket (31). The first suction plate (331) is provided with a first suction cup (332) for sucking an external carton and a support member (333) for cooperating with the first suction cup (332) to abut against the external carton. The first suction plate (331) is formed with a first adjustment hole (334) and a mounting groove (335) used in cooperation with the first adjustment hole (334). The first adjustment hole (334) is used to adjust the mounting position of the first suction cup (332). The mounting groove (335) is used in cooperation with the first adjustment hole (334) to facilitate the installation of the first suction cup (332). The first suction cup (332) is detachably connected to the first suction plate (331).

5. The end effector of a robot for opening a cardboard box according to claim 1, characterized in that: The second suction component (34) has a second suction plate (341) rotatably connected to the first suction component (33), a second suction cup (342) detachably connected to the second suction plate (341), and a second adjustment hole (343) provided on the second suction plate (341). The second adjustment hole (343) is used to adjust the mounting position of the second suction cup (342). A rotating shaft (336) is rotatably provided on the first suction component (33). The rotating shaft (336) is connected to the second suction plate (341). The number of the second suction cups (342) is set to be multiple.

6. The robotic end effector for opening cartons according to claim 2, wherein: The multi-stage actuator (2) has a first joint (21), a second joint (22), a third joint (23), a fourth joint (24), a fifth joint (25), a sixth joint (26), a seventh joint (27), a first arm (28) and a second arm (29) disposed on a base (1); the first joint (21) is rotatably connected to a mounting base (338), the second joint (22) is rotatably connected to the first joint (21), both ends of the first arm (28) are respectively connected to the second joint (22) and the third joint (23), the fourth joint (24) is rotatably connected to the third joint (23), both ends of the second arm (29) are respectively connected to the fourth joint (24) and the fifth joint (25), the sixth joint (26) is rotatably connected to the fifth joint (25), the seventh joint (27) is rotatably connected to the sixth joint (26), and the seventh joint (27) is connected to an actuator unit (3).

7. The end effector of a robot for opening cartons according to claim 6, characterized in that: The directions of the rotation axes between the first joint (21) and the second joint (22) are perpendicular to each other, the directions of the rotation axes of the second joint (22) and the third joint (23) are respectively perpendicular to the length direction of the first arm (28), and the third joint (23) and the fourth joint (24) rotate coaxially; the directions of the rotation axes of the fourth joint (24) and the fifth joint (25) are respectively perpendicular to the length direction of the second arm (29), the directions of the rotation axes between the fifth joint (25) and the sixth joint (26) are perpendicular to each other, and the directions of the rotation axes between the sixth joint (26) and the seventh joint (27) are perpendicular to each other.

8. The end effector of a robot for opening cartons according to claim 4, characterized in that: The number of the support members (333) and the number of the first suction cups (332) are both set to be plural.

9. A robot end effector for opening a carton according to claim 5, characterized in that: Two bearings (337) are provided in parallel at both ends of a rotating shaft (336), the inner rings of the bearings (337) are connected to the rotating shaft (336), and a mounting base (338) for mounting the outer rings of the bearings (337) is provided on a first suction assembly (33).

10. A robot end effector for opening a cardboard box according to claim 4, characterized in that: One end of the support member (333) for abutting against an external cardboard box is formed into a frustum-shaped structure.

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