Full-automatic carton stacking robot

Abstract

The utility model discloses a full-automatic carton palletizing robot, which belongs to the technical field of palletizing robots, and comprises a cooperative mechanical arm, a fixed shell, a plurality of support rods, a plurality of suction cup bodies and a telescopic device, the fixed shell is an uncovered cylindrical shell, and the fixed shell is fixedly connected to the end part of the cooperative mechanical arm; the multiple supporting rods are arranged in an annular array, the ends of the multiple supporting rods are connected to the edge of the fixed shell, the ends of every two adjacent supporting rods are fixedly connected, and the multiple suction cup bodies are located outside the fixed shell; the mechanical arm is cooperated to drive the fixed shell to move in multiple degrees of freedom, the telescopic device stretches out and draws back to drive the multiple suction cup bodies to synchronously slide on the multiple supporting rods, then the size of a ring formed by the multiple suction cup bodies in a surrounding mode is changed, and therefore the suction cup device adapts to suction of cartons of different specifications without replacing the suction cups of different specifications, and the labor intensity of workers is reduced. And the universality and the use flexibility of the palletizing robot are greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of palletizing robot technology, and in particular relates to a fully automatic carton palletizing robot. Background Technology

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs, providing higher production efficiency for modern manufacturing.

[0003] Chinese patent (CN202122139336.4) discloses an automatic palletizing robot, including a base and a first rotating seat on the upper end of the base. A first cantilever and a second cantilever are connected to the upper end of the first rotating seat. An adsorption device is installed at the end of the second cantilever away from the first cantilever. The adsorption device includes a mounting base, a mounting plate at the lower end of the mounting base, a floating plate at the lower end of the mounting plate, and a vacuum suction cup at the bottom end of the floating plate. Lifting components are installed on both sides of the mounting plate, and a dust removal mechanism is connected below the lifting components. The vacuum gripping device of the palletizing robot has pulse-type dust removal mechanisms on both sides. The dust removal mechanisms are connected to the lifting components. The lifting components control the dust removal mechanism to unfold and retract, effectively cleaning the surface of heavy objects without affecting the robot's operation. This facilitates the gripping device to adsorb heavy objects and has strong applicability.

[0004] Currently, the suction cups used by palletizing robots have fixed specifications. When palletizing cartons of different sizes, different specifications of suction cups need to be replaced, which makes the palletizing robots less versatile. Utility Model Content

[0005] The purpose of this utility model is to provide a fully automatic carton palletizing robot in order to solve the above-mentioned problems.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a fully automatic carton palletizing robot, comprising a collaborative robotic arm, a fixed outer shell, multiple support rods, multiple suction cup bodies, and a telescopic device. The fixed outer shell is an open cylindrical shell and is fixedly connected to the end of the collaborative robotic arm. The multiple support rods are arranged in a circular array, and the ends of the multiple support rods are connected to the edge of the fixed outer shell. The ends of adjacent support rods are fixedly connected. The multiple suction cup bodies are located outside the fixed outer shell and are slidably connected to the multiple support rods. The telescopic device is fixedly connected inside the fixed outer shell, and the multiple suction cup bodies are connected to the telescopic end of the telescopic device through multiple connecting rods.

[0007] As a further description of the above technical solution:

[0008] The suction cup body is provided with a slider, which is slidably connected to the support rod.

[0009] As a further description of the above technical solution:

[0010] The telescopic end of the telescopic device is provided with a disc, and the two ends of the connecting rod are respectively hinged to the disc and the slider.

[0011] As a further description of the above technical solution:

[0012] The axes of the telescopic device, the disk, and the fixed housing coincide.

[0013] As a further description of the above technical solution:

[0014] The multiple support rods are arranged in a circular array along the axis of the fixed housing.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0016] In this invention, a collaborative robotic arm drives the fixed outer shell to move in multiple degrees of freedom. The extension and retraction of the telescopic device can drive multiple suction cup bodies to slide synchronously on multiple support rods, thereby changing the size of the ring formed by the multiple suction cup bodies. This allows the robot to adapt to the adsorption of cartons of different sizes without the need to replace suction cups of different sizes, greatly improving the versatility and flexibility of the palletizing robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a fully automated carton palletizing robot.

[0018] Figure 2 A cross-sectional view of the fixed outer shell in a fully automated carton palletizing robot. Figure 1 .

[0019] Figure 3 A cross-sectional view of the fixed outer shell in a fully automated carton palletizing robot. Figure 2 .

[0020] Legend:

[0021] 1. Collaborative robotic arm; 2. Fixed outer shell; 3. Support rod; 4. Suction cup body; 5. Telescopic device; 6. Linkage rod; 7. Slider; 8. Disc. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figure 1-3 This utility model provides a technical solution: a fully automatic carton palletizing robot, including a collaborative robotic arm 1, a fixed shell 2, multiple support rods 3, multiple suction cup bodies 4, and a telescopic device 5. The fixed shell 2 is an open cylindrical shell and is fixedly connected to the end of the collaborative robotic arm 1. The multiple support rods 3 are arranged in a circular array, and the ends of the multiple support rods 3 are connected to the edge of the fixed shell 2. The ends of two adjacent support rods 3 are fixedly connected. The multiple suction cup bodies 4 are located outside the fixed shell 2 and are slidably connected to the multiple support rods 3. The telescopic device 5 is fixedly connected inside the fixed shell 2, and the multiple suction cup bodies 4 are connected to the telescopic end of the telescopic device 5 through multiple connecting rods 6.

[0024] The suction cup body 4 is provided with a slider 7, which is slidably connected to the support rod 3 to ensure that the suction cup body 4 slides stably on the support rod 3.

[0025] The telescopic end of the telescopic device 5 is provided with a disc 8, and the two ends of the connecting rod 6 are respectively hinged to the disc 8 and the slider 7, which facilitates the establishment of a connection between the telescopic device 5 and multiple connecting rods 6.

[0026] The axis of the telescopic device 5, the axis of the disc 8, and the axis of the fixed housing 2 coincide; multiple support rods 3 are arranged in a ring array along the axis of the fixed housing 2 to ensure that multiple suction cup bodies 4 move synchronously when the telescopic device 5 extends or retracts.

[0027] Working principle: The collaborative robotic arm 1 drives the fixed shell 2 to move in multiple degrees of freedom. During the palletizing operation, multiple suction cup bodies 4 connected to the air circuit adsorb the cardboard boxes for operation. When the size of the cardboard box changes, the coverage area of ​​the suction cup body 4 cannot adapt to the size of the top surface of the cardboard box. The excessive local adsorption force of the suction cup body 4 on the cardboard box causes damage to the cardboard box. At this time, the telescopic device 5 is controlled to extend and retract. Under the linkage of the connecting rod 6, the extension and retraction of the telescopic device 5 can drive multiple suction cup bodies 4 to slide synchronously on multiple support rods 3, thereby changing the size of the ring formed by the multiple suction cup bodies 4, so as to adapt to the uniform adsorption of the top of the cardboard box.

[0028] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fully automatic carton palletizing robot, characterized in that: The system includes a collaborative robotic arm (1), a fixed housing (2), multiple support rods (3), multiple suction cup bodies (4), and a telescopic device (5). The fixed housing (2) is an open cylindrical shell and is fixedly connected to the end of the collaborative robotic arm (1). The multiple support rods (3) are arranged in a circular array, and the ends of the multiple support rods (3) are connected to the edge of the fixed housing (2). The ends of two adjacent support rods (3) are fixedly connected. The multiple suction cup bodies (4) are located outside the fixed housing (2) and are slidably connected to the multiple support rods (3). The telescopic device (5) is fixedly connected inside the fixed housing (2), and the multiple suction cup bodies (4) are connected to the telescopic end of the telescopic device (5) through multiple connecting rods (6).

2. The fully automatic carton palletizing robot according to claim 1, characterized in that, The suction cup body (4) is provided with a slider (7), which is slidably connected to the support rod (3).

3. The fully automatic carton palletizing robot according to claim 2, characterized in that, The telescopic end of the telescopic device (5) is provided with a disc (8), and the two ends of the connecting rod (6) are respectively hinged to the disc (8) and the slider (7).

4. The fully automatic carton palletizing robot according to claim 3, characterized in that, The axis of the telescopic device (5), the axis of the disk (8), and the axis of the fixed housing (2) coincide.

5. A fully automatic carton palletizing robot according to claim 4, characterized in that, Multiple support rods (3) are arranged in a ring array along the axis of the fixed housing (2).

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