Intelligent self-adaptive grabbing full-automatic boxing robot system

Abstract

The utility model provides an intelligent self-adaptive grabbing full-automatic boxing robot system which comprises a base, a support is fixedly connected to the base, a first extension plate and a second extension plate are fixedly connected to the support, and a correction roller is rotationally connected between the first extension plate and the second extension plate. A first sensor bracket and a second sensor bracket are arranged between the first extension plate and the bracket; and the bottom of the robot is rotationally connected with a rotating part, the rotating part is fixedly connected with the stabilizing seat, and a self-adaptive clamping assembly is installed at the top end of the robot. According to the utility model, the self-adaptive clamping assembly is arranged, the clamping force is automatically adjusted, and the restoring force of the spring on the spring guide rod is used for driving the second clamping jaw to restore, so that the clamping jaw has a self-adaptive clamping function, can clamp products to prevent the products from falling off, is suitable for the products with different sizes, and can accurately control the grabbing and boxing force; product damage caused by manual operation errors is reduced, and the rejection rate is reduced.

Description

A fully automated packing robot system with intelligent adaptive gripping Technical Field

[0001] This utility model relates to the field of injection molded product packaging technology, specifically to a fully automatic packaging robot system with intelligent adaptive gripping. Background Technology

[0002] Injection molding is an important plastic processing technology. It involves heating thermoplastic or thermosetting plastics to a molten state in an injection molding machine, then rapidly injecting the molten plastic into a pre-designed closed mold cavity. After steps such as pressure holding, cooling, curing, and demolding, a plastic product with a specific shape and size is finally formed. This process is efficient and precise, enabling the mass production of complex-shaped plastic products.

[0003] In traditional production, after injection molding, the molded products are manually placed into designated boxes by hand or robotic arms. Manual packaging is inefficient, difficult to meet the needs of large-scale production, and has high labor costs. It is also labor-intensive, prone to operational errors, and affects production quality. Furthermore, the hands need to frequently come into contact with the injection-molded products during the packing process, making it difficult to meet the high hygiene standards of the production environment. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent adaptive gripping fully automatic packing robot system to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A fully automated packing robot system with intelligent adaptive grasping, comprising:

[0007] A base, on which a bracket is fixedly connected, a drive shaft is rotatably connected inside the bracket, the drive shafts are rotatably connected to each other via a drive belt, the drive shafts are rotatably connected to an external motor, a first extension plate and a second extension plate are fixedly connected to the bracket, a correction roller is rotatably connected between the first extension plate and the second extension plate, and a first sensor bracket and a second sensor bracket are provided between the first extension plate and the bracket.

[0008] The robot has a rotating part rotatably connected to its bottom, the rotating part being fixedly connected to a stable base, a sliding base being fixedly connected to the bottom of the stable base, the sliding base being slidably connected to a movable base, and an adaptive clamping assembly being installed at the top of the robot.

[0009] Packing straps, with guard plates fixedly connected to both sides of the packing straps to prevent the packaging boxes from falling out.

[0010] Preferably, the adaptive clamping assembly includes a fixed plate, which is fixedly connected to the top of the robot, and a drive motor is fixedly connected to the lower end face of the fixed plate. The output end of the drive motor is rotatably connected to a rotating plate.

[0011] Preferably, driven plates are rotatably connected to both ends of the rotating plate, and the other end of the driven plate is rotatably connected to the bottom of the first gripper and the moving block, respectively.

[0012] Preferably, the first gripper and the moving block are slidably connected to the top of the fixed plate, the top of the moving block is fixedly connected to a protrusion, and the protrusion is slidably connected to the sliding groove opened at the bottom of the second gripper.

[0013] Preferably, a spring guide rod is fixedly connected inside the sliding groove, and a spring is slidably connected to the spring guide rod. A through hole is provided on the protrusion, and the protrusion is slidably connected to one end of the spring on the spring guide rail through the through hole.

[0014] Preferably, a sliding groove is formed at the bottom of the sliding seat, and the sliding groove is slidably connected to a guide rail fixedly connected to the movable seat. A drive shaft is rotatably connected inside the sliding seat, and the drive shaft is rotatably connected to a motor inside the sliding seat. A movable wheel is fixedly connected to the drive shaft, and the movable wheel is slidably connected to a wheel rail formed on the upper surface of the movable seat.

[0015] Preferably, a stabilizing turntable is rotatably connected inside the stabilizing base, and a locking block is fixedly connected to the upper end face of the stabilizing turntable, the locking block engaging with the rotating part at the bottom of the robot.

[0016] Preferably, the motor inside the stabilizer is rotatably connected to the bottom of the stabilizer turntable.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] This invention features an adaptive clamping component that automatically adjusts the clamping force. Simultaneously, the second gripper is slidably connected to the moving block via a spring guide rod and a protrusion. The restoring force of the spring on the guide rod drives the second gripper to return to its original position, enabling the gripper to have an adaptive clamping function while simultaneously clamping the product to prevent it from falling. It is suitable for products of different sizes and can precisely control the gripping and packing force, reducing product damage caused by human error and lowering the scrap rate.

[0019] This invention, by setting a correction roller between the extension plates, allows the product to gather in front of the extension plates after loading, making it easier for the robot to clamp it.

[0020] This invention uses photoelectric sensors installed at the front and rear ends of the extension plate to detect product parameters and prevent product omission. When an omission is detected, the sensor can automatically control the transmission belt to stop via the control console and re-clamp the product. Attached Figure Description

[0021] Figure 1 is a three-dimensional schematic diagram of the overall structure of this utility model;

[0022] Figure 2 is a three-dimensional schematic diagram of the conveyor belt of this utility model;

[0023] Figure 3 is a three-dimensional schematic diagram of the robot of this utility model;

[0024] Figure 4 is a three-dimensional schematic diagram of the correction component of this utility model;

[0025] Figure 5 is a three-dimensional schematic diagram of the bottom of the sliding seat of this utility model;

[0026] Figure 6 is a three-dimensional schematic diagram of the connection between the stabilizer and sliding seat of this utility model and the robot;

[0027] Figure 7 is a schematic diagram of the adaptive gripper of this utility model;

[0028] Figure 8 is a three-dimensional schematic diagram of the adaptive gripper of this utility model;

[0029] Figure 9 is a three-dimensional schematic diagram of the connection between the second gripper and the sliding block of this utility model.

[0030] In the diagram: 1-Base; 2-Bracket; 201-Drive shaft; 202-Drive belt; 3-First extension plate; 301-Second extension plate; 4-Correction roller; 5-First sensor frame; 502-Photoelectric sensor; 6-Second sensor frame; 7-Robot; 701-Rotating part; 702-Fixed plate; 703-First gripper; 704-Drive motor; 705-Rotating plate; 706-Driven plate; 707-Moving block; 708-Second gripper; 709-Sliding groove; 710-Spring guide rod; 711-Protrusion; 8-Stabilizing seat; 801-Sliding seat; 802-Sliding groove; 803-Drive shaft; 804-Moving wheel; 805-Stabilizing turntable; 806-Clamping block; 9-Packaging belt; 901-Guard plate; 902-Packaging box; 10-Moving seat; 1001-Guide rail; 1002-Wheel rail. Detailed Implementation

[0031] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Example:

[0033] Please refer to Figures 1 to 9. This utility model provides a technical solution:

[0034] A fully automated packing robot system with intelligent adaptive grasping, comprising:

[0035] A base 1 is fixedly connected to a bracket 2. A transmission shaft 201 is rotatably connected inside the bracket 2. The transmission shafts 201 are rotatably connected to each other via a transmission belt 202. The transmission shafts 201 are rotatably connected to an external motor. A first extension plate 3 and a second extension plate 301 are fixedly connected to the bracket 2. A correction roller 4 is rotatably connected between the first extension plate 3 and the second extension plate 301. A first sensor bracket 2 and a second sensor bracket 2 are provided between the first extension plate 3 and the bracket 2.

[0036] Robot 7, with a rotating part 701 rotatably connected to the bottom of the robot 7, the rotating part 701 being fixedly connected to a stabilizing seat 8, a sliding seat 801 being fixedly connected to the bottom of the stabilizing seat 8, the sliding seat 801 being slidably connected to a moving seat 10, and an adaptive clamping assembly being installed at the top of the robot 7.

[0037] Packing strap 9, with guard plates 901 fixedly connected to both sides of the packing strap 9 to prevent the packaging box 902 from falling out.

[0038] In this embodiment, a first extension plate 3 and a second extension plate 301 are fixedly connected to the bracket 2. A correction roller 4 is rotatably connected inside the first extension plate 3 and the second extension plate 301. An operator places a product from the side with the correction roller 4. The product is driven by the drive shaft 201 to move towards the other end of the drive belt 202, colliding with the correction roller 4. The correction roller 4 rotates in conjunction with the drive shaft 201, driving the product towards the top of the first extension plate 3 and the second extension plate 301, facilitating the robot 7's gripping and ensuring that each product passes in front of the robot 7 individually, preventing product loss. A first sensor frame 5 is fixedly connected to the first extension plate 3 above the correction roller 4, and a photoelectric sensor 502 is fixedly connected below the first sensor frame 5. Device 502 measures product data by detecting the number of products blocking the light beam, and sends this data to robot 7 via the control console. Robot 7 can automatically adjust the opening width of its grippers to facilitate product grabbing and packing. A second sensor frame 6 is provided at the other end of the first extension plate 3. The lower end of the second sensor frame 6 is connected to photoelectric sensor 502. When photoelectric sensor 502 under the second sensor frame 6 detects a product, it indicates that a product has been missed and not grabbed by robot 7. At this time, the controller will stop the drive shaft 201. Robot 7 uses the moving wheels 804 inside the sliding seat 801 and the guide rails 1001 on the moving seat 10 to move robot 7 to a horizontal position, grab the missed product, and place it into the packaging box 902.

[0039] In this embodiment, an adaptive gripping assembly is provided at the top of the robot 7. A fixed plate 702 is fixedly connected to the top of the robot 7. A drive motor 704 is fixedly connected to the lower end face of the fixed plate 702. The drive motor 704 drives the rotating plate 705 to rotate. The two ends of the rotating plate 705 are rotatably connected to the driven plate 706 through a rotating shaft. The rotation of the rotating plate 705 drives the driven plate 706 to rotate. The rotation of the driven plate 706 drives the first gripper 703 and the moving block 707, which are rotatably connected to the driven plate 706, to slide on the top of the fixed plate 702 (as shown in Figure 7), thereby opening or closing the gripper to grip the product. A protrusion 711 is provided on the top of the moving block 707. A through hole is opened on the protrusion 711. The protrusion 711 is slidably connected to the spring guide rod 710 through the through hole. A spring is fixedly connected to the spring guide rod 710. One end of the spring is fixed to one end of the sliding groove 709 at the bottom of the second gripper 708, and the other end is fixed to... The first gripper 703 and the second gripper 708 are fixedly connected to the side of the protrusion 711. When the drive motor 704 drives the first gripper 703 and the second gripper 708 to close, the second gripper 708 is subjected to the pressure of the product and slides in the opposite direction of closing. The protrusion 711 slides in the sliding groove 709 inside the second gripper 708, compressing the spring on the spring guide rod 710. The spring's restoring force drives the second gripper 708 to return to its original position in the opposite direction, thereby clamping the product. By setting the slidable second gripper 708, the drive motor 704 is prevented from driving the gripper to generate excessive clamping force, which could damage the product. This gives the gripper an adaptive clamping function, automatically adjusting the clamping force. At the same time, the second gripper 708 and the moving block 707 are slidably connected through the spring guide rod 710 and the protrusion 711. The restoring force of the spring on the spring guide rod 710 drives the second gripper 708 to return to its original position, giving the gripper an adaptive clamping function while clamping the product to prevent it from falling.

[0040] Specifically, the adaptive clamping assembly includes a fixing plate 702, which is fixedly connected to the top of the robot 7. The lower end face of the fixing plate 702 is fixedly connected to a drive motor 704, and the output end of the drive motor 704 is rotatably connected to a rotating plate 705.

[0041] Specifically, the two ends of the rotating plate 705 are respectively rotatably connected to the driven plate 706, and the other end of the driven plate 706 is respectively rotatably connected to the bottom of the first gripper 703 and the moving block 707.

[0042] Specifically, the first gripper 703 and the moving block 707 are both slidably connected to the top of the fixed plate 702. The top of the moving block 707 is fixedly connected to the protrusion 711, and the protrusion 711 is slidably connected to the sliding groove 709 opened at the bottom of the second gripper 708.

[0043] Specifically, a spring guide rod 710 is fixedly connected inside the sliding groove 709, and a spring is slidably connected on the spring guide rod 710. A through hole is provided on the protrusion 711, and the protrusion 711 is slidably connected to one end of the spring on the spring guide rail 1001 through the through hole.

[0044] In this embodiment, the bottom rotating part 701 of the robot 7 is engaged with the locking block 806 on the stabilizing turntable 805. The stabilizing turntable 805 is rotatably connected inside the stabilizing seat 8. The stabilizing seat 8 can balance the shaking generated when the robot 7 rotates or when the robot arm is adjusted, keep the robot 7 stable, and improve the stability of the gripper holding the product. At the same time, the stabilizing seat 8 is fixedly connected to the upper end face of the sliding seat 801. The sliding seat 801 is slidably connected to the moving seat 10, which can drive the robot 7 to move horizontally to grip the product and place it into the packaging box 902.

[0045] Specifically, the packaging box 902 is transported by the packing belt 9. Once full, the control console starts the packing belt 9, driving the packaging box 902 to move into the subsequent process.

[0046] Specifically, a sliding groove 802 is provided at the bottom of the sliding seat 801, and the sliding groove 802 is slidably connected to the guide rail 1001 fixedly connected to the movable seat 10. A drive shaft 803 is rotatably connected inside the sliding seat 801, and the drive shaft 803 is rotatably connected to a motor inside the sliding seat 801. A movable wheel 804 is fixedly connected to the drive shaft 803, and the movable wheel 804 is slidably connected to the wheel rail 1002 provided on the upper end face of the movable seat 10.

[0047] Specifically, a stabilizing turntable 805 is rotatably connected inside the stabilizing base 8, and a locking block 806 is fixedly connected to the upper end face of the stabilizing turntable 805. The locking block 806 is engaged with the rotating part 701 at the bottom of the robot 7.

[0048] Specifically, the motor inside the stabilizer 8 is rotatably connected to the bottom of the stabilizer turntable 805.

[0049] Specifically, Robot 7 works 24 hours a day without interruption. Robot 7 can work continuously in most environments without rest, reducing downtime caused by manual operation, ensuring the efficient operation of the production line, and improving the overall efficiency of the production line.

[0050] Specifically, Robot 7 can precisely control the force of gripping and packing, reducing product damage caused by human error and lowering the scrap rate.

[0051] Specifically, the Robot 7 automated packing reduces the chances of human contact with the product, thus lowering the risk of contamination.

[0052] Specifically, by programming the robot 7, it can quickly adapt to different production tasks and product types.

[0053] In use, the first extension plate 3 and the second extension plate 301 are fixedly connected to the bracket 2. A correction roller 4 is rotatably connected inside the first extension plate 3 and the second extension plate 301. The operator places the product from the side with the correction roller 4. The product is driven by the drive shaft 201 to move towards the other end of the drive belt 202, colliding with the correction roller 4. The correction roller 4 rotates in coordination with the drive shaft 201, driving the product towards the top of the first extension plate 3 and the second extension plate 301, facilitating the robot 7 to grasp it. This also ensures that each product passes in front of the robot 7 individually, preventing product loss. A first sensor frame 5 is fixedly connected above the correction roller 4 on the first extension plate 3. A photoelectric sensor 502 is fixedly connected below the first sensor frame 5. The electrical sensor 502 measures the data of the product by detecting the number of light beams blocked by the product. This data is then sent to the robot 7 via the control console. The robot 7 can automatically adjust the opening width of its grippers to facilitate product grabbing and packing. A second sensor frame 6 is provided at the other end of the first extension plate 3. The lower end of the second sensor frame 6 is connected to the photoelectric sensor 502. When the photoelectric sensor 502 under the second sensor frame 6 detects a product, it indicates that a product has been missed and not grabbed by the robot 7. At this time, the controller will stop the drive shaft 201. The robot 7 uses the moving wheels 804 inside the sliding seat 801 and the guide rails 1001 on the moving seat 10 to move the robot 7 horizontally, grab the missed product, and place it into the packaging box 902.

[0054] An adaptive gripping assembly is installed at the top of robot 7. A fixed plate 702 is fixedly connected to the top of robot 7. A drive motor 704 is fixedly connected to the lower end face of the fixed plate 702. The drive motor 704 drives a rotating plate 705 to rotate. The two ends of the rotating plate 705 are rotatably connected to a driven plate 706 through a rotating shaft. The rotation of the rotating plate 705 drives the driven plate 706 to rotate. The rotation of the driven plate 706 causes the first gripper 703 and the moving block 707, which are rotatably connected to the driven plate 706, to slide on the top of the fixed plate 702, thereby opening or closing the gripper to grip the product. A protrusion 711 is provided on the top of the moving block 707. A through hole is opened on the protrusion 711. The protrusion 711 is slidably connected to a spring guide rod 710 through the through hole. A spring is fixedly connected to the spring guide rod 710. One end of the spring is fixed to one end of the sliding groove 709 at the bottom of the second gripper 708, and the other end is fixedly connected to the protrusion. On side 711, when the drive motor 704 drives the first gripper 703 and the second gripper 708 to close, the second gripper 708 is subjected to the pressure of the product, thus sliding in the opposite direction of closing. The protrusion 711 slides in the sliding groove 709 inside the second gripper 708, compressing the spring on the spring guide rod 710. The spring's restoring force drives the second gripper 708 to return to its original position in the opposite direction, thereby clamping the product. By setting the slidable second gripper 708, excessive clamping force generated by the drive motor 704 is prevented from damaging the product, giving the gripper an adaptive clamping function and automatically adjusting the clamping force. At the same time, the second gripper 708 and the moving block 707 are slidably connected through the spring guide rod 710 and the protrusion 711. The restoring force of the spring on the spring guide rod 710 drives the second gripper 708 to return to its original position, giving the gripper an adaptive clamping function while clamping the product to prevent it from falling.

[0055] All other parts of this utility model not described herein are the same as existing technology, or are known technology, or can be implemented using existing technology, and will not be described in detail here.

[0056] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully automated packing robot system with intelligent adaptive grasping, characterized in that, include: A base (1) is fixedly connected to a bracket (2). A transmission shaft (201) is rotatably connected inside the bracket (2). The transmission shafts (201) are rotatably connected to each other via a transmission belt (202). The transmission shafts (201) are rotatably connected to an external motor. A first extension plate (3) and a second extension plate (301) are fixedly connected to the bracket (2). A correction roller (4) is rotatably connected between the first extension plate (3) and the second extension plate (301). A first sensor is provided between the first extension plate (3) and the bracket (2). The robot (7) has a rotating part (701) rotatably connected to its bottom, and the rotating part (701) is fixedly connected to the stabilizing seat (8). The bottom of the stabilizing seat (8) is fixedly connected to the sliding seat (801), and the sliding seat (801) is slidably connected to the moving seat (10). An adaptive clamping assembly is installed on the top of the robot (7). The packing strap (9) has guard plates (901) fixedly connected to both sides to prevent the packaging box (902) from falling out.

2. The fully automated packing robot system with intelligent adaptive grasping as described in claim 1, characterized in that: The adaptive clamping assembly includes a fixed plate (702), which is fixedly connected to the top of the robot (7). The lower end face of the fixed plate (702) is fixedly connected to a drive motor (704), and the output end of the drive motor (704) is rotatably connected to a rotating plate (705).

3. The fully automated packing robot system with intelligent adaptive grasping according to claim 2, characterized in that: The rotating plate (705) has a driven plate (706) rotatably connected to both ends, and the other end of the driven plate (706) is rotatably connected to the bottom of the first gripper (703) and the moving block (707).

4. The fully automated packing robot system with intelligent adaptive grasping according to claim 3, characterized in that: The first gripper (703) and the moving block (707) are both slidably connected to the top of the fixed plate (702). The top of the moving block (707) is fixedly connected to the protrusion (711), and the protrusion (711) is slidably connected to the sliding groove (709) opened at the bottom of the second gripper (708).

5. The fully automated packing robot system with intelligent adaptive grasping according to claim 4, characterized in that: The sliding groove (709) is fixedly connected to the spring guide rod (710), and the spring guide rod (710) is slidably connected to the spring. The protrusion (711) is provided with a through hole, and the protrusion (711) is slidably connected to one end of the spring of the spring guide rail (1001) through the through hole.

6. The fully automated packing robot system with intelligent adaptive grasping according to claim 1, characterized in that: The bottom of the sliding seat (801) has a sliding groove (802), which is slidably connected to the guide rail (1001) fixedly connected to the movable seat (10). The sliding seat (801) is rotatably connected to a drive shaft (803), which is rotatably connected to a motor inside the sliding seat (801). A movable wheel (804) is fixedly connected to the drive shaft (803), and the movable wheel (804) is slidably connected to the wheel rail (1002) on the upper end face of the movable seat (10).

7. The fully automated packing robot system with intelligent adaptive grasping according to claim 1, characterized in that: The stable base (8) is rotatably connected to a stable turntable (805), and a locking block (806) is fixedly connected to the upper end face of the stable turntable (805). The locking block (806) is engaged with the rotating part (701) at the bottom of the robot (7).

8. The fully automated packing robot system with intelligent adaptive grasping according to claim 7, characterized in that: The motor inside the stabilizer (8) is rotatably connected to the bottom of the stabilizer turntable (805).

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