Vacuum adsorption stacking manipulator for cartons

Abstract

The utility model relates to carton processing technical field, concretely relates to a kind of vacuum adsorption stacking mechanical hand for carton, comprising: assembly rack;The assembly rack bottom is equipped with mechanical hand structure;The mechanical hand structure includes the vacuum adsorption structure one and vacuum adsorption structure two fixedly installed in the inside of assembly rack;The structure of the vacuum adsorption structure one and vacuum adsorption structure two is same, and it is fixedly assembled in the inside of assembly rack in up and down staggered, the utility model can adjust vacuum chuck position according to paperboard specification, can flexibly cope with different size paperboard, whether large paperboard or small paperboard, can be realized accurate adsorption by adjusting vacuum chuck position, expand the application range of equipment, improve the versatility of equipment under different production needs, reduce the cost and time of equipment replacement due to paperboard specification difference.

Description

Technical Field

[0001] This utility model relates to the field of cardboard box processing technology, specifically to a vacuum adsorption palletizing robot for cardboard boxes. Background Technology

[0002] In the production of cardboard boxes, palletizing is generally the final step. Cardboard box palletizing involves manually or automatically placing individual cardboard boxes neatly onto pallets according to a predetermined layout. The palletizing process typically utilizes high-efficiency, high-precision robotic arms. Depending on the size of the cardboard box, the robotic arm's actuator is equipped with corresponding grippers. Palletizing robotic arm grippers generally employ clamping structures or vacuum suction cups to grip or pick up the cardboard boxes, efficiently and reliably completing the palletizing work. Existing palletizing robotic arm grippers generally use clamping structures or vacuum suction cups to grip or pick up the cardboard boxes. While clamping structures limit the cardboard box's freedom of movement in space, resulting in higher gripping reliability, their structural limitations often lead to interference with existing or upcoming stacks during palletizing. Vacuum suction cup robotic arm grippers have a simpler structure, with the cardboard box suspended below the suction cup, thus generally not affecting the stack layout during palletizing. Chinese patent discloses a robotic arm for carton palletizing (authorization announcement number CN207726377U). This patent discloses a robotic arm for carton palletizing, comprising: a base; a first motor mount mounted at the top center of the base; a rotating seat mounted on top of the first motor mount; the bottom of a first arm fixed to the rotating seat and secured by a first joint; a second motor mount mounted on top of the first arm, with a second motor mounted inside the second motor mount; a second arm mounted on the second motor mount; a third motor mount mounted at the front end of the second arm, with a third motor mounted inside the third motor mount; a mounting plate fixed to the output shaft of the third motor; a cylinder fixed to the center of the mounting plate; and a first vacuum gripper and a second vacuum gripper symmetrically mounted on the left and right sides of the cylinder, with the first and second vacuum grippers respectively connected to the cylinder's telescopic shaft. This robotic arm for carton palletizing has a high degree of automation, a large range of motion, and supports both vacuum suction and gripping palletizing methods, allowing for switching between palletizing modes according to actual palletizing requirements. This patented technology solves the problem that current palletizing robots on the market either use a gripping structure or a suction cup structure, and there is no carton palletizing robot that can both grip and vacuum suck at the same time. In addition, most carton palletizing robots on the market currently only have two or three movable joints, resulting in poor freedom of movement of the robot.

[0003] However, in the existing technology, the robotic arm can only grip cartons of a certain size when gripping them. It is necessary to solve the problem of adjusting the position of the vacuum suction cup according to the size of the cartons in the existing technology.

[0004] Therefore, those skilled in the art have provided a vacuum adsorption palletizing robot for cardboard boxes to solve the problems mentioned in the background art. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides:

[0006] A vacuum adsorption palletizing robot for cardboard boxes includes: an assembly frame; and a robot structure is mounted on the bottom of the assembly frame.

[0007] The robotic arm structure includes a vacuum adsorption structure one and a vacuum adsorption structure two, which are fixedly installed inside the assembly frame.

[0008] The vacuum adsorption structure one and vacuum adsorption structure two have the same structure and are fixedly assembled inside the assembly frame in an alternating manner.

[0009] The vacuum adsorption structure includes a fixed frame that is fixedly assembled inside the assembly frame, and two reciprocating screw blocks are movably arranged inside the fixed frame. An assembly shaft cylinder is fixed inside the reciprocating screw blocks, and a vertical screw is helically driven inside the assembly shaft cylinder.

[0010] Preferably, the vertical screw has an air extraction hole inside, and a vacuum suction cup is connected through the bottom end of the vertical screw.

[0011] Preferably, a vacuum hose is rotatably and sealingly connected to the top of the vertical screw, and an adsorption tube is connected to the end of the vacuum hose away from the vertical screw, and a vacuum pump is connected to the bottom end of the adsorption tube.

[0012] An assembly housing is fixed to the outside of the vacuum pump, and the assembly housing is fixedly installed inside the fixed frame.

[0013] Preferably, the reciprocating screw block is provided with a bidirectional lead screw on its inner side, and a worm gear is fixedly provided on the outer wall of the middle part of the bidirectional lead screw.

[0014] Preferably, the worm gear two meshes with the worm shaft two, and a cross handwheel one, which is rotatably mounted on the outside of the fixed frame, is fixedly installed at the center of the worm shaft two.

[0015] Preferably, a cross handwheel is fixedly provided on the outer wall of the top end of the vertical screw.

[0016] Preferably: the top of the assembly frame is provided with an assembly rack, and a load-bearing shaft is rotatably installed on the inner side of the assembly rack. A transmission rod is fixedly installed at the center of the load-bearing shaft. The bottom end of the transmission rod is fixedly installed with the assembly frame as a whole. A worm wheel is fixedly provided on the outer wall of the transmission rod. A worm gear meshes with the worm wheel. One end of the worm gear is connected to a servo motor fixedly installed on the inner side of the assembly rack.

[0017] An assembly tray is fixed to the top of the assembly frame.

[0018] The technical effects and advantages of this utility model are as follows:

[0019] This invention allows for adjustment of the vacuum suction cup position according to the cardboard specifications, enabling flexible handling of cardboard of different sizes. Whether it is large or small cardboard, precise adsorption can be achieved by adjusting the vacuum suction cup position, expanding the applicability of the equipment, improving its versatility under different production needs, and reducing the cost and time of replacing equipment due to differences in cardboard specifications.

[0020] This invention employs a manual rotation of a cross handwheel for adjustment, making it simple and easy to use. Workers can quickly master the adjustment method without complex training or specialized skills, reducing operational difficulty and labor costs. Furthermore, this mechanical transmission method is stable and reliable, less prone to malfunctions, and ensures continuous normal operation of the equipment in frequently adjusted work scenarios. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a vacuum adsorption palletizing robot for cardboard boxes provided in this application;

[0022] Figure 2 This is a top view of the structure of a vacuum adsorption palletizing robot for cardboard boxes provided in this application;

[0023] Figure 3 This is a schematic diagram of the structure of an assembly frame in a vacuum adsorption palletizing robot for cardboard boxes provided in this application;

[0024] Figure 4 This is a schematic diagram of the vacuum adsorption structure of a vacuum adsorption palletizing robot for cardboard boxes provided in this application;

[0025] Figure 5 This is a schematic diagram of the structure at point A of a vacuum adsorption palletizing robot for cardboard boxes provided in this application.

[0026] In the picture:

[0027] 1. Assemble the frame;

[0028] 2. Robotic arm structure;

[0029] 21. Vacuum adsorption structure one; 2101. Fixing frame; 2102. Reciprocating screw block; 2103. Assembly shaft cylinder; 2104. Vertical screw; 2105. Bidirectional lead screw; 2106. Worm gear two; 2107. Worm gear two; 2108. Cross handwheel one; 2109. Cross handwheel two; 2110. Vacuum suction cup;

[0030] 22. Vacuum adsorption structure two;

[0031] 23. Assembly housing; 24. Vacuum pump; 25. Adsorption tube; 26. Vacuum hose;

[0032] 3. Assembly rack; 4. Assembly tray; 5. Load-bearing shaft; 6. Worm gear one; 7. Transmission rod; 8. Worm gear one; 9. Servo motor. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The examples of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical applications of the present invention, and to enable those skilled in the art to understand the present invention and design various embodiments with various modifications suitable for a particular purpose.

[0034] For examples, please refer to Figures 1-5 This embodiment provides a vacuum adsorption palletizing robot for cardboard boxes, including: an assembly frame 1; a robot structure 2 is assembled at the bottom of the assembly frame 1;

[0035] The robotic arm structure 2 includes a vacuum adsorption structure 1 21 and a vacuum adsorption structure 22 fixedly installed inside the assembly frame 1. The vacuum adsorption structure 1 21 and vacuum adsorption structure 22 have identical structures and are fixedly installed inside the assembly frame 1 in an alternating manner. The vacuum adsorption structure 1 21 includes a fixed frame 2101 fixedly installed inside the assembly frame 1. Two reciprocating screw blocks 2102 are movably arranged inside the fixed frame 2101. An assembly shaft cylinder 2103 is fixed inside the reciprocating screw blocks 2102, and a vertical screw 2104 is helically driven inside the assembly shaft cylinder 2103. An air extraction hole is opened inside the vertical screw 2104, and a vacuum suction cup 2110 is connected through the bottom end of the vertical screw 2104.

[0036] The top end of the vertical screw 2104 is rotatably and sealingly connected to a vacuum hose 26, and the end of the vacuum hose 26 away from the vertical screw 2104 is connected to an adsorption tube 25. The bottom end of the adsorption tube 25 is connected to a vacuum pump 24. An assembly housing 23 is fixed to the outside of the vacuum pump 24, and the assembly housing 23 is fixedly installed inside the fixing frame 2101.

[0037] The reciprocating screw block 2102 is equipped with a double-acting lead screw 2105 on its inner side, and a worm gear 2106 is fixedly installed on the outer wall of the middle part of the double-acting lead screw 2105. The worm gear 2106 meshes with a worm 2107, and a cross handwheel 2108, which is rotatably mounted on the outer side of the fixed frame 2101, is fixedly installed at the center of the worm 2107. A cross handwheel 2109 is fixedly installed on the outer wall of the top end of the vertical screw 2104.

[0038] The assembly frame 1 has an assembly rack 3 at its top, and a load-bearing shaft 5 is rotatably mounted on the inner side of the assembly rack 3. A transmission rod 7 is fixedly installed at the center of the load-bearing shaft 5. The bottom end of the transmission rod 7 is integrally fixed to the assembly frame 1, and a worm gear 6 is fixedly installed on the outer wall of the transmission rod 7. The worm gear 6 meshes with a worm 8, and one end of the worm 8 is connected to a servo motor 9 fixedly installed on the inner side of the assembly rack 3. An assembly plate 4 is integrally fixed at the top of the assembly rack 3.

[0039] According to the above embodiments, the working principle of this invention is as follows:

[0040] The assembly frame 3 is fixedly installed on the mechanical mobile phone frame via the assembly tray 4;

[0041] The assembly frame 1 at the bottom of the assembly frame 3 can be started by the servo motor 9. The start of the servo motor 9 drives the worm gear 8 to rotate. The rotating worm gear 8 meshes with the worm wheel 6, which drives the transmission rod 7 to rotate. This causes the transmission rod 7 to rotate circumferentially relative to the assembly frame 3, which is convenient for adjusting its angle position.

[0042] Furthermore, the positions of the vacuum suction cups 2110 of vacuum adsorption structure 1 21 and vacuum adsorption structure 22 can be adjusted according to the specifications of the cardboard.

[0043] When adjusting the position of the vacuum suction cup 2110, the cross handwheel 2108 is manually rotated. The rotation of the cross handwheel 2108 simultaneously drives the worm gear 2107 to rotate. The worm gear 2107 meshes with the worm wheel 2106 and rotates. The worm wheel 2106 drives the double-acting screw 2105 to rotate. The double-acting screw 2105 drives the reciprocating screw block 2102 to perform helical transmission. The reciprocating screw block 2102 drives the vertical screw 2104 inside the mounting cylinder 2103 to move inside the fixed frame 2101, thereby adjusting the position of the vacuum suction cup 2110.

[0044] When the cardboard is vacuum-adsorbed by the vacuum suction cup 2110, the vacuum pump 24 is turned on and off. The vacuum pump 24 draws the vacuum hose 26 through the suction tube 25. The vacuum hose 26 is then adsorbed and gripped by the vacuum suction cup 2110 connected to the bottom of the vertical screw 2104, which is conducive to the stable adsorption and gripping of cardboard boxes of different sizes.

[0045] In this utility model, unless otherwise explicitly specified and limited, for example, it can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components or an interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0046] Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of this utility model without creative effort should fall within the protection scope of this utility model. Structures, devices, and operating methods not specifically described and explained in this utility model, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A vacuum adsorption palletizing robot for cardboard boxes, characterized in that, include: Assembly frame (1); The bottom of the assembly frame (1) is equipped with a robotic arm structure (2); The robotic arm structure (2) includes a vacuum adsorption structure one (21) and a vacuum adsorption structure two (22) fixedly installed inside the assembly frame (1). The vacuum adsorption structure one (21) and the vacuum adsorption structure two (22) have the same structure and are fixedly assembled on the inside of the assembly frame (1) in an alternating manner. The vacuum adsorption structure (21) includes a fixed frame (2101) fixedly mounted inside the assembly frame (1), and two reciprocating screw blocks (2102) are movably arranged inside the fixed frame (2101), and an assembly cylinder (2103) is fixed inside the reciprocating screw block (2102), and a vertical screw (2104) is provided inside the assembly cylinder (2103) for spiral drive. The reciprocating screw block (2102) is equipped with a two-way lead screw (2105) for spiral transmission on the inner side, and a worm gear (2106) is fixedly installed on the outer wall of the middle part of the two-way lead screw (2105). The second worm gear (2106) meshes with the second worm (2107), and a cross handwheel (2108) is fixedly installed at the center of the second worm (2107) and rotated outside the fixed frame (2101). The top outer wall of the vertical screw (2104) is fixed with a cross handwheel (2109).

2. The vacuum adsorption palletizing robot for cardboard boxes according to claim 1, characterized in that, The vertical screw (2104) has an air extraction hole inside, and a vacuum suction cup (2110) is connected through the bottom end of the vertical screw (2104).

3. The vacuum adsorption palletizing robot for cardboard boxes according to claim 2, characterized in that, The top end of the vertical screw (2104) is rotatably sealed with a vacuum hose (26), and the end of the vacuum hose (26) away from the vertical screw (2104) is connected to an adsorption tube (25), and the bottom end of the adsorption tube (25) is connected to a vacuum pump (24).

4. The vacuum adsorption palletizing robot for cardboard boxes according to claim 1, characterized in that, The top of the assembly frame (1) is provided with an assembly frame (3), and a load-bearing shaft (5) is rotatably installed on the inner side of the assembly frame (3). A transmission rod (7) is fixedly installed at the center of the load-bearing shaft (5). The bottom end of the transmission rod (7) is fixedly installed with the assembly frame (1). A worm wheel (6) is fixedly installed on the outer wall of the transmission rod (7). A worm gear (8) is meshed with the worm wheel (6). One end of the worm gear (8) is connected to a servo motor (9) fixedly installed on the inner side of the assembly frame (3).

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