Stacking mechanical claw with regularizing function and stacking method thereof

Abstract

This invention belongs to the field of palletizing machinery technology, and particularly relates to a palletizing mechanical claw with a straightening function and its palletizing method. Addressing the problem in existing technologies where uneven sheet metal hinders subsequent work, this invention provides a palletizing mechanical claw with a straightening function and its palletizing method. The invention includes a transfer frame with a clamping and placing mechanism connected to a clamping and placing drive mechanism. The transfer frame also includes a straightening mechanism, the projection of the straightening area of ​​the straightening mechanism in the vertical direction at least partially overlapping the projection of the clamping area of ​​the clamping and placing mechanism in the vertical direction. This invention, by incorporating a straightening mechanism on the mechanical claw frame, achieves straightening by limiting the movement range of the sheet metal to be stacked, thereby improving the neatness of the stacked sheet metal.

Description

Technical Field

[0001] This invention belongs to the field of palletizing machinery technology, and particularly relates to a palletizing mechanical claw with a regularizing function and its palletizing method. Background Technology

[0002] In recent years, with the increasing automation of enterprise production, the application of palletizing robots has become more and more widespread, and the corresponding palletizing robot grippers have also developed rapidly. Existing palletizing robotic grippers come in various forms and are used in different fields. Taking sheet metal stacking as an example, existing palletizing robots often result in uneven sheet metal due to various reasons such as placement deviations before gripping, which hinders the smooth progress of subsequent work.

[0003] For example, a Chinese utility model patent discloses a mechanical gripper for a palletizing machine [application number: 201721058602.8]. This utility model patent includes an upper platform and a lower platform arranged in parallel; two lifting cylinders are arranged downward through the upper platform; the lower end of the lifting cylinders is vertically connected to a large cylinder; two vertical guide rails are arranged between the upper platform and the lower platform, and sliders are arranged on the guide rails to cooperate with them; the sliders are connected to the large cylinders through triangular blocks, and when the lifting cylinders move upward, they can drive the large cylinders to slide up and down on the guide rails; the end of the large cylinder is connected to a first clamping plate through a connecting block; three small cylinders are arranged on the lower platform, and the end of each small cylinder is connected to a second clamping plate through a connecting plate.

[0004] This utility model patent has the advantage of expanding the product palletizing range and maximizing product palletizing, but it still does not solve the above-mentioned problems. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing a palletizing mechanical gripper with a regularization function that can improve the neatness of palletized sheet metal.

[0006] The purpose of this invention is to address the above-mentioned problems by providing a stacking method with a regularizing mechanical claw that can improve the neatness of stacked sheet metal.

[0007] To achieve the above objectives, the present invention adopts the following technical solutions:

[0008] A palletizing machine gripper with a straightening function includes a transfer frame, on which a clamping and placing execution mechanism is provided. The clamping and placing execution mechanism is connected to a clamping and placing drive mechanism. The transfer frame is also provided with a straightening mechanism. The projection of the straightening area of ​​the straightening mechanism in the vertical direction at least partially overlaps with the projection of the clamping area of ​​the clamping and placing execution mechanism in the vertical direction.

[0009] In the aforementioned palletizing machine claw with a straightening function, the straightening mechanism includes at least two straightening elements, and at least two straightening elements are not on the same straight line.

[0010] In the aforementioned palletizing machine claw with a aligning function, the aligning component is fixedly connected to the transfer frame, wherein at least two aligning components are positioned opposite each other, the aligning component has a vertically arranged aligning surface facing inward, and the aligning surface of the aligning component is located below the transfer frame; the lower end of the aligning component is provided with a guide portion, the inner side of the guide portion has a guide slope that slopes upward from bottom to top, and the upper end of the guide slope is connected to the lower end of the aligning surface.

[0011] In the aforementioned palletizing machine claw with a aligning function, the aligning element is a vertically arranged strip; the aligning element is fixed on the transfer frame by a horizontally adjustable structure.

[0012] In the aforementioned palletizing machine claw with a aligning function, each aligning component is connected to an aligning drive mechanism, wherein at least two aligning components are positioned opposite each other, the aligning drive mechanism is mounted on a transfer frame and can drive the aligning components to move closer to or away from the transfer frame in the horizontal direction, the aligning component has a vertically arranged aligning surface facing inward, and the aligning surface of the aligning component is located below the transfer frame.

[0013] In the aforementioned palletizing machine claw with aligning function, the aligning drive mechanism includes a translation driver fixed on the transfer frame, the translation driver being connected to the aligning component; a horizontal guide structure is provided between the aligning component and the transfer frame; the aligning component is plate-shaped.

[0014] In the above-mentioned palletizing machine claw with regularization function, the clamping and placing execution mechanism includes a plurality of clamps, wherein at least two clamps are opposite each other, the clamping and placing drive mechanism includes a plurality of clamping and placing drivers, the clamps and clamping and placing drivers are arranged in a one-to-one correspondence and the clamping and placing drivers can drive the clamps to approach or move away from the transfer frame, the clamping and placing drivers are fixedly connected to the transfer frame, and the lower end of the clamps is provided with a limiting structure.

[0015] In the aforementioned palletizing machine claw with a aligning function, the number of grippers is even and they are arranged in pairs, the number of aligning components is even and they are arranged in pairs, the gripping driver is a horizontal push-pull driver, and a guide assembly is provided between the grippers and the transfer frame; the vertical height of the lowest end of the aligning component is lower than the vertical height of the lowest end of the gripper; the gripping dimension of the gripper in the vertical direction is not less than the thickness of two components to be stacked, and the aligning dimension of the aligning component in the vertical direction exceeds the thickness of one component to be stacked.

[0016] In the above-mentioned palletizing machine claw with aligning function, the claw is provided with a clearance space. When the aligning component and the claw are installed in the same area of ​​the transfer frame, the aligning component is located in the clearance space of the claw. The limiting structure includes a limiting part that extends horizontally towards the central area of ​​the transfer frame. The upper side of the inner end of the limiting part has a downward inclined guide surface.

[0017] In the aforementioned palletizing machine claw with a aligning function, the gripper includes a horizontal part and vertical parts located at both ends of the horizontal part, and the horizontal part and the vertical part form an inverted U-shape, with the clearance space located between the two horizontal parts; four aligning components are provided, with each pair of aligning components forming an aligning group, and the two aligning components in the same aligning group are respectively connected to two opposite sides of the transfer frame, with the aligning directions of the two aligning groups being perpendicular to each other.

[0018] The aforementioned palletizing machine claw with a regularizing function also includes a clamping execution structure mounted on a transfer frame. The clamping execution structure includes a mounting frame fixedly connected to the transfer frame and a clamping drive mechanism mounted on the mounting frame. The clamping assembly is drivenly connected to the clamping drive mechanism. The clamping assembly includes a top column drivenly connected to the clamping drive mechanism. The lower end of the top column is provided with an adjusting bolt. The adjusting bolt is coaxially arranged with the top column and threadedly connected. The lower end of the adjusting bolt has a clamping head. The lower surface of the clamping head has a concave-convex surface. A locking nut is threadedly connected to the adjusting bolt. The upper end of the adjusting bolt is connected to the clamping drive mechanism through a floating joint.

[0019] A palletizing method using the aforementioned palletizing robotic gripper with a regularizing function includes the following steps:

[0020] Step 1: Move the transfer rack above the items to be stacked;

[0021] Step 2: Move the clamping actuators closer together to clamp the plates to be stacked;

[0022] Step 3: The mobile transfer frame moves the boards to be stacked;

[0023] Step 4: Move the clamping actuators to separate them and release the plates to be stacked;

[0024] Furthermore, the straightening mechanism restricts the movement range of the sheet material to be stacked in step two and / or step four, or may also include step five, which involves moving the straightening mechanism so that it presses against the edge of the already stacked sheet material.

[0025] In the above-mentioned palletizing mechanical claw with a regularization function, step two includes: moving the transfer frame down until the lower end of the clamping execution mechanism is below the plate to be palletized, starting the regularization drive mechanism to drive the regularization component to press against the edge of the plate to be palletized, and starting the clamping drive mechanism to drive the clamping execution mechanism to move closer to each other, so that the plate to be palletized is clamped onto the claw.

[0026] Step three includes: starting the clamping drive mechanism to drive the clamping assembly to move in the vertical direction until the clamping assembly is pressed onto the surface of the plate to be stacked, and moving the transfer frame directly above the stacking point;

[0027] Step four includes: the transfer frame moves down to the release position, the clamping drive mechanism is activated to drive the clamping assembly away from the surface of the plate to be stacked, the clamping drive mechanism then drives the clamping execution mechanism away from each other, and the plate to be stacked is released.

[0028] Step five includes: starting the alignment drive mechanism to drive the alignment component until the alignment component is pressed onto the edge of the already stacked sheet material.

[0029] Compared with existing technologies, the advantages of this invention are:

[0030] 1. The present invention has a straightening mechanism on the transfer frame. The straightening mechanism achieves straightening by limiting the movement range of the boards to be stacked, thereby improving the neatness of the boards after stacking.

[0031] 2. The present invention is provided with a clamping assembly on the transfer frame. The top column in the clamping assembly can move in the vertical direction and press on the plate to be stacked, so as to prevent the plate to be stacked from relative displacement during the transfer process, and further ensure the neatness of the plate after stacking. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0033] Figure 2 This is a schematic diagram of the clamping actuator in Embodiment 1 of the present invention;

[0034] Figure 3 This is a cross-sectional view of the clamping execution structure in Embodiment 1 of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0036] In the diagram: 1. Transfer frame; 3. Straightening mechanism; 4. Guide assembly; 5. Tightening execution structure; 21. Clamping execution mechanism; 22. Clamping drive mechanism; 23. Clamping area; 24. Limiting structure; 25. Clearance space; 26. Guide part; 32. Straightening drive mechanism; 33. Straightening component; 34. Horizontal position adjustable structure; 35. Straightening area; 36. Translation driver; 37. Guide column; 41. Guide through hole; 42. Mounting frame; 51. Tightening drive mechanism; 52. Tightening assembly; 53. Floating joint; 54. Top column; 55. Adjusting bolt; 56. Tightening head; 57. Concave and convex surface; 58. Locking nut; 59. Horizontal part; 221. Vertical part; 222. Clamping driver; 231. Limiting part; 251. Guide surface; 252. Guide slope; 321. Straightening surface; 341. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0038] Example 1

[0039] This embodiment provides a palletizing mechanical gripper with a regularization function, such as... Figure 1 As shown, the system includes a transfer frame 1, on which a clamping and placing mechanism 21 is mounted. The transfer frame 1 can be connected to a robot via a robot flange interface located at the top to control the overall movement of the transfer frame 1. The clamping and placing mechanism 21 is connected to a clamping and placing drive mechanism 23. The transfer frame 1 also includes a straightening mechanism 3. The vertical projection of the straightening area 36 of the straightening mechanism 3 at least partially overlaps with the vertical projection of the clamping area 24 of the clamping and placing mechanism 21. The clamping area 24 is the spatial area where the pallet to be stacked is located when the clamping and placing mechanism 21 clamps it. When the straightening area 36 of the straightening mechanism 3 partially overlaps or even completely overlaps with the straightening area 24 in the vertical direction, the movement range of the pallet to be stacked within that area can be limited, thereby achieving the straightening of the pallet to be stacked.

[0040] In this invention, during use, the transfer frame 1 is moved directly above the sheet metal to be stacked, and then lowered so that the clamping actuators 21 are partially below the sheet metal. The clamping actuators 21 are driven to move closer together, thus reducing their opening and gripping the sheet metal. At this time, the sizing mechanism 3 is located on the side of the sheet metal. This restricts the movement range of the sheet metal during transfer and release. The sheet metal is then transferred to the stacking point with the transfer frame 1, and the clamping actuators 21 are driven to move further apart, thus increasing their opening and releasing the sheet metal. Therefore, this invention provides a sizing mechanism 3 on the transfer frame 1. The sizing mechanism 3 achieves sizing by restricting the movement range of the sheet metal, thereby improving the neatness of the stacked sheet metal.

[0041] like Figure 1 As shown, the straightening mechanism 3 includes at least two straightening elements 34, and at least two straightening elements 34 are not on the same straight line. This allows for the restriction of the movement range of the palletized material on both sides in one direction.

[0042] like Figure 1 As shown, each of the straightening members 34 is connected to a straightening drive mechanism 33, wherein at least two straightening members 34 are positioned opposite each other. The straightening drive mechanism 33 is mounted on the transfer frame 1 and can drive the straightening members 34 to move horizontally closer to or away from the transfer frame 1. Each straightening member 34 has a vertically arranged straightening surface 341 facing inward, and the straightening surface 341 of the straightening member 34 is located below the transfer frame 1. The straightening drive mechanism 33 can drive the straightening members 34 to move closer to or away from the transfer frame 1. Through the drive of the straightening drive mechanism 33, the straightening members 34 can actively move to conform to the side edge of the sheet material to be stacked, thereby achieving straightening of the sheet material to be stacked during clamping, transfer, and release processes. In this embodiment, the area enclosed by the intersection of the extended lines of the edges of the straightening members 34 is the straightening area 36.

[0043] Specifically, the alignment drive mechanism 33 includes a translation driver 37 fixed on the transfer frame 1, and the translation driver 37 is connected to the alignment component 34; a horizontal guide structure is provided between the alignment component 34 and the transfer frame 1; the alignment component 34 is plate-shaped. The horizontal guide structure here can adopt a specific structure similar to that of the guide assembly 4.

[0044] Preferably, the lowermost end of the straightening element 34 is lower in the vertical direction than the lowermost end of the clamping actuator 21. This way, after the clamping actuator 21 releases the material to be stacked to the stacking point, the lower end of the straightening element 34 is lower than the position of the previously stacked material. Therefore, if the previously stacked material is not in the correct position during tightening, it will also be straightened, thereby further ensuring the neatness of the stacked material.

[0045] Combination Figure 1 and Figure 2As shown, the clamping and placing mechanism 21 includes a plurality of grippers 22, wherein at least two grippers 22 are positioned opposite each other. The clamping and placing driving mechanism 23 includes a plurality of clamping and placing drivers 231. The grippers 22 and clamping and placing drivers 231 are configured in a one-to-one correspondence, and the clamping and placing drivers 231 can drive the grippers 22 to move closer to or away from the transfer frame 1. When the clamping and placing drivers 231 drive the grippers 22 to move closer to the transfer frame 1, that is, when the grippers 22 move closer to each other, the opening of the clamping and placing mechanism 21 decreases, and the gripping and placing mechanism 21 is in a clamping state. When the clamping and placing drivers 231 drive the grippers 22 to move away from the transfer frame 1, that is, when the grippers 22 move away from each other, the opening of the clamping and placing mechanism 21 increases, and the gripping and placing mechanism 21 is in a releasing state. The clamping and placing drivers 231 are fixedly connected to the transfer frame 1, and the lower end of the grippers 22 is provided with a limiting structure 25. The limiting structure 25 can provide support for the stacked plates in the vertical direction to ensure the stability of the transfer process.

[0046] Preferably, the number of grippers 22 is even and they are arranged in pairs, the number of preforms 34 is even and they are arranged in pairs, the gripping driver 231 is a horizontal push-pull driver, and a guide assembly 4 is provided between the grippers 22 and the transfer frame 1. The guide assembly 4 includes a guide post 41 fixedly connected to the grippers 22 and a guide through hole 42 provided on the transfer frame 1. The guide post 41 passes through the guide through hole 42 and is slidably connected to the guide through hole 42. The outer surface of the guide post 41 is in contact with the inner surface of the guide through hole 42; or the guide assembly 4 includes a guide rod fixedly connected to the transfer frame 1 and a guide channel provided on the grippers 22 and passing through the grippers 22. The guide rod passes through the guide channel and is slidably connected to the guide channel. The outer surface of the guide rod is in contact with the inner surface of the guide channel. That is, the columnar structure and the through hole structure can be interchanged in position. The guide assembly 4 can provide guidance for the movement direction of the grippers 22.

[0047] The vertical height of the lowest point of the straightening component 34 is lower than the vertical height of the lowest point of the gripper 22; the vertical clamping dimension of the gripper 22 is not less than the thickness of the two pieces to be stacked, thereby achieving one-time clamping of the two sheets. The vertical straightening dimension of the straightening component 34 exceeds the thickness of one piece to be stacked. As long as the vertical straightening dimension of the straightening component 34 exceeds the thickness of one piece to be stacked, it can contact the second sheet during the straightening process, thereby achieving the straightening of the relative position of the two sheets.

[0048] like Figure 2As shown, the gripper 22 is provided with a clearance space 26. When the straightening member 34 and the gripper 22 are installed in the same area of ​​the transfer frame 1, the straightening member 34 is located within the clearance space 26 of the gripper 22, thereby saving space and making the overall size of the device more compact. The limiting structure 25 includes a limiting part 251 extending horizontally towards the center area of ​​the transfer frame 1. The upper side of the inner end of the limiting part 251 has a downwardly inclined guide surface 252. The guide surface 252 can play a guiding role when the clamping and placing actuator 21 clamps the sheet metal.

[0049] Combination Figure 1 and Figure 2 As shown, the gripper 22 includes a horizontal portion 221 and vertical portions 222 located at both ends of the horizontal portion 221, and the horizontal portion 221 and the vertical portion 222 form an inverted U-shape. The clearance space 26 is located between the two horizontal portions 221. Four straightening members 34 are provided, with each pair of straightening members 34 forming a straightening group. The two straightening members 34 in the same straightening group are respectively connected to two opposite sides of the transfer frame 1, and the straightening directions of the two straightening groups are perpendicular to each other. This allows for the restriction of the movement range of the sheet metal to be stacked in two mutually perpendicular directions. For sheet metal that is similar to a rectangle to be stacked, the movement range of its four sides is precisely restricted, resulting in a better straightening effect.

[0050] Combination Figure 1 and Figure 3 As shown, it also includes a clamping execution structure 5 disposed on the transfer frame 1. The clamping execution structure 5 is connected to the clamping drive mechanism 52. The clamping execution assembly 21 is provided with a limiting structure 25. The clamping end of the clamping execution structure 5 is located above or below the limiting structure 25, and an adjustable clamping space is formed between the clamping end of the clamping execution structure 5 and the limiting structure 25. When the clamping execution assembly 21 clamps the sheet material to be stacked, one side of the sheet material to be stacked is pressed against the limiting structure 25, and the position is within the clamping space. After the sheet material to be stacked is located within the clamping space, the clamping execution structure 5 moves and presses one end of the clamping execution structure 5 against the surface of the sheet material to be stacked away from the limiting structure 25, thereby achieving clamping of the sheet material to be stacked, preventing relative displacement of the sheet material to be stacked during the transfer process, and ensuring the neatness of the stacked sheet material.

[0051] like Figure 1As shown, the number of clamping actuators 5 is one or at least two. The number of clamping drive mechanisms 52 is the same as the number of clamping actuators 5 and they are arranged in a one-to-one correspondence, or the number of clamping drive mechanisms 52 is less than the number of clamping actuators 5 and at least one clamping drive mechanism 52 drives at least two clamping actuators 5 simultaneously. That is, there can be one or more clamping actuators 5, and one clamping drive mechanism 52 can drive one clamping actuator 5 or drive multiple clamping actuators 5 simultaneously.

[0052] Preferably, the number of clamping actuators 5 is one, and it is disposed on the transfer frame 1 corresponding to the center of the clamping area of ​​the clamping actuator 21; or, the number of clamping actuators 5 is at least two, and they are evenly distributed on the transfer frame 1 corresponding to the clamping area of ​​the clamping actuator 21. This ensures that during clamping, the clamping force of the clamping actuator 5 acting on the sheet metal and the reaction force of the limiting structure 25 acting on the sheet metal are relatively evenly distributed.

[0053] More preferably, the clamping actuator 5 is provided in pairs and symmetrically arranged on the transfer frame 1 corresponding to the clamping area of ​​the clamping actuator 21, with the lower end of each clamping actuator 5 located above the limiting structure 25. This ensures uniform force distribution while simplifying the device structure and facilitating production and installation.

[0054] Specifically, the clamping actuator 5 includes a vertically arranged top column 55, the upper end of which is connected to the clamping drive mechanism 52, and the lower end of which is located above the limiting structure 25. Preferably, the clamping drive mechanism 52 is driven linearly, and can adopt specific structures that can achieve linear drive in the prior art, such as a cylinder, hydraulic cylinder, or lead screw sleeve structure.

[0055] When in use, when the pallet is clamped onto the clamping execution component 21, the clamping drive mechanism 52 is activated to drive the top column 55 to move vertically until it is pressed onto the surface of the pallet to be stacked, so as to prevent the pallet from being relatively displaced during the transfer process, and further ensure the neatness of the pallet after stacking.

[0056] Preferably, the top column 55 and the clamping drive mechanism 52 are connected by a floating joint 54. The floating joint 54 can reduce errors, protect the clamping actuator 5, ensure the clamping actuator 5 operates smoothly, and extend the service life of the clamping actuator 5.

[0057] like Figure 3As shown, the lower end of the top column 55 is provided with an adjusting bolt 56. The adjusting bolt 56 is coaxially arranged with the top column 55 and threadedly connected. The length of the adjusting bolt 56 can be adjusted along the axis to adapt to the clamping requirements of different plates. The lower end of the adjusting bolt 56 has a clamping head 57. The top column 55 is provided with a guide sleeve, which is fixed on the mounting frame 51. The mounting frame 51 is fixed on the transfer frame 1. The clamping drive mechanism 52 is arranged on the mounting frame 51. The clamping drive mechanism 52 includes a clamping driver, which is fixed on the mounting frame 51. The power output shaft of the clamping driver passes through the mounting frame 51 and is connected to the upper end of the top column 55.

[0058] When in use, start the clamping driver, which drives the power output shaft to push the top column 55, thereby pushing the clamping head 57 so that the clamping head 57 is pressed onto the surface of the sheet material to complete the clamping process.

[0059] Preferably, the lower surface of the clamping head 57 has a concave-convex surface 58, and a locking nut 59 is threaded onto the adjusting bolt 56. The concave-convex surface 58 can increase the coefficient of friction between the clamping head 57 and the sheet material to be stacked, preventing slippage.

[0060] The working principle of this invention is as follows: The transfer frame 1 is moved to directly above the sheet material to be stacked, and then moved downward so that the clamping execution mechanism 21 is partially located below the sheet material to be stacked. The leveling drive mechanism 33 is activated so that the leveling plate 34 is in contact with the edge of the sheet material to be stacked. The clamping drive mechanism 23 is activated to drive the clamping execution mechanism 21 to move closer to each other, thereby reducing the opening of the clamping execution mechanism 21, thereby gripping the sheet material to be stacked onto the gripper 22. The clamping drive mechanism 52 is activated to drive the clamping assembly 53 to move vertically. The transfer frame 1 moves to the stacking point, pressing the material onto the surface of the sheet metal to be stacked. At this point, the sheet metal is simultaneously transferred to the stacking point above the stacking point by the transfer frame 1. The straightening drive mechanism 33 drives the straightening plate 34 away from the transfer frame 1, causing the transfer frame 1 to move down to the release position. The straightening plate 34 then moves closer to the transfer frame 1, tightening the straightening mechanism. The clamping assembly 53 retracts, and the clamping and releasing actuator 21 moves away from each other, thus increasing the opening of the mechanical claw 2 to release the sheet metal to be stacked, completing the stacking process. Therefore, the present invention provides a straightening mechanism 3 on the transfer frame 1. The straightening mechanism 3 achieves straightening by limiting the movement range of the sheet metal to be stacked, thereby improving the neatness of the stacked sheet metal.

[0061] Example 2

[0062] This embodiment provides a palletizing mechanical gripper with a straightening function. Its specific structure is largely the same as that in Embodiment 1, except for the specific structure of the straightening mechanism 3, such as... Figure 4As shown, the straightening element 34 is fixedly connected to the transfer frame 1, wherein at least two straightening elements 34 are positioned opposite each other. Each straightening element 34 has a vertically arranged straightening surface 341 facing inwards, and the straightening surface 341 of the straightening element 34 is located below the transfer frame 1. The lower end of each straightening element 34 is provided with a guide portion 32, and the inner side of the guide portion 32 has a guide slope 321 that slopes upwards from bottom to top. That is, the thickness of the guide portion 32 gradually decreases from the end away from the straightening element 34 to the end closer to the straightening element 34. Because the thickness of the guide portion 32 gradually decreases, a guide slope can be formed on the surface, thereby facilitating the clamping and straightening process of the sheets to be stacked. The upper end of the guide slope 321 is connected to the lower end of the straightening surface 341. In this embodiment, the area enclosed by the sequentially connected straightening elements 34 is the straightening area 36.

[0063] Preferably, the leveling element 34 is a vertically arranged strip; the leveling element 34 is fixed to the transfer frame 1 by a horizontally adjustable structure 35. The horizontally adjustable structure 35 can be, for example, a bolt and a strip hole, so that the installation position of the leveling element 34 can be adjusted horizontally during installation, thereby adjusting the position and size of the leveling area 36 to a certain extent.

[0064] Example 3

[0065] This embodiment provides a palletizing method using a palletizing mechanical gripper with a regularizing function, combined with... Figure 1-4 As shown, it includes the following steps:

[0066] Step 1: Move transfer rack 1 above the items to be stacked;

[0067] Step 2: Move the clamping actuators 21 so that they are close together to clamp the plates to be stacked;

[0068] Step 3: The mobile transfer frame 1 moves the plates to be stacked;

[0069] Step 4: Move the clamping actuators 21 so that they are separated from each other and release the plates to be stacked;

[0070] Furthermore, the straightening mechanism 3 restricts the movement range of the board material to be stacked in step two and / or step four, or may also include step five, which moves the straightening mechanism 3 so that the straightening mechanism 3 presses against the edge of the already stacked board material.

[0071] The following scenarios exist: the straightening mechanism 3 straightens the pallet to be stacked in step two but not in step four; the straightening mechanism 3 does not straighten the pallet to be stacked in step two but straightens it in step four; the straightening mechanism 3 straightens the pallet to be stacked in both steps two and four; and the straightening mechanism 3 does not straighten the pallet to be stacked in either step two or four, but adds an additional step five for straightening. Compared with the existing palletizing robot, all of these scenarios can improve the neatness of the pallet, achieving the intended purpose of this invention.

[0072] Preferably, step two includes: moving the transfer frame 1 down until the lower end of the clamping execution mechanism 21 is below the plate to be stacked, starting the alignment drive mechanism 33 to drive the alignment component 34 to press against the edge of the plate to be stacked, and starting the clamping drive mechanism 23 to drive the clamping execution mechanism 21 to move closer to each other, so that the plate to be stacked is clamped onto the gripper 22.

[0073] Step three includes: starting the clamping drive mechanism 52 to drive the clamping component 53 to move in the vertical direction until the clamping component 53 presses on the surface of the plate to be stacked, and moving the transfer frame 1 to directly above the stacking point;

[0074] Step four includes: the transfer frame 1 moves down to the release position, the clamping drive mechanism 52 is activated to drive the clamping component 53 away from the surface of the plate to be stacked, the clamping drive mechanism 23 then drives the clamping execution mechanism 21 to move away from each other, and the plate to be stacked is released.

[0075] Step five includes: starting the alignment drive mechanism 33 to drive the alignment component 34 until the alignment component 34 is pressed onto the edge of the already stacked board material.

[0076] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

[0077] Although this paper uses a lot of terms such as transfer frame 1, straightening mechanism 3, guide assembly 4, clamping execution structure 5, clamping execution mechanism 21, gripper 22, clamping drive mechanism 23, clamping area 24, limiting structure 25, clearance space 26, guide part 32, straightening drive mechanism 33, straightening component 34, horizontal position adjustable structure 35, straightening area 36, ​​translation driver 37, guide column 41, guide through hole 42, mounting bracket 51, clamping drive mechanism 52, clamping assembly 53, floating joint 54, top column 55, adjusting bolt 56, clamping head 57, concave and convex surface 58, locking nut 59, horizontal part 221, vertical part 222, clamping driver 231, limiting part 251, guide surface 252, guide slope 321, straightening surface 341, etc., the possibility of using other terms cannot be excluded. The use of these terms is merely for the convenience of describing and explaining the nature of the invention; interpreting them as any kind of additional limitation would be contrary to the spirit of the invention.

Claims

1. A palletizing mechanical gripper with a regularizing function, comprising a transfer frame (1), wherein a clamping and placing execution mechanism (21) is provided on the transfer frame (1), the clamping and placing execution mechanism (21) being connected to a clamping and placing drive mechanism (23), characterized in that: The transfer frame (1) is also provided with a straightening mechanism (3), and the projection of the straightening area (36) of the straightening mechanism (3) in the vertical direction at least partially overlaps with the projection of the clamping area (24) of the clamping execution mechanism (21) in the vertical direction. The regularization mechanism (3) includes at least two regularization elements (34), wherein at least two regularization elements (34) are not on the same straight line; The alignment member (34) is fixedly connected to the transfer frame (1), wherein at least two alignment members (34) are opposite each other. The alignment member (34) has a vertically arranged alignment surface (341) facing inward. The alignment surface (341) of the alignment member (34) is located below the transfer frame (1). The lower end of the alignment member (34) is provided with a guide part (32). The inner side of the guide part (32) has a guide slope (321) that slopes upward from bottom to top. The upper end of the guide slope (321) is connected to the lower end of the alignment surface (341). The alignment component (34) is a vertically arranged strip; the alignment component (34) is fixed on the transfer frame (1) by a horizontally adjustable structure (35).

2. The palletizing machine gripper with a regularization function as described in claim 1, characterized in that: The alignment member (34) is connected to an alignment drive mechanism (33), wherein at least two alignment members (34) are opposite each other. The alignment drive mechanism (33) is set on the transfer frame (1) and can drive the alignment member (34) to move closer to or away from the transfer frame (1) in the horizontal direction. The alignment member (34) has an alignment surface (341) that is vertically set and faces inward. The alignment surface (341) of the alignment member (34) is located below the transfer frame (1).

3. The palletizing machine gripper with a regularization function as described in claim 2, characterized in that: The alignment drive mechanism (33) includes a translation driver (37) fixed on the transfer frame (1), the translation driver (37) being connected to the alignment component (34); a horizontal guide structure is provided between the alignment component (34) and the transfer frame (1); the alignment component (34) is plate-shaped.

4. The palletizing machine gripper with regularization function as described in any one of claims 1-3, characterized in that: The clamping and placing actuator (21) includes a plurality of clamps (22), wherein at least two clamps (22) are opposite each other. The clamping and placing drive mechanism (23) includes a plurality of clamping and placing drivers (231). The clamps (22) and clamping and placing drivers (231) are arranged in a one-to-one correspondence and the clamping and placing drivers (231) can drive the clamps (22) to move closer to or away from the transfer frame (1). The clamping and placing drivers (231) are fixedly connected to the transfer frame (1). The lower end of the clamps (22) is provided with a limiting structure (25).

5. The palletizing machine gripper with a regularization function as described in claim 4, characterized in that: The number of grippers (22) is even and they are paired up. The number of straightening components (34) is even and they are paired up. The clamping driver (231) is a horizontal push-pull driver. A guide component (4) is provided between the grippers (22) and the transfer frame (1). The vertical height of the lowest end of the straightening component (34) is lower than the vertical height of the lowest end of the gripper (22). The clamping dimension of the gripper (22) in the vertical direction is not less than the thickness of two pieces to be stacked. The straightening dimension of the straightening component (34) in the vertical direction exceeds the thickness of one piece to be stacked.

6. The palletizing machine gripper with a regularization function as described in claim 4, characterized in that: The gripper (22) is provided with a clearance space (26). When the alignment member (34) and the gripper (22) are installed in the same area of ​​the transfer frame (1), the alignment member (34) is located in the clearance space (26) of the gripper (22). The limiting structure (25) includes a limiting part (251) extending horizontally to the center area of ​​the transfer frame (1). The upper side of the inner end of the limiting part (251) has a downward inclined guide surface (252).

7. The palletizing machine gripper with a regularization function as described in claim 6, characterized in that: The gripper (22) includes a horizontal part (221) and a vertical part (222) located at both ends of the horizontal part (221), and the horizontal part (221) and the vertical part (222) form an inverted U-shape. The clearance space (26) is located between the two horizontal parts (221). There are four alignment members (34), and every two alignment members (34) form an alignment group. The two alignment members (34) in the same alignment group are respectively connected to the two opposite sides of the transfer frame (1), and the alignment directions of the two alignment groups are perpendicular to each other.

8. The palletizing machine gripper with regularization function as described in any one of claims 1-3, characterized in that: It also includes a clamping actuator (5) mounted on the transfer frame (1). The clamping actuator (5) includes a mounting bracket (51) fixedly connected to the transfer frame (1) and a clamping drive mechanism (52) mounted on the mounting bracket (51). The clamping assembly (53) is drivenly connected to the clamping drive mechanism (52). The clamping drive mechanism (52) can drive the clamping assembly (53) to move in the vertical direction. The clamping assembly (53) and the clamping drive mechanism (52) are connected by a floating joint (54). The clamping assembly (53) includes... The device includes a top column (55) that is driven and connected to the top clamping drive mechanism (52). The lower end of the top column (55) is provided with an adjusting bolt (56). The adjusting bolt (56) is coaxially arranged with the top column (55) and threadedly connected. The lower end of the adjusting bolt (56) has a clamping head (57). The lower surface of the clamping head (57) has a concave-convex surface (58). A locking nut (59) is threadedly connected to the adjusting bolt (56). The upper end of the adjusting bolt (56) is connected to the top clamping drive mechanism (52) through a floating joint (54).

9. A palletizing method using a palletizing mechanical gripper with a regularizing function as described in any one of claims 1-8, characterized in that: Includes the following steps: Step 1: Move the transfer rack (1) above the items to be stacked; Step 2: Move the clamping actuators (21) to bring them closer together to clamp the plates to be stacked; Step 3: Move the transfer rack (1) to move the boards to be stacked; Step 4: Move the clamping actuators (21) to move them apart and release the plates to be stacked; Furthermore, the straightening mechanism (3) restricts the movement range of the board material to be stacked in step two and / or step four, or also includes step five, which moves the straightening mechanism (3) so that the straightening mechanism (3) presses against the edge of the already stacked board material.

10. The palletizing method performed by the palletizing robotic gripper with regularizing function as described in claim 9, characterized in that: Step two includes: moving the transfer frame (1) down until the lower end of the clamping execution mechanism (21) is below the plate to be stacked, starting the alignment drive mechanism (33) to drive the alignment component (34) to press against the edge of the plate to be stacked, starting the clamping drive mechanism (23) to drive the clamping execution mechanism (21) to move closer to each other, so that the plate to be stacked is clamped onto the gripper (22); Step three includes: starting the clamping drive mechanism (52) to drive the clamping assembly (53) to move in the vertical direction until the clamping assembly (53) is pressed on the surface of the plate to be stacked, and moving the transfer frame (1) to directly above the stacking point; The fourth step includes: the transfer frame (1) moves down to the release position, the clamping drive mechanism (52) is activated to drive the clamping assembly (53) away from the surface of the plate to be stacked, the clamping drive mechanism (23) then drives the clamping execution mechanism (21) to move away from each other, and the plate to be stacked is released; Step five includes: starting the alignment drive mechanism (33) to drive the alignment component (34) until the alignment component (34) is pressed onto the edge of the already stacked board.

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