Automatic paper box placing manipulator

Abstract

The application relates to a paper box automatic placing manipulator, belonging to the paper box production field, which comprises a supporting seat, a base fixedly connected to the outside of the supporting seat, an X-axis moving mechanism fixedly connected to the top of the supporting seat and a Y-axis moving mechanism arranged outside the X-axis moving mechanism, and a guide lubricating structure is arranged between the X-axis moving mechanism and the Y-axis moving mechanism and used for improving the moving stability of the Y-axis moving mechanism. The paper box automatic placing manipulator is provided with the guide lubricating structure, the cooperation of the guide rail and the sliding base can provide accurate guidance for the movement of the Y-axis moving mechanism, the shaking and deviation of the mechanical arm during movement are effectively reduced, the inertia of the mechanical arm movement is used to drive a piston cylinder to realize automatic lubrication of the sliding rail, manual maintenance cost is reduced, the service life of the equipment is prolonged, mechanical arm positioning errors caused by the decrease of the guide precision are reduced, the operation efficiency of the equipment is improved, the advantages of high operation efficiency and automatic lubrication are achieved.

Description

Technical Field

[0001] This application relates to the field of cardboard box production technology, and in particular to an automatic cardboard box placement robot. Background Technology

[0002] After leaving the production line, cardboard boxes need to be stacked together for centralized transfer. Currently, they are usually transported directly by forklift after stacking. However, because the cardboard boxes are not properly aligned after stacking, there are serious gaps and skewing between the boxes, which affects the safety of the transfer.

[0003] In the production of cardboard boxes, automated cardboard box stacking robots are needed. Chinese utility model patent CN220115699U discloses a cardboard box stacking robot arm, including a Y-axis arm, an X-axis arm, and a Z-axis arm, as well as a support base and a clamping plate. The Y-axis arm is welded to the top of the support base, and the X-axis arm is located on one side of the Y-axis arm. This utility model provides a rectangular, encircling stacking mechanism for cardboard box stacking operations, making the stacked boxes more stable and facilitating subsequent centralized packaging and transportation.

[0004] In the process of implementing this application, the technology has at least the following problems: the carton palletizing robot arm uses a first guide rod and a second guide rod to guide the movement of the robot arm. Although these guide rods can play a certain guiding role, after long-term use, the wear between the guide rods and the sliding parts may lead to a decrease in guiding accuracy, which in turn affects the positioning accuracy of the robot arm. In addition, the lubrication of the guide rods usually requires regular manual maintenance, which increases the maintenance cost and workload. Therefore, an automatic carton placement robot arm is proposed to solve the problems mentioned above. Utility Model Content

[0005] To address the shortcomings of existing technologies, this application provides an automatic carton placement robot with advantages such as high operating efficiency and automatic lubrication. It solves the problem that existing carton palletizing robots use first and second guide rods to guide the movement of the robot arm. Although these guide rods can play a certain guiding role, after long-term use, wear between the guide rods and sliding parts may lead to a decrease in guiding accuracy, which in turn affects the positioning accuracy of the robot arm. In addition, the lubrication of the guide rods usually requires regular manual maintenance, which increases maintenance costs and workload.

[0006] In summary, this application provides the following technical solution: an automatic carton placement robot, including a support base, a base fixedly connected to the outside of the support base, an X-axis moving mechanism fixedly connected to the top of the support base, and a Y-axis moving mechanism disposed outside the X-axis moving mechanism, wherein a guide lubrication structure for improving the moving stability of the Y-axis moving mechanism is provided between the X-axis moving mechanism and the Y-axis moving mechanism; The guiding lubrication structure includes a column fixedly connected to the top of the support base, a guide rail fixedly connected to the outside of the column, a slide block slidably connected to the outside of the guide rail, a fixed plate and a storage box disposed outside the Y-axis moving mechanism, a piston cylinder fixedly connected to the top of the fixed plate, a plug plate slidably connected inside the piston cylinder, a plug rod fixedly connected to the top of the plug plate, an abutment plate fixedly connected to the top of the plug rod, a return spring fixedly connected between the abutment plate and the piston cylinder, a nozzle fixedly connected to the outside of the piston cylinder, and a compression structure disposed outside the abutment plate.

[0007] This application, by adopting the above-mentioned technical solution and setting a guiding lubrication structure, enables the guide rail and slide to provide precise guidance for the movement of the Y-axis moving mechanism, effectively reducing the shaking and deviation during the movement of the robotic arm, greatly improving the positioning accuracy of the robotic arm, and thus improving the accuracy and efficiency of carton placement. By utilizing the inertia of the robotic arm movement to drive the piston cylinder to achieve automatic lubrication of the slide rail, manual maintenance costs are reduced, and the service life of the equipment is extended. Automatic lubrication can effectively reduce wear between the slide rail and the slide, improve the operating efficiency and stability of the equipment, reduce robotic arm positioning errors caused by decreased guiding accuracy, and improve the operating efficiency of the equipment, achieving the advantages of high operating efficiency and automatic lubrication. Through the coordinated work of the X-axis moving mechanism, Y-axis moving mechanism, and Z-axis moving mechanism, precise positioning of the carton in three-dimensional space can be achieved, improving the accuracy and efficiency of carton placement.

[0008] Furthermore, the outer diameter of the guide rail is adapted to the inner diameter of the slide block, the nozzle is located at the connection between the slide block and the guide rail, and a flexible hose is fixedly connected between the piston cylinder and the storage tank.

[0009] The beneficial effects of adopting the above-mentioned further solution are: by setting a guiding lubrication structure, the cooperation between the guide rail and the slide can provide precise guidance for the movement of the Y-axis moving mechanism, reduce shaking and deviation during the movement, and improve the smoothness of the movement.

[0010] Furthermore, the piston cylinder is a hollow cylinder, the outer diameter of the stopper plate is adapted to the inner diameter of the piston cylinder, the stopper rod is slidably connected to the inside of the piston cylinder and extends to its upper surface, and the return spring is connected to the outside of the stopper rod.

[0011] The beneficial effect of adopting the above-mentioned further solution is that by setting a return spring to be connected around the outside of the stopper rod, a return force is provided for the stopper plate.

[0012] Furthermore, the extrusion structure includes a connecting plate fixedly connected to the outside of the column and an abutment rod fixedly connected to the bottom of the connecting plate, wherein the top of the abutment plate abuts against the bottom of the abutment rod.

[0013] The beneficial effect of adopting the above-mentioned further solution is that when the Y-axis moving mechanism moves, the abutment rod pushes the abutment plate, causing the plug plate to slide inside the piston cylinder. The sliding of the plug plate sprays the lubricating oil inside the piston cylinder through the nozzle, lubricating the connection between the guide rail and the slide.

[0014] Furthermore, the X-axis moving mechanism includes a mounting box fixedly connected to the top of the support base, a drive motor fixedly installed outside the mounting box, a worm fixedly connected to the output shaft of the drive motor, a threaded rod rotatably connected inside the mounting box and extending to its upper surface, a worm wheel fixedly connected to the outside of the threaded rod, and a threaded block threadedly connected to the outside of the threaded rod, wherein the worm and the worm wheel are meshed with each other.

[0015] The beneficial effect of adopting the above-mentioned further solution is that when the drive motor starts, it drives the worm to rotate. Since the worm and the worm wheel mesh with each other, the rotation of the worm will drive the worm wheel to rotate, which in turn causes the threaded rod to rotate. The rotation of the threaded rod will drive the threaded block to move along the axial direction of the threaded rod, thereby realizing the movement in the X-axis direction.

[0016] Furthermore, the Y-axis moving mechanism includes a fixed housing fixedly connected to the outside of the threaded block, a dual-axis motor fixedly installed inside the fixed housing, screws fixedly connected to the two output ends of the dual-axis motor, a moving block threadedly connected to the outside of the screws, and a connecting block fixedly connected to the outside of the moving block. The fixed housing is fixedly connected to the outside of the slide block, and the fixed housing is slidably connected to the outside of the guide rail through the slide block.

[0017] The beneficial effect of adopting the above-mentioned further solution is that when it is necessary to achieve movement in the Y-axis direction, the dual-axis motor is started, driving the two screws to rotate. The rotation of the screws will drive the moving block to move along the axial direction of the screws, thereby driving the connecting block to move, thus achieving movement in the Y-axis direction.

[0018] Furthermore, the fixing plate is fixedly connected to the outside of the fixing shell, and the storage box is fixedly connected to the top of the fixing shell.

[0019] The beneficial effect of adopting the above-mentioned further solution is that by setting up a storage tank connected to the piston cylinder via a hose, lubricating oil can be added to the piston cylinder.

[0020] Furthermore, the Y-axis moving mechanism is externally provided with two Z-axis moving mechanisms. The Z-axis moving mechanism includes an electric slide fixedly connected to the outside of the connecting block, a slider slidably connected inside the electric slide, and a retaining plate fixedly connected to the outside of the slider.

[0021] The beneficial effect of adopting the above-mentioned further solution is that when the electric slide is started, the drive slider moves along the axis of the electric slide, thereby driving the gripper to move, realizing movement in the Z-axis direction. The gripper is used to grab and place cartons.

[0022] Compared with the prior art, this application provides an automatic carton placement robot, which has the following advantages: 1. This automatic carton placement robot arm, through the setting of a guiding lubrication structure, enables the cooperation between the guide rail and the slide to provide precise guidance for the movement of the Y-axis moving mechanism, effectively reducing the shaking and deviation during the movement of the robot arm, greatly improving the positioning accuracy of the robot arm, thereby improving the precision and efficiency of carton placement. By using the inertia of the robot arm's movement to drive the piston cylinder to achieve automatic lubrication of the slide rail, the manual maintenance cost is reduced, the service life of the equipment is extended, and automatic lubrication can effectively reduce the wear between the slide rail and the slide, improve the operating efficiency and stability of the equipment, reduce robot arm positioning errors caused by decreased guiding accuracy, and improve the operating efficiency of the equipment, achieving the advantages of high operating efficiency and automatic lubrication.

[0023] 2. This automatic carton placement robot, through the coordinated work of the X-axis, Y-axis and Z-axis moving mechanisms, can achieve precise positioning of cartons in three-dimensional space, improving the accuracy and efficiency of carton placement. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural view of this application; Figure 2 This is a three-dimensional cross-sectional view of the guiding lubrication structure of this application; Figure 3 This is a three-dimensional sectional view of the piston cylinder of this application; Figure 4 This is a three-dimensional structural view of the Z-axis moving mechanism of this application.

[0025] Explanation of reference numerals in the attached figures: 1. Support base; 2. Base; 3. X-axis moving mechanism; 31. Mounting box; 32. Drive motor; 33. Worm gear; 34. Worm wheel; 35. Threaded rod; 36. Threaded block; 4. Y-axis moving mechanism; 41. Fixed shell; 42. Dual-axis motor; 43. Screw; 44. Moving block; 45. Connecting block; 5. Guide lubrication structure; 51. Column; 52. Guide rail; 53. Slide; 54. Piston cylinder; 55. Plug plate; 56. Plug rod; 57. Abutment plate; 58. Return spring; 59. Nozzle; 510. Hose; 511. Connecting plate; 512. Abutment rod; 513. Fixed plate; 514. Storage box; 6. Z-axis moving mechanism; 61. Electric slide table; 62. Slider; 63. Holding plate. Detailed Implementation

[0026] Please see Figures 1 to 4The automatic carton placement robot in this embodiment includes a support base 1, a base 2 fixedly connected to the outside of the support base 1, an X-axis moving mechanism 3 fixedly connected to the top of the support base 1, and a Y-axis moving mechanism 4 disposed outside the X-axis moving mechanism 3. A guide lubrication structure 5 for improving the moving stability of the Y-axis moving mechanism 4 is provided between the X-axis moving mechanism 3 and the Y-axis moving mechanism 4. The guiding lubrication structure 5 includes a column 51 fixedly connected to the top of the support base 1, a guide rail 52 fixedly connected to the outside of the column 51, a slide block 53 slidably connected to the outside of the guide rail 52, a fixed plate 513 and a storage box 514 disposed outside the Y-axis moving mechanism 4, a piston cylinder 54 fixedly connected to the top of the fixed plate 513, a plug plate 55 slidably connected inside the piston cylinder 54, a plug rod 56 fixedly connected to the top of the plug plate 55, an abutment plate 57 fixedly connected to the top of the plug rod 56, a return spring 58 fixedly connected between the abutment plate 57 and the piston cylinder 54, a nozzle 59 fixedly connected to the outside of the piston cylinder 54, and a pressing structure disposed outside the abutment plate 57. When the Y-axis moving mechanism 4 moves, the abutment rod 512 pushes the abutment plate 57, causing the plug plate 55 to slide inside the piston cylinder 54. The sliding of the plug plate 55 sprays the lubricating oil inside the piston cylinder 54 through the nozzle 59, lubricating the connection between the guide rail 52 and the slide block 53.

[0027] Specifically, the outer diameter of the guide rail 52 is matched with the inner diameter of the slide 53, the nozzle 59 is located at the connection between the slide 53 and the guide rail 52, and a hose 510 is fixedly connected between the piston cylinder 54 and the storage tank 514.

[0028] It should be noted that the piston cylinder 54 is a hollow cylinder, the outer diameter of the stopper plate 55 is adapted to the inner diameter of the piston cylinder 54, the stopper rod 56 is slidably connected to the inside of the piston cylinder 54 and extends to its upper surface, and the return spring 58 is wrapped around the outside of the stopper rod 56. The extrusion structure includes a connecting plate 511 fixedly connected to the outside of the column 51 and an abutment rod 512 fixedly connected to the bottom of the connecting plate 511. The top of the abutment plate 57 abuts against the bottom end of the abutment rod 512. When the Y-axis moving mechanism 4 moves upward under the drive of the X-axis moving mechanism 3, the fixed shell 41 will drive the slide block 53 to slide along the guide rail 52. During the sliding process, the abutment plate 57 will interact with the abutment rod 512. When the slide block 53 moves, the abutment plate 57 moves downward under the action of the abutment rod 512, causing the stopper rod 56 and the stopper plate 55 to move downward, compressing the return spring 58. At the same time, the lubricating oil in the piston cylinder 54 is squeezed through the nozzle 59 to the connection between the slide block 53 and the guide rail 52, achieving lubrication. When the slide block 53 continues to move, after the abutment plate 57 disengages from the abutment rod 512, the stopper plate 55 and the stopper rod 56 move upward under the action of the return spring 58, creating a negative pressure in the piston cylinder 54. Lubricating oil is drawn from the storage tank 514 through the hose 510, preparing for the next lubrication.

[0029] Furthermore, there are two sets of guiding lubrication structures 5, which are symmetrically distributed between the X-axis moving mechanism 3 and the Y-axis moving mechanism 4. The fixing plate 513 is fixedly connected to the outside of the fixing shell 41, and the storage box 514 is fixedly connected to the top of the fixing shell 41. The entire robot arm structure is compact, with reasonable connections between components, facilitating installation and maintenance. The ingenious design of the guiding lubrication structure 5 utilizes the interaction during the robot arm's movement to achieve automatic lubrication, eliminating the need for an additional power source and reducing cost and energy consumption.

[0030] Please see Figures 1 to 2 In this embodiment, the X-axis moving mechanism 3 includes a mounting box 31 fixedly connected to the top of the support base 1, a drive motor 32 fixedly installed outside the mounting box 31, a worm 33 fixedly connected to the output shaft of the drive motor 32, a threaded rod 35 rotatably connected inside the mounting box 31 and extending to its upper surface, a worm wheel 34 fixedly connected to the outside of the threaded rod 35, and a threaded block 36 threadedly connected to the outside of the threaded rod 35. The worm 33 and the worm wheel 34 are meshed with each other. When movement in the X-axis direction is required, the drive motor 32 is started by the controller, which drives the worm 33 to rotate. Since the worm 33 and the worm wheel 34 are meshed with each other, the rotation of the worm 33 will drive the worm wheel 34 to rotate, thereby causing the threaded rod 35 to rotate. The rotation of the threaded rod 35 will drive the threaded block 36 to move along the axial direction of the threaded rod 35, thereby realizing movement in the X-axis direction.

[0031] Please see Figures 1 to 2 In this embodiment, the Y-axis moving mechanism 4 includes a fixed housing 41 fixedly connected to the outside of the threaded block 36, a dual-axis motor 42 fixedly installed inside the fixed housing 41, screws 43 respectively fixedly connected to the two output ends of the dual-axis motor 42, a moving block 44 threadedly connected to the outside of the screws 43, and a connecting block 45 fixedly connected to the outside of the moving block 44. The fixed housing 41 is fixedly connected to the outside of the slide block 53 and is slidably connected to the outside of the guide rail 52 through the slide block 53. When Y-axis movement is required, the dual-axis motor 42 is started, driving the two screws 43 to rotate. The rotation of the screws 43 drives the moving block 44 to move along the axial direction of the screws 43, thereby driving the connecting block 45 to move, thus realizing Y-axis movement.

[0032] The Y-axis moving mechanism 4 is further equipped with two Z-axis moving mechanisms 6. Each Z-axis moving mechanism 6 includes an electric slide 61 fixedly connected to the outside of the connecting block 45, a slider 62 slidably connected inside the electric slide 61, and a retaining plate 63 fixedly connected to the outside of the slider 62. When Z-axis movement is required, the electric slide 61 is activated, driving the slider 62 to move along the axial direction of the electric slide 61, which in turn moves the retaining plate 63, thus achieving Z-axis movement.

[0033] The working principle of the above embodiments is as follows: In operation, the controller starts the drive motor 32, which drives the worm gear 33 to rotate. Because the worm gear 33 meshes with the worm wheel 34, it drives the worm wheel 34 and the threaded rod 35 to rotate, thereby driving the threaded block 36 to move axially along the threaded rod 35, achieving X-axis movement. The dual-axis motor 42 drives the two screws 43 to rotate, driving the moving block 44 to move axially along the screws 43, and driving the connecting block 45 to move, achieving Y-axis movement. When the Y-axis moving mechanism 4 moves to its highest position, the fixed housing 41 drives the slide 53 to slide along the guide rail 52. The abutment plate 57 and the abutment rod 512 move downwards, and the stop rod 56 and the stop plate 55 move downwards, compressing the return spring 58, squeezing the lubricating oil in the piston cylinder 54 through the spray pipe 59 to the connection between the slide 53 and the guide rail 52 for lubrication. After the abutment plate 57 disengages from the abutment rod 512, the return spring 58 causes the stop plate 55 and the stop rod 56 to move upwards, creating a negative pressure inside the piston cylinder 54, drawing lubricating oil from the storage tank 514 through the hose 510. The electric slide table 61 drives the slider 62 to move along its axis, which in turn moves the gripping plate 63 to achieve Z-axis movement, which is used to grip and place cartons.

Claims

1. A robotic arm for automatically placing cardboard boxes, characterized in that: It includes a support base (1), a base (2) fixedly connected to the outside of the support base (1), an X-axis moving mechanism (3) fixedly connected to the top of the support base (1), and a Y-axis moving mechanism (4) disposed outside the X-axis moving mechanism (3). A guide lubrication structure (5) for improving the moving smoothness of the Y-axis moving mechanism (4) is provided between the X-axis moving mechanism (3) and the Y-axis moving mechanism (4). The guiding lubrication structure (5) includes a column (51) fixedly connected to the top of the support base (1), a guide rail (52) fixedly connected to the outside of the column (51), a slide block (53) slidably connected to the outside of the guide rail (52), a fixed plate (513) and a storage box (514) disposed outside the Y-axis moving mechanism (4), a piston cylinder (54) fixedly connected to the top of the fixed plate (513), a plug plate (55) slidably connected to the inside of the piston cylinder (54), a plug rod (56) fixedly connected to the top of the plug plate (55), an abutment plate (57) fixedly connected to the top of the plug rod (56), a return spring (58) fixedly connected between the abutment plate (57) and the piston cylinder (54), a nozzle (59) fixedly connected to the outside of the piston cylinder (54), and a compression structure disposed outside the abutment plate (57).

2. The automatic cardboard box placement robot according to claim 1, characterized in that: The outer diameter of the guide rail (52) is adapted to the inner diameter of the slide (53). The nozzle (59) is located at the connection between the slide (53) and the guide rail (52). A hose (510) is fixedly connected between the piston cylinder (54) and the storage tank (514).

3. The automatic cardboard box placement robot according to claim 1, characterized in that: The piston cylinder (54) is a hollow cylinder. The outer diameter of the stopper plate (55) is adapted to the inner diameter of the piston cylinder (54). The stopper rod (56) is slidably connected to the inside of the piston cylinder (54) and extends to its upper surface. The return spring (58) is connected to the outside of the stopper rod (56).

4. The automatic cardboard box placement robot according to claim 1, characterized in that: The extrusion structure includes a connecting plate (511) fixedly connected to the outside of the column (51) and an abutment rod (512) fixedly connected to the bottom of the connecting plate (511), wherein the top of the abutment plate (57) abuts against the bottom of the abutment rod (512).

5. The automatic cardboard box placement robot according to claim 1, characterized in that: The X-axis moving mechanism (3) includes a mounting box (31) fixedly connected to the top of the support base (1), a drive motor (32) fixedly installed outside the mounting box (31), a worm (33) fixedly connected to the output shaft of the drive motor (32), a threaded rod (35) rotatably connected inside the mounting box (31) and extending to its upper surface, a worm wheel (34) fixedly connected to the outside of the threaded rod (35), and a threaded block (36) threadedly connected to the outside of the threaded rod (35). The worm (33) and the worm wheel (34) are meshed with each other.

6. The automatic cardboard box placement robot according to claim 1, characterized in that: The Y-axis moving mechanism (4) includes a fixed housing (41) fixedly connected to the outside of the threaded block (36), a dual-axis motor (42) fixedly installed inside the fixed housing (41), screws (43) fixedly connected to the two output ends of the dual-axis motor (42), a moving block (44) threadedly connected to the outside of the screws (43), and a connecting block (45) fixedly connected to the outside of the moving block (44). The fixed housing (41) is fixedly connected to the outside of the slide (53), and the fixed housing (41) is slidably connected to the outside of the guide rail (52) through the slide (53).

7. The automatic cardboard box placement robot according to claim 6, characterized in that: The fixing plate (513) is fixedly connected to the outside of the fixing shell (41), and the storage box (514) is fixedly connected to the top of the fixing shell (41).

8. The automatic cardboard box placement robot according to claim 6, characterized in that: The Y-axis moving mechanism (4) is further provided with two Z-axis moving mechanisms (6). The Z-axis moving mechanism (6) includes an electric slide (61) fixedly connected to the outside of the connecting block (45), a slider (62) slidably connected to the inside of the electric slide (61), and a retaining plate (63) fixedly connected to the outside of the slider (62).

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