Stacking robot with adjustable grabbing angle

Abstract

The invention discloses a robot palletizer with an adjustable grabbing angle, and relates to the technical field of automatic equipment, the robot palletizer comprises a base and a mechanical arm fixedly mounted on the base, and a clamping mechanism is arranged at the tail end of the mechanical arm; the clamping mechanism comprises a V-shaped clamping frame, sliding channels are formed in the two sides of the clamping frame, sliding plates are arranged in the sliding channels in a sliding mode, first rotating channels are formed in the sliding plates, clamping plates are rotationally arranged in the first rotating channels, and the clamping plates and the sliding plates are crossed in an X shape; the inclination angle of the clamping plate is adjusted through the first control assembly. According to the robot palletizer with the adjustable grabbing angle, by arranging the clamping frame, the clamping plates, the reinforcing plates and other structures, the robot palletizer is suitable for cylindrical cargoes of various sizes, six linear contact positions can be always kept to clamp and lock the cargoes at most, the cargoes are distributed in a major arc shape, the grabbing stability is guaranteed, the robot palletizer can be conveniently pulled out, and the use efficiency of the robot palletizer is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a palletizing robot with adjustable gripping angle. Background Art

[0002] Palletizing robots are currently widely used in the manufacturing industry. They are primarily used for palletizing products, stacking them in a regular pattern, replacing manual handling and reducing worker workload. Existing palletizing robots primarily consist of a base, a robotic arm, and a gripper. The gripper is used to grab goods, while the robotic arm, through its telescopic and rotational motion, moves the goods to the appropriate location.

[0003] For example, a patent entitled: A Palletizing Robot (patent application number: CN202221837449.X) discloses a palletizing robot that clamps goods through numerous positioning rods on a positioning ring and an anti-sliding block at the inner end of the positioning rod. Since the clamping mechanism has many and evenly distributed contact points with the goods, it can stably transport goods and reduce the labor intensity of workers. However, in actual use of the palletizing robot, structures such as the positioning ring need to move from top to bottom to clamp the goods. When the stacking is piled close to the top of the building, it is difficult to pull out the positioning ring and other structures from the bottom to the top, which affects the palletizing efficiency.

[0004] Therefore, it is necessary to propose a palletizing robot with adjustable grasping angle to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a palletizing robot with an adjustable gripping angle, so as to solve the problem that, during actual use of the palletizing robot, structures such as positioning rings need to be moved from top to bottom to clamp the goods. When the stacking pile is high enough to reach a position close to the top of the building, it is difficult to pull the positioning rings and other structures from bottom to top, which affects the palletizing efficiency.

[0006] To achieve the above object, the present invention provides the following technical solution: a palletizing robot with an adjustable gripping angle, comprising a base and a mechanical arm fixedly mounted on the base, wherein a clamping mechanism is provided at the end of the mechanical arm; The clamping mechanism includes a V-shaped clamping frame, with sliding channels on both sides of the clamping frame, a slide plate slidably arranged inside the sliding channel, a first rotating channel formed on the slide plate, a clamp plate rotatably arranged inside the first rotating channel, the clamp plate and the slide plate intersecting in an X shape, and the inclination angle of the clamp plate is adjusted by a first control component; A second rotation channel is provided at one end of the splint away from the first control component. A reinforcement plate is rotatably arranged inside the second rotation channel. The reinforcement plate and the splint are intersected in an X shape, and the inclination angle of the reinforcement plate is adjusted by the second control component.

[0007] Preferably, the first control assembly includes a first electric push rod, one end of the first electric push rod is hinged to the clamping plate, and the other end of the first electric push rod is hinged to the outer wall of the clamping frame.

[0008] Preferably, the second control assembly includes a second electric push rod, one end of the second electric push rod is hinged to the inner wall of the second rotating channel, and the other end of the second electric push rod is hinged to the reinforcement plate.

[0009] Preferably, a third electric push rod is fixedly connected to the outer wall of the clamping frame, and two third electric push rods are provided, and the two third electric push rods are staggered. A through groove is opened on the clamping frame for the telescopic end of the third electric push rod to pass through, and the slide is fixedly connected to the corresponding telescopic end of the third electric push rod.

[0010] Preferably, a circular groove is provided on the slide plate, an annular groove is provided on the inner wall of the circular groove, a rectangular groove is provided at the bottom end of the sliding channel, the annular groove is connected to the rectangular groove, a rotating ring is provided inside the circular groove, a rotating shaft is fixedly connected to the rotating ring, and a fan is fixedly installed on the end of the rotating shaft away from the inner side of the clamping frame.

[0011] Preferably, a transmission assembly for driving the rotating ring to rotate is provided between the rotating ring and the rectangular groove, and the transmission assembly includes a rack and a gear ring. The rack is fixedly connected to the inside of the rectangular groove, and the gear ring is rotatably arranged inside the ring groove. The rotating ring is fixedly connected to the gear ring, and the rack and the gear ring are meshed and connected.

[0012] Preferably, a wind shield is fixedly connected to the slide plate, and the wind shield surrounds the outside of the fan.

[0013] Preferably, a sliding groove is provided at the top of the sliding channel, a slider is slidably provided inside the sliding groove, and the slider is fixedly connected to the slide plate.

[0014] Preferably, an extension bar is fixedly connected to one end of the reinforcement plate away from the second control component.

[0015] Preferably, the clamping mechanism further includes an angle adjustment component, which includes a fixing frame and a motor, wherein the fixing frame is fixedly connected to the end of the robotic arm, the motor is fixedly connected to the fixing frame, and the clamping frame is fixedly connected to the drive shaft of the motor.

[0016] Technical effects and advantages of the present invention: The present invention is suitable for cylindrical goods of various sizes by providing structures such as clamping frames, clamping plates and reinforcement plates. It can always maintain a maximum of six linear contact positions to clamp and lock the goods. The six positions are distributed in an arc shape to ensure the stability of the grasping and can be easily pulled out, thereby improving the efficiency of the palletizing robot. The reinforcement plate, clamping plate and clamping frame on one side can still form an arc-shaped clamping structure to ensure the flexibility of clamping and locking. The position of the reinforcement plate and the clamping plate are adjustable, and the angle of the reinforcement plate and the clamping plate themselves are adjustable. At the same time, the clamping frame is V-shaped, which is suitable for cylindrical goods of various sizes. It can always maintain a maximum of six linear contact positions, and they are distributed in an optimal arc shape to ensure the stability of the grasping. By setting up structures such as a rotating ring, a fan and a transmission component, and using the sliding of the slide plate inside the sliding channel as power, mobile dust removal is carried out, and the position where the goods need to contact the clamping mechanism is processed to facilitate subsequent grasping and avoid slipping; The sliding of the slide plate inside the sliding channel is used as the power, and no additional power structure is required, thus reducing the cost of equipment use; By setting up a cleaning piece, a torsion spring and an elastic rope, the rotating bar and the cleaning piece are fixed to remove stubborn adhesions and ensure the stability of the clamping and locking. At the same time, the movement of the slide is used as the power to realize the recovery of the cleaning piece without affecting the clamping and locking of the goods. The sliding plate is controlled to move back and forth multiple times, so that the cleaning piece swings multiple times outside the sliding channel to shake off the remaining adhesions for subsequent use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural schematic diagram of a palletizing robot with adjustable gripping angle according to the present invention from one perspective.

[0018] Figure 2 For the present invention Figure 1 A magnified schematic diagram of the structure in the middle.

[0019] Figure 3 This is a structural schematic diagram of the palletizing robot with adjustable gripping angle from another perspective of the present invention.

[0020] Figure 4 It is a schematic diagram of the structure of the clamping frame and the sliding channel of the present invention.

[0021] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structure at point B in the middle.

[0022] Figure 6 This is a schematic diagram of the clamping frame and extension bar structure of the present invention.

[0023] Figure 7 It is a schematic diagram of the structure of the splint and reinforcement plate of the present invention.

[0024] Figure 8 This is a schematic diagram of the slide and slider structure of the present invention.

[0025] Figure 9This is a schematic diagram of the sliding channel and slide structure of the present invention.

[0026] Figure 10 For the present invention Figure 9 Enlarged schematic diagram of the structure at point C in the middle.

[0027] Figure 11 It is a schematic diagram of the circular groove and annular groove structure of the present invention.

[0028] Figure 12 This is a schematic structural diagram of the clamping frame and the third electric push rod of the present invention.

[0029] Figure 13 For the present invention Figure 12 Schematic diagram of the enlarged structure at point D in the middle.

[0030] In the figure: 1. base; 2. robotic arm; 3. clamping mechanism; 4. fixing frame; 5. motor; 6. clamping frame; 7. sliding channel; 8. slide plate; 9. first rotating channel; 10. clamping plate; 11. first electric push rod; 12. second rotating channel; 13. reinforcement plate; 14. extension bar; 15. second electric push rod; 16. third electric push rod; 17. through groove; 18. slide groove; 19. slider; 20. circular groove; 21. rectangular groove; 22. rack; 23. ring groove; 24. gear ring; 25. swivel; 26. rotating shaft; 27. fan; 28. wind cover; 29. ​​bump; 30. circular shaft; 31. rotating bar; 32. torsion spring; 33. elastic rope; 34. cleaning piece. DETAILED DESCRIPTION

[0031] Example 1, the present invention provides Figures 1 to 11 The illustrated embodiment shows a palletizing robot with an adjustable gripping angle, which is particularly suitable for cylindrical goods such as paint buckets or wine barrels. The palletizing robot comprises a base 1 and a robotic arm 2 fixedly mounted on the base 1. A clamping mechanism 3 is provided at the end of the robotic arm 2. The base 1 is the supporting foundation of the entire robot, which is used to fix the robotic arm 2 and ensure the stability of the robot during operation. The base 1 can be made of high-strength steel to withstand the weight of the robotic arm 2 and the goods.

[0032] The robot arm 2 is fixedly mounted on the base 1 and is used to realize spatial movement and move the clamping mechanism 3 to the target position. The robot arm 2 can adopt a multi-joint structure with multiple degrees of freedom, and can flexibly reach any position in the working area. The movement of the robot arm 2 can be precisely controlled by the motor drive and control system, such as: shoulder joint motor: used to control the shoulder rotation of the robot arm 2, so that the robot arm can perform a large range of rotational movement in the horizontal direction; the control system includes a main controller, a motion planning module, sensors, etc.

[0033] The robotic arm 2 and its control are both existing common technologies and will not be described in detail here.

[0034] Considering that in the actual use of the existing palletizing robot, the clamping mechanism 3 usually moves from top to bottom to clamp the goods. When the pallet is piled up to a position close to the top of the building, it is difficult to pull the clamping mechanism 3 out from bottom to top, which affects the palletizing efficiency. In order to ensure the efficiency of palletizing, Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 As shown in FIG, the clamping mechanism 3 includes a V-shaped clamping frame 6. The clamping frame 6 can be attached to the goods from the side, and the V-shaped structure can be applicable to goods of various sizes.

[0035] To achieve the purpose of clamping and fixing the goods, sliding channels 7 are provided on both sides of the clamping frame 6. A slide plate 8 is slidably provided inside the sliding channel 7. A slide groove 18 is provided at the top of the sliding channel 7. A slider 19 is slidably provided inside the slide groove 18. The slider 19 is fixedly connected to the slide plate 8. When the slide plate 8 slides, it can drive the slider 19 to slide inside the slide groove 18, thereby ensuring the sliding stability of the slide plate 8. In actual use, a structure such as a ball bearing can be provided between the slider 19 and the slide groove 18 to ensure the smooth sliding of the slide plate 8.

[0036] Reference Figure 4 、 Figure 8 As shown in FIG, a third electric push rod 16 is fixedly connected to the outer wall of the clamping frame 6. Two third electric push rods 16 are provided, and the two third electric push rods 16 are staggered. The clamping frame 6 is provided with a through slot 17 for the telescopic end of the third electric push rod 16 to pass through. The slide 8 is fixedly connected to the corresponding telescopic end of the third electric push rod 16. The third electric push rod 16 is provided to drive the slide 8 to slide within the sliding channel 7 and adjust the position of the slide 8.

[0037] Reference Figure 4 、 Figure 5 As shown in FIG, a first rotation channel 9 is provided on the slide 8, and a clamping plate 10 is rotatably provided inside the first rotation channel 9. The clamping plate 10 and the slide 8 intersect in an X shape, and the tilt angle of the clamping plate 10 is adjusted by a first control assembly. The first control assembly includes a first electric push rod 11, one end of the first electric push rod 11 is hinged to the clamping plate 10, and the other end of the first electric push rod 11 is hinged to the outer wall of the clamping frame 6. When the telescopic end of the first electric push rod 11 is controlled to extend, the end of the clamping plate 10 close to the first control assembly is driven to swing away from the clamping frame 6, while the end of the clamping plate 10 away from the first control assembly is retracted toward the inside of the clamping frame 6.

[0038] Before grabbing the goods, the telescopic end of the first electric push rod 11 is controlled to be retracted, so that the end of the splint 10 away from the first control component opens outward without affecting the clamping frame 6 from being attached to the goods from the side; then the third electric push rod 16 drives the slide 8 to slide inside the sliding channel 7, adjusts the position of the slide 8, and controls the telescopic end of the first electric push rod 11 to extend, and the end of the splint 10 away from the first control component is retracted toward the inside of the clamping frame 6. At this time, the two sides of the inner wall of the clamping frame 6 and the two splints 10 are attached to the outer wall of the goods in a line contact manner, and the four line contact positions form an arc-shaped clamping structure to ensure the stability of grabbing.

[0039] To ensure the stability of the crawl, refer to Figure 4 As shown in FIG, a second rotation channel 12 is provided at one end of the splint 10 away from the first control assembly. A reinforcement plate 13 is rotatably provided inside the second rotation channel 12. The reinforcement plate 13 and the splint 10 are intersected in an X shape, and the inclination angle of the reinforcement plate 13 is adjusted by the second control assembly. The second control assembly includes a second electric push rod 15. One end of the second electric push rod 15 is hinged to the inner wall of the second rotation channel 12, and the other end of the second electric push rod 15 is hinged to the reinforcement plate 13. When the telescopic end of the second electric push rod 15 is controlled to extend, the end of the reinforcement plate 13 close to the second control assembly is driven to swing away from the splint 10, while the end of the reinforcement plate 13 away from the first control assembly is retracted toward the inner side of the clamping frame 6.

[0040] An extension bar 14 is fixedly connected to one end of the reinforcement plate 13 away from the second control component. The extension bar 14 is cylindrical and is T-shaped with the reinforcement plate 13. The extension bar 14 is provided to expand the contact area with the outer wall of the cargo.

[0041] Furthermore, the two clamping plates 10 on both sides of the inner wall of the clamping frame 6 are attached to the outer wall of the cargo in a line contact manner, and the telescopic end of the second electric push rod 15 is controlled to extend, driving the end of the reinforcement plate 13 close to the second control component to swing away from the clamping plate 10, and the end of the reinforcement plate 13 away from the first control component is retracted toward the inner side of the clamping frame 6. At this time, the extension bar 14 is attached to the outer wall of the cargo in a line contact manner, and the six line contact positions form a larger arc-shaped clamping structure, which clamps and locks the cargo, further ensuring the stability of the grasping.

[0042] After crawling, refer to Figure 7 Palletizing at an angle, even if similar Figure 6 When the pallet is stacked close to the top of the building, it can also be stacked flexibly without interfering with other goods.

[0043] After the cargo is placed, the telescopic end of the second electric push rod 15 is controlled to be retracted, driving the end of the reinforcement plate 13 close to the second control component to swing toward the splint 10, and the extension bar 14 is out of contact with the outer wall of the cargo; at the same time, the telescopic end of the first electric push rod 11 is controlled to be retracted, driving the end of the splint 10 close to the first control component to swing toward the clamping frame 6, and the splint 10 is out of contact with the outer wall of the cargo. In the above process, the reinforcement plate 13 and the splint 10 will not touch the outer walls of other cargoes.

[0044] Then, the robotic arm 2 drives the clamping mechanism 3 to grab and stack other goods, and the clamping frame 6, the clamping plate 10 and the reinforcement plate 13 are easily pulled out.

[0045] Specifically, since the slide plate 8 can slide inside the sliding channel 7, the position of the reinforcement plate 13 and the splint 10 can be adjusted, and the angles of the reinforcement plate 13 and the splint 10 themselves can be adjusted. At the same time, the clamping frame 6 is V-shaped, which is suitable for cylindrical goods of various sizes. It can always maintain a maximum of six line contact positions and is distributed in an arc shape to ensure the stability of the grasping.

[0046] In addition, the first control components and the second control components on both sides can be controlled separately. Even if the first electric push rod 11 or the second electric push rod 15 or the third electric push rod 16 on one side is damaged, the telescopic end of the third electric push rod 16 on the other side is controlled to extend, and the corresponding slide 8 slides a longer distance inside the sliding channel 7. At this time, the single-sided reinforcement plate 13, the clamping plate 10 and the clamping frame 6 still cooperate to form an arc-shaped clamping structure, thereby ensuring the flexibility of clamping and locking.

[0047] Furthermore, rubber pads or the like may be provided on the reinforcing plate 13 , the clamping plate 10 and the clamping frame 6 to increase friction.

[0048] The present invention is suitable for cylindrical goods of various sizes by providing structures such as a clamping frame 6, a clamping plate 10 and a reinforcement plate 13. It can always maintain a maximum of six line contact positions to clamp and lock the goods, and is distributed in an arc shape to ensure the stability of the grasping. It can also be easily pulled out, thereby improving the efficiency of the stacking robot.

[0049] Reference Figure 1 、 Figure 2 As shown in , the clamping mechanism 3 also includes an angle adjustment assembly, which includes a fixing frame 4 and a motor 5. The fixing frame 4 is fixedly connected to the end of the robot arm 2, the motor 5 is fixedly connected to the fixing frame 4, and the clamping frame 6 is fixedly connected to the drive shaft of the motor 5. During use, the motor 5 drives the clamping frame 6 to rotate, and with the cooperation of the robot arm 2, the clamping mechanism 3 can be adjusted at multiple angles, thereby performing multi-angle grasping.

[0050] Considering that some goods that have been placed in the warehouse for a long time are prone to dust, if they are grabbed directly, the dust will easily adhere to the reinforcement plate 13, the clamping plate 10 and the clamping frame 6 after multiple operations, causing slippage. In order to ensure the stability of the grabbing, refer to Figure 5 、 Figure 8 、 Figure 9 、 Figure 10 and Figure 11 As shown in FIG, a circular groove 20 is formed on the slide plate 8, an annular groove 23 is formed on the inner wall of the circular groove 20, and a rectangular groove 21 is formed at the bottom end of the sliding channel 7, the annular groove 23 being connected to the rectangular groove 21. A swivel 25 is rotatably provided inside the circular groove 20. The width of the swivel 25 is greater than the width of the annular groove 23. The swivel 25 fits against the inner wall of the circular groove 20. A support plate is fixedly connected to the inner wall of the swivel 25, and a rotating shaft 26 is fixedly connected to the support plate. The rotating shaft 26 is arranged concentrically with the swivel 25, and a fan 27 is fixedly mounted on the end of the rotating shaft 26 away from the inner side of the clamping frame 6. When the swivel 25 rotates, it drives the fan 27 to rotate through the support plate and the rotating shaft 26.

[0051] A transmission assembly for rotating the swivel 25 is disposed between the swivel 25 and the rectangular groove 21. The transmission assembly comprises a rack 22 and a gear ring 24. The rack 22 is fixedly connected to the interior of the rectangular groove 21, and the gear ring 24 is rotatably disposed within the annular groove 23. The swivel 25 is fixedly connected to the gear ring 24, and the rack 22 and gear ring 24 are meshed. When the slide 8 slides within the sliding channel 7, the meshing connection between the rack 22 and gear ring 24 causes the gear ring 24 to rotate the swivel 25, which in turn drives the fan 27 via the rotating shaft 26. The teeth on the rack 22 and gear ring 24 are relatively small, so even if the slide 8 slides a short distance within the sliding channel 7, the gear ring 24 can still rotate multiple revolutions quickly. The positions of the rack 22, gear ring 24, and other structures are interchangeable with those of the slide 19 and the chute 18. Operators can regularly inspect the rack 22 and gear ring 24, such as by applying lubricant and removing dust, to ensure a stable fit and adjust them according to specific usage.

[0052] Ball bearings and other structures are provided between the rotating ring 25 and the inner wall of the circular groove 20 , and between the gear ring 24 and the inner wall of the annular groove 23 , so as to improve the smoothness of the rotation of the rotating ring 25 and the gear ring 24 .

[0053] The slide plate 8 is fixedly connected with a wind shield 28 , which surrounds the outside of the fan 27 . The wind shield 28 is provided to protect the fan 27 and prevent the operator from accidentally touching the fan 27 .

[0054] During actual use, the angle adjustment component is used in conjunction with the robotic arm 2 to make the groove side of the clamping frame 6 close to the cargo, and the corresponding telescopic end of the third electric push rod 16 is controlled to extend, and the corresponding slide 8 slides inside the sliding channel 7. Since the rack 22 and the gear ring 24 are engaged and connected, the gear ring 24 will drive the swivel 25 to rotate, and the swivel 25 drives the fan 27 to rotate through the rotating shaft 26, generating an airflow from the outer wall of the cargo and passing through the circular groove 20 and the wind hood 28 in turn, sucking away the floating dust on the outside of the cargo, facilitating subsequent grabbing, and avoiding slipping.

[0055] At the same time, the angle adjustment component cooperates with the mechanical arm 2 to drive the clamping mechanism 3 to move, perform mobile dust removal, and process the position where the goods need to contact the clamping mechanism 3.

[0056] When the telescopic end of the third electric push rod 16 is retracted, dust can be blown off the position where the goods and the clamping mechanism 3 need to contact. The clamping mechanism 3 can also be moved away from the goods and the telescopic end of the third electric push rod 16 can be controlled to be retracted, which can be adjusted according to specific usage conditions.

[0057] By setting up structures such as a rotating ring 25, a fan 27 and a transmission component, and using the sliding plate 8 inside the sliding channel 7 as power, mobile dust removal is performed, and the position where the goods need to contact the clamping mechanism 3 is processed to facilitate subsequent grasping and avoid slipping.

[0058] By utilizing the sliding of the slide plate 8 in the sliding channel 7 as the power, there is no need to set up an additional power structure, thereby reducing the cost of using the equipment.

[0059] Example 2, the present invention provides Figures 12 and 13 The palletizing robot shown has an adjustable gripping angle. Taking into account that stubborn adhesions may appear on the outside of a small amount of cargo, which are difficult to clean by wind force alone, a protrusion 29 is fixedly connected to the inner wall of the sliding channel 7, and the protrusion 29 is located at one end of the sliding channel 7 close to the third electric push rod 16; a circular shaft 30 is fixedly connected to the protrusion 29, and a turn bar 31 is rotatably connected to the circular shaft 30, and a cleaning piece 34 is installed at the end of the turn bar 31 away from the protrusion 29; a torsion spring 32 is mounted on the circular shaft 30, one end of the torsion spring 32 is fixedly connected to the turn bar 31, and the other end of the torsion spring 32 is fixedly connected to the circular shaft 30; an elastic rope 33 is fixedly connected to the end of the turn bar 31 close to the cleaning piece 34, and the end of the elastic rope 33 away from the turn bar 31 is fixedly connected to the slide 8.

[0060] The cleaning member 34 may be a cotton wipe, a cleaning brush or other structures but is not limited thereto and may be replaced regularly by the operator. The length of the rotating strip 31 and the size of the cleaning member 34 may be adjusted according to specific usage.

[0061] Before performing mobile dust removal, the telescopic end of the third electric push rod 16 is controlled to be retracted, and the slide plate 8 moves toward the protrusion 29. Under the action of the restoring elastic force of the torsion spring 32, the cleaning piece 34 swings outward, and then the slide plate 8 is attached to the turning bar 31. The turning bar 31 is vertically distributed with the sliding channel 7. The turning bar 31 and the cleaning piece 34 are fixed. The angle adjustment component is cooperated with the robot arm 2 so that the groove side of the clamping frame 6 is close to the cargo. The cleaning piece 34 contacts the stubborn adhesions on the outside of the cargo, and the stubborn adhesions are removed by the cleaning piece 34 to ensure the stability of the clamping and locking.

[0062] After cleaning, the telescopic end of the third electric push rod 16 is controlled to extend, driving the slide plate 8 to move away from the protrusion 29, and the elastic rope 33 is used to pull the turning bar 31 and the cleaning piece 34 into the interior of the sliding channel 7 to achieve recovery, without affecting the subsequent clamping and locking of the goods. At the same time, since the elastic rope 33 has a certain elasticity, it does not affect the sliding of the slide plate 8.

[0063] During the process of recovering the cleaning member 34 to the interior of the sliding channel 7, the slide plate 8 is controlled to move back and forth multiple times, so that the cleaning member 34 swings multiple times outside the sliding channel 7 to shake off the remaining adhesions for subsequent use.

[0064] By setting up structures such as a cleaning piece 34, a torsion spring 32 and an elastic rope 33, the turning bar 31 is fixed to the cleaning piece 34, stubborn adhesions are removed, and the stability of the clamping and locking is ensured. At the same time, the movement of the slide plate 8 is used as power to realize the recovery of the cleaning piece 34 without affecting the clamping and locking of the goods.

Claims

1. A palletizing robot with an adjustable gripping angle, comprising a base (1) and a robotic arm (2) fixedly mounted on the base (1), characterized in that: A clamping mechanism (3) is provided at the end of the robotic arm (2); The clamping mechanism (3) includes a V-shaped clamping frame (6), a sliding channel (7) is provided on both sides of the clamping frame (6), a slide plate (8) is provided inside the sliding channel (7), a first rotating channel (9) is provided on the slide plate (8), a clamping plate (10) is provided inside the first rotating channel (9), the clamping plate (10) and the slide plate (8) are intersected in an X shape, and the inclination angle of the clamping plate (10) is adjusted by a first control component; A second rotation channel (12) is provided at one end of the splint (10) away from the first control assembly. A reinforcing plate (13) is provided for rotation inside the second rotation channel (12). The reinforcing plate (13) and the splint (10) intersect in an X shape, and the inclination angle of the reinforcing plate (13) is adjusted by the second control assembly.

2. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: The first control assembly comprises a first electric push rod (11), one end of the first electric push rod (11) is hinged to the clamping plate (10), and the other end of the first electric push rod (11) is hinged to the outer wall of the clamping frame (6).

3. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: The second control assembly comprises a second electric push rod (15), one end of the second electric push rod (15) is hinged to the inner wall of the second rotating channel (12), and the other end of the second electric push rod (15) is hinged to the reinforcement plate (13).

4. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: A third electric push rod (16) is fixedly connected to the outer wall of the clamping frame (6), two third electric push rods (16) are provided, and the two third electric push rods (16) are staggered. A through slot (17) is provided on the clamping frame (6) for the telescopic end of the third electric push rod (16) to pass through, and the slide plate (8) is fixedly connected to the corresponding telescopic end of the third electric push rod (16).

5. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: The slide plate (8) is provided with a circular groove (20), an annular groove (23) is provided on the inner wall of the circular groove (20), a rectangular groove (21) is provided at the bottom end of the sliding channel (7), the annular groove (23) is communicated with the rectangular groove (21), a rotating ring (25) is provided inside the circular groove (20), a rotating shaft (26) is fixedly connected to the rotating ring (25), and a fan (27) is fixedly installed at one end of the rotating shaft (26) away from the inner side of the clamping frame (6).

6. The palletizing robot with adjustable gripping angle according to claim 5, characterized in that: A transmission assembly for driving the rotating ring (25) to rotate is provided between the rotating ring (25) and the rectangular groove (21), and the transmission assembly comprises a rack (22) and a gear ring (24), wherein the rack (22) is fixedly connected to the inside of the rectangular groove (21), and the gear ring (24) is rotatably provided inside the annular groove (23), and the rotating ring (25) is fixedly connected to the gear ring (24), and the rack (22) and the gear ring (24) are meshedly connected.

7. The palletizing robot with adjustable gripping angle according to claim 5, characterized in that: A wind shield (28) is fixedly connected to the slide plate (8), and the wind shield (28) surrounds the outside of the fan (27).

8. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: A sliding groove (18) is provided at the top end of the sliding channel (7), and a sliding block (19) is provided inside the sliding groove (18) for sliding movement. The sliding block (19) is fixedly connected to the sliding plate (8).

9. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: An extension bar (14) is fixedly connected to one end of the reinforcement plate (13) away from the second control component.

10. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: The clamping mechanism (3) further includes an angle adjustment component, which includes a fixing frame (4) and a motor (5), wherein the fixing frame (4) is fixedly connected to the end of the robotic arm (2), the motor (5) is fixedly connected to the fixing frame (4), and the clamping frame (6) is fixedly connected to the drive shaft of the motor (5).

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