A drop protection structure of a robot carton stacking gripper

Abstract

The utility model discloses a kind of robot carton stacking gripper's anti-falling protection structure, including vacuum chuck, support crosspiece is symmetrically equipped on vacuum chuck top surface two sides, mounting seat is equipped between support crosspiece, support vertical bar is equipped on both sides mounting seat, both sides support vertical bar are equipped with double-layer bottom support frame, bottom support frame is adjustably cooperated below vacuum chuck;First adjusting assembly is oppositely installed on both sides support crosspiece, first adjusting assembly includes telescopic cylinder, mounting seat is driven to move along support crosspiece transversely by telescopic cylinder, drive support vertical bar synchronous transverse displacement, so that bottom support frame fixed on support vertical bar generates relative transverse movement to adjust spacing;Second adjusting assembly is installed on support vertical bar, and second adjusting assembly includes servo motor, and bottom support frame fixed on support vertical bar is lifted synchronously by the driving effect of servo motor along longitudinal direction, makes, the utility model, with the characteristics of flexible adjustment and multiple specifications carton adaptation.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot automation technology, specifically to an anti-drop protection structure for a robot carton palletizing gripper. Background Technology

[0002] In modern warehousing and logistics, food processing, and e-commerce delivery, palletizing robots are the core equipment for achieving efficient stacking of cartons. Their vacuum suction cups, as the execution components that directly grasp cartons, use a vacuum pump to draw air from between the suction cup and the surface of the carton to create negative pressure, thereby adsorbing and fixing the carton, thus completing the entire process of grasping, transferring, and stacking. However, in actual industrial operations, wrinkles and dust on the surface of the carton can damage the seal of the suction cup, easily causing the carton to fall suddenly during the grasping process. To prevent the carton from falling, setting an anti-fall protection structure on the vacuum suction cup has become a necessary design to ensure the reliable operation of the palletizing robot.

[0003] However, most existing anti-drop protection structures use a fixed-height base plate. When facing thinner cardboard boxes, there is a large gap between the base plate and the bottom of the box, which cannot form effective support and still poses a risk of falling. When facing thicker cardboard boxes, the base plate may come into contact with the bottom of the box in advance, which will not only hinder the suction cup from properly adhering to the box, but may also cause the box to deform or even break due to compression. Utility Model Content

[0004] The purpose of this invention is to provide an anti-drop protection structure for a robot carton palletizing gripper to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a protective structure for preventing the robot's carton palletizing gripper from falling, including a vacuum suction cup, with symmetrical support bars on both sides of the top surface of the vacuum suction cup, and mounting seats symmetrically distributed on both sides of the vacuum suction cup between the support bars, with support bars on both sides of the mounting seats, and double-layer base brackets on the side of the support bars on both sides closer to the vacuum suction cup, the double-layer base brackets being adjustablely fitted under the vacuum suction cup;

[0006] A first adjustment component is installed on the two supporting horizontal bars on both sides. The first adjustment component includes a telescopic cylinder. The output end of the telescopic cylinder is fixedly connected to the mounting seats on both sides. The telescopic cylinder drives the mounting seats to move laterally along the supporting horizontal bars, which drives the supporting vertical bars to move laterally in sync, so that the double-layer support frame fixed on the supporting vertical bars moves laterally to adjust the spacing.

[0007] A second adjustment component is installed on the support vertical bar. The second adjustment component includes a servo motor. The servo motor drives the support vertical bar to rise and fall longitudinally, so that the double-layer support frame fixed on the support vertical bar rises and falls synchronously.

[0008] In one embodiment of this utility model, an adjusting suction cup is installed on each of the two supporting vertical bars. The adjusting suction cup is connected to a vacuum pump through an air pipe. The first adjusting component drives the supporting vertical bars and the adjusting suction cup to move laterally, and the second adjusting component drives the adjusting suction cup to move vertically up and down. With the negative pressure adsorption force of the adjusting suction cup, the position of the offset carton is corrected.

[0009] In one embodiment of the present invention, the second adjustment component includes a reducer, a gear, a rack, a slide bar, and a linear guide seat. The output end of the servo motor is connected to the reducer. The gear is sleeved on the output end of the reducer. The gear meshes with the rack. The rack and slide bar are symmetrically arranged on both sides of the support vertical bar. The linear guide seat is symmetrically arranged on both sides of the mounting base. The rack and slide bar are engaged on one side of the linear guide seat and slide along the linear guide seat.

[0010] In one embodiment of this utility model, a 3D camera for detecting the position of a cardboard box is installed above the vacuum suction cup.

[0011] In one embodiment of this utility model, both the supporting horizontal bar and the supporting vertical bar are hollow structures.

[0012] In one embodiment of this utility model, photoelectric sensors for detecting the lifting position are provided on both sides of the supporting vertical bars.

[0013] In one embodiment of the present invention, the two ends of the supporting horizontal bar are provided with first limiting blocks for restricting the lateral movement path, and the top of the supporting vertical bar is provided with a second limiting block for restricting the longitudinal movement path.

[0014] Compared with the prior art, the beneficial effects achieved by this utility model are:

[0015] (1) By setting a first adjustment component and a second adjustment component, the telescopic cylinder of the first adjustment component drives the mounting base to slide along the linear guide rail, which can quickly and accurately adjust the distance between the two bottom brackets to adapt to the support requirements of cartons of different widths. The servo motor of the second adjustment component drives the gear rack transmission, thereby driving the support vertical bar to rise and fall along the linear guide seat, realizing precise control of the lifting height of the bottom bracket, and adapting to cartons of different thicknesses. This dual adjustment structure does not require manual intervention and can automatically complete parameter matching according to the carton specifications identified by the 3D camera. It not only ensures the tight fit support of thin cartons, but also avoids the deformation of thick cartons by the bottom bracket, completely solving the problem of poor adaptability of traditional fixed structures.

[0016] (2) By setting up a 3D camera and an adjustable suction cup, the 3D camera can detect the spatial position parameters of the carton in real time. When the carton position is detected to be offset, the control system starts the vacuum pump. By drawing air between the adjustable suction cup and the surface of the carton, a negative pressure is formed, so that the adjustable suction cup tightly adheres to the top surface of the offset carton. At the same time, the first adjustment component drives the adjustable suction cup to move laterally, and the second adjustment component drives the adjustable suction cup to move vertically. The two work together to complete the posture correction of the carton. After the position is calibrated, the vacuum pump stops working, and the adjustable suction cup releases the negative pressure and detaches from the carton. This effectively reduces the problem of stacking skew caused by uneven carton positions and improves the stacking regularity. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0018] Figure 1 This is a schematic diagram of the structural composition of this utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the first adjustment component of this utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the second adjustment component of this utility model;

[0021] Figure 4 yes Figure 1 Enlarged view of point A in the middle;

[0022] Figure 5 This is a partially enlarged view of the second adjustment component of this utility model;

[0023] In the diagram: 10. Vacuum suction cup; 20. Supporting horizontal bar; 21. Mounting base; 22. First limiting block; 30. Supporting vertical bar; 31. Base bracket; 32. Adjustable suction cup; 33. Photoelectric sensor; 34. Second limiting block; 40. First adjusting component; 41. Telescopic cylinder; 42. Linear guide rail; 43. Slider; 50. Second adjusting component; 51. Servo motor; 52. Reducer; 53. Gear; 54. Rack; 55. Slide bar; 56. Linear guide seat; 60. 3D camera. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0025] This utility model provides a technical solution: a protective structure for preventing the dropping of a robot carton palletizing gripper, including a vacuum suction cup 10, with symmetrical support bars 20 on both sides of the top surface of the vacuum suction cup 10; the vacuum suction cup 10, as the main gripping component, is responsible for adsorbing the carton, and the support bars 20 on both sides of its top surface provide a stable frame for the overall structure. A mounting base 21 is symmetrically distributed on both sides of the vacuum suction cup 10 between the supporting horizontal bars 20, and a supporting vertical bar 30 is provided on each of the mounting bases 21. The symmetrically arranged mounting bases 21 and the supporting vertical bars 30 form a vertical support system. A double-layer base frame 31 is provided on the side of the supporting vertical bars 30 closest to the vacuum suction cup 10. The double-layer base frame 31 is adjustable and fits under the vacuum suction cup 10. The base frame 31 forms a mechanical support at the bottom of the carton. This structural design allows the base frame 31 to provide auxiliary support to the carton from below while the vacuum suction cup 10 is adsorbing. Even if the suction cup fails to adsorb, the base frame 31 can still support the carton in time, effectively preventing it from falling, and providing basic anti-drop protection for palletizing operations.

[0026] A first adjustment component 40 is mounted on each of the two supporting horizontal bars 20. The first adjustment component 40 includes a telescopic cylinder 41, the output end of which is fixedly connected to the mounting bases 21 on both sides. The telescopic cylinder 41 drives the mounting bases 21 to move laterally along the supporting horizontal bars 20, causing the supporting vertical bars 30 to move laterally synchronously. This causes the double-layer support frame 31 fixed on the supporting vertical bars 30 to move laterally relative to adjust the spacing. The first adjustment component 40 also includes a linear guide rail 42 and a slider 43. The linear guide rail 42 is fixed on the two supporting horizontal bars 20, and the slider 43 is fixed on both sides of the bottom of the mounting base 21. The slider 43 is engaged with the linear guide rail 42. The mounting base 21 can slide smoothly along the linear guide rail 42. The telescopic cylinder 41, powered by a power source, can drive the mounting base 21 to slide smoothly along the linear guide rail 42. The slider 43, in cooperation with the linear guide rail 42, not only provides guidance and constraint for the movement of the mounting base 21, ensuring the straightness of the movement trajectory, but also disperses the force to improve structural stability. When it is necessary to adapt to cartons of different widths, the telescopic cylinder 41 pushes the mounting bases 21 on both sides to move relative to each other, thereby driving the support bars 30 on both sides and the base bracket 31 to move relative to each other, thereby adjusting the distance between the base brackets 31 on both sides, so that the base bracket 31 is always precisely aligned with the edges of the cartons on both sides, significantly improving the adaptability of the equipment.

[0027] A second adjustment assembly 50 is installed on the supporting vertical bar 30. The second adjustment assembly 50 includes a servo motor 51, which drives the supporting vertical bar 30 to rise and fall longitudinally, causing the double-layer base frame 31 fixed on the supporting vertical bar 30 to rise and fall synchronously. The second adjustment assembly 50 also includes a reducer 52, a gear 53, a rack 54, a slide bar 55, and a linear guide seat 56. The output end of the servo motor 51 is connected to the reducer 52. The gear 53 is sleeved on the output end of the reducer 52 and meshes with the rack 54. The rack 54 and the slide bar 55 are symmetrically arranged on both sides of the supporting vertical bar 30. The linear guide seat 56 is symmetrically arranged on both sides of the mounting base 21. The strip 54 and the slide bar 55 are engaged on one side of the linear guide seat 56 and slide along the linear guide seat 56. The power output by the servo motor 51 is reduced and amplified by the reducer 52 and then transmitted to the gear 53, driving the gear 53 to rotate. Through the meshing transmission of the gear 53 and the rack 54, the rotational motion is converted into the linear lifting motion of the support vertical bar 30. The rack 54 and the slide bar 55 are symmetrically arranged on both sides of the support vertical bar 30 and are engaged together in the linear guide seat 56 to slide, ensuring the straightness of the lifting of the support vertical bar 30. This ensures that the support vertical bar 30 drives the base frame 31 to lift smoothly in the vertical direction, meeting the support requirements of cartons of different thicknesses and realizing the automation and precision of height adjustment.

[0028] A 3D camera 60 for detecting the position of the cardboard box is installed above the vacuum suction cup 10. Adjustable suction cups 32 are installed on both sides of the support vertical bars 30. The adjustable suction cups 32 are connected to the vacuum pump through air pipes. The first adjustment component 40 drives the support vertical bars 30 and the adjustable suction cups 32 to move laterally, and the second adjustment component 50 drives the adjustable suction cups 32 to move vertically. With the negative pressure adsorption force of the adjustable suction cups 32, the position of the offset cardboard box is corrected. When the 3D camera 60 detects that the cardboard box has shifted, the adjustable suction cups 32 on both sides of the support vertical bars 30 generate negative pressure under the action of the vacuum pump, thereby adsorbing the offset cardboard box. At the same time, the first adjustment component 40 drives the adjustable suction cups 32 and the adsorbed cardboard box to adjust their lateral position, and the second adjustment component 50 drives the adjustable suction cups 32 and the adsorbed cardboard box to adjust their vertical position. The two work together to complete the position correction of the cardboard box. After the position is calibrated, the vacuum pump stops working, and the adjustable suction cups 32 release negative pressure and detach from the cardboard box. This effectively reduces the problem of stacking skewing caused by uneven cardboard box positions and improves the stacking regularity.

[0029] Both the horizontal support bar 20 and the vertical support bar 30 are hollow structures. By removing material from non-critical load-bearing areas of the horizontal and vertical support bars 20 and 30, the core load-bearing skeleton is retained. This not only meets support requirements but also reduces the weight of the components themselves. The lightweight design reduces the load on the palletizing robot arm and lowers the energy consumption and wear of the robot's drive system. A photoelectric sensor 33 is provided on one side of the vertical support bar 30 to detect its lifting position. The photoelectric sensor 33 can capture the lifting position data of the vertical support bar 30 in real time and feed the position data back to the control system, forming a closed-loop adjustment mechanism. First limiting blocks 22 are provided at both ends of the horizontal support bar 20 to restrict lateral movement, and a second limiting block 34 is provided at the top of the vertical support bar 30 to restrict longitudinal movement. The first limiting blocks 22 and the second limiting blocks 34 provide limiting protection for the lateral and longitudinal movements of the first adjustment component 40 and the second adjustment component 50, preventing component collisions or structural deformation due to excessive movement.

[0030] Working principle: First, the 3D camera 60 performs real-time position detection on the carton to obtain its size parameters and spatial posture information. The control system drives the first adjustment component 40 and the second adjustment component 50 to start according to the detection data. The telescopic cylinder 41 pushes the mounting base 21 to slide along the linear guide rail 42 to adjust the distance between the two side support frames 31 to match the width of the carton.

[0031] Meanwhile, the power output by the servo motor 51 is reduced and amplified by the reducer 52 and then transmitted to the gear 53, driving the gear 53 to rotate. Through the meshing transmission of the gear 53 and the rack 54, the rotational motion is converted into the linear lifting motion of the support bar 30, thereby adjusting the height of the base frame 31 to adapt to the thickness of the carton. During the operation, the photoelectric sensor 33 monitors the lifting position of the base frame 31 in real time and feeds it back to the control system to ensure the height adjustment accuracy.

[0032] When the 3D camera 60 detects a positional shift in a single cardboard box, the control system activates the vacuum pump to generate negative pressure. Simultaneously, it drives the first adjustment component 40 and the second adjustment component 50 to move the adjustment suction cup 32 to precisely pick up the shifted single cardboard box. The cardboard box posture is corrected through fine-tuning. Once the cardboard box is in a regular position, the vacuum pump stops working, and the adjustment suction cup 32 detaches from the cardboard box.

[0033] Subsequently, the vacuum suction cup 10 activates negative pressure to simultaneously adsorb multiple cartons, at which point the base support 31 simultaneously lifts the bottom of the cartons from below.

[0034] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or specific orientation structure and operation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; 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. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0035] In the description of this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this utility model, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, those skilled in the art can combine different embodiments or examples and features of different embodiments or examples described in this utility model without contradiction.

[0036] 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 protective structure for preventing the fall of a robot carton palletizing gripper, comprising a vacuum suction cup (10), wherein the top surface of the vacuum suction cup (10) is symmetrically provided with support bars (20) on both sides, and mounting seats (21) symmetrically distributed on both sides of the vacuum suction cup (10) are provided between the support bars (20), and support vertical bars (30) are provided on both sides of the mounting seats (21), and a double-layer base frame (31) is provided on the side of the support vertical bars (30) near the vacuum suction cup (10), and the double-layer base frame (31) is adjustablely fitted under the vacuum suction cup (10); Its features are: A first adjustment component (40) is installed on the two sides of the support crossbar (20). The first adjustment component (40) includes a telescopic cylinder (41). The output end of the telescopic cylinder (41) is fixedly connected to the mounting seats (21) on both sides. The telescopic cylinder (41) drives the mounting seats (21) to move laterally along the support crossbar (20), which drives the support vertical bar (30) to move laterally in sync, so that the double-layer support frame (31) fixed on the support vertical bar (30) moves laterally to adjust the spacing. The support vertical bar (30) is equipped with a second adjustment component (50), which includes a servo motor (51). The servo motor (51) drives the support vertical bar (30) to rise and fall longitudinally, so that the double-layer support frame (31) fixed on the support vertical bar (30) rises and falls synchronously.

2. The anti-drop protection structure for a robot carton palletizing gripper according to claim 1, characterized in that: Adjustable suction cups (32) are installed on both sides of the support vertical bars (30). The adjustable suction cups (32) are connected to the vacuum pump through air pipes. The first adjustment component (40) drives the support vertical bars (30) and the adjustable suction cups (32) to move laterally. The second adjustment component (50) drives the adjustable suction cups (32) to move vertically. With the negative pressure adsorption force of the adjustable suction cups (32), the position of the offset carton is corrected.

3. The anti-drop protection structure for a robot carton palletizing gripper according to claim 1, characterized in that: The first adjustment component (40) includes a linear guide rail (42) and a slider (43). The linear guide rail (42) is fixed on the two side support bars (20), and the slider (43) is fixed on both sides of the bottom of the mounting base (21). The slider (43) is engaged on the linear guide rail (42) and can slide along the linear guide rail (42).

4. The anti-drop protection structure for a robot carton palletizing gripper according to claim 1, characterized in that: The second adjustment component (50) includes a reducer (52), a gear (53), a rack (54), a slide bar (55), and a linear guide seat (56). The output end of the servo motor (51) is connected to the reducer (52). The gear (53) is sleeved on the output end of the reducer (52). The gear (53) meshes with the rack (54). The rack (54) and the slide bar (55) are symmetrically arranged on both sides of the support vertical bar (30). The linear guide seat (56) is symmetrically arranged on both sides of the mounting base (21). The rack (54) and the slide bar (55) are locked on one side of the linear guide seat (56) and slide along the linear guide seat (56).

5. The anti-drop protection structure for a robot carton palletizing gripper according to claim 1, characterized in that: A 3D camera (60) for detecting the position of the carton is mounted above the vacuum suction cup (10).

6. The anti-drop protection structure for a robot carton palletizing gripper according to claim 1, characterized in that: Both the horizontal support bar (20) and the vertical support bar (30) are hollow structures.

7. The anti-drop protection structure for a robot carton palletizing gripper according to claim 1, characterized in that: Both sides of the support vertical bars (30) are equipped with photoelectric sensors (33) for detecting the lifting position.

8. The anti-drop protection structure for a robot carton palletizing gripper according to claim 1, characterized in that: The support horizontal bar (20) has a first limiting block (22) at both ends to restrict the lateral movement path, and the support vertical bar (30) has a second limiting block (34) at the top to restrict the longitudinal movement path.

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