Stacking device and robot

Abstract

The present invention discloses a stacking device and a robot, characterized in that it comprises: a main body frame and a clamping device, and the clamping device comprises: a first fixture frame, a second fixture frame, a first clamping member, a first adjustment assembly, a lifting device and a flipping device. The first fixture frame is movably installed on the main body frame; the second fixture frame is movably installed on the first fixture frame; the first adjustment assembly is located between the first fixture frame and the second fixture frame to drive the second fixture frame to move relative to the first fixture frame along a first direction. According to the stacking device of the embodiment of the present invention, not only can automatic stacking of plate-shaped objects be realized, but also the position staggering between the stacked plate-shaped objects can be realized, so as to facilitate subsequent quantitative fork-taking and packing of the plate-shaped objects, improve the overall operation efficiency and save labor costs; at the same time, the compact structure design can ensure the flatness of the stack and save space and material costs.

Description

Technical Field

[0001] The present invention relates to the field of manufacturing, and in particular, to a stacking device and a robot. Background Art

[0002] When flat plates that are usually vertically transported need to be stacked in a tiled and staggered manner, a specific device is required to first place the flat plates horizontally, then the flat plates are grabbed one by one and stacked upwards by a fixture, and then the flat plates are staggered as required by a specific device, and the intervention of an operator is also required. In this stacking method, the functional devices are relatively scattered, the structure is complex, the stacking is disorderly, the efficiency is low, more labor is consumed, and the cost is high. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, an object of the present invention is to provide a stacking device and a robot, the stacking device improves the overall operation efficiency and saves labor costs; at the same time, the compact structure design can ensure the flatness of the stacking, and saves space and material costs.

[0004] The stacking device according to an embodiment of the present invention is characterized in that it includes: a main body frame and a clamping device, the clamping device includes: a first fixture frame, a second fixture frame, a first clamping member, a first adjustment assembly, a lifting device and a flipping device, the first fixture frame is movably installed on the main body frame; the second fixture frame is movably installed on the first fixture frame; the first clamping member is rotatably installed on the second fixture frame; the first adjustment assembly is located between the first fixture frame and the second fixture frame to drive the second fixture frame to move relative to the first fixture frame along a first direction; the lifting device is arranged between the first fixture frame and the main body frame, and the lifting device is used to drive the first fixture frame to move along the first direction; the flipping device is located between the lifting device and the clamping device, and the flipping device is used to drive the clamping device to rotate along a second direction.

[0005] According to the stacking device of the embodiment of the present invention, the first clamp frame is rotatably connected to the main frame, and the first clamp frame can rotate around the main frame. When stacking objects, the position of the second clamp frame is changed by the first adjusting component, so that the stacked objects are staggered when stacking objects, which can achieve the purpose of facilitating transportation. Specifically, after the first clamping component completes a stacking action, the position of the second clamp frame is adjusted by the first adjusting component, and the first adjusting component adjusts the position of the second clamp frame to a place different from the first placement position. Taking the adjustment of the upper and lower positions of the second clamp frame as an example: after the first round of stacking and placement, the second clamp frame is raised by the first adjusting component, or it can be lowered relative to the original position. At this time, the above-mentioned process of clamping objects is repeated by the first clamping component. After placing the objects, the objects at this time are changed relative to the last placement position, thereby achieving the purpose of staggered stacking of objects.

[0006] The stacking device according to the embodiment of the present invention can not only realize the automatic stacking of plate-like objects, but also realize the staggered positions between the stacked plate-like objects, so as to facilitate the subsequent quantitative forking and packaging of the plate-like objects, thereby improving the overall operating efficiency and saving labor costs; at the same time, the compact structural design can ensure the flatness of the stacking and save space and material costs.

[0007] Furthermore, the clamping device also includes: a third clamp frame, a second clamping member and a limiting assembly, wherein the third clamp frame can be movably mounted on the side of the first clamp frame away from the second clamp frame, and the second clamping member is rotatably mounted on the third clamp frame; the limiting assembly includes a clamp connecting rod, which is rotatably mounted on the first clamp frame, and the clamp connecting rod has a first end and a second end, and the first end and the second end are rotatably connected to the second clamp frame and the third clamp frame respectively.

[0008] Furthermore, the clamp connecting rods are provided in plurality, and the plurality of clamp connecting rods are respectively arranged on both sides of the third direction of the first clamp frame, and the first direction and the third direction are perpendicular to each other.

[0009] Furthermore, the first adjustment component includes a first driving electric cylinder, both ends of which are rotatably connected to the first clamp frame and the second clamp frame respectively, and the first driving electric cylinder is used to drive the second clamp frame to move toward the first direction.

[0010] Further, a jaw support is provided on the second fixture frame. The first clamping member includes: a jaw rotating shaft, a first jaw and a second jaw, a second driving electric cylinder, and a crank. The jaw rotating shaft is rotatably mounted on the jaw support; the first jaw and the second jaw are respectively mounted at two ends of the jaw rotating shaft; the second driving electric cylinder is mounted on the second fixture frame, and the second driving electric cylinder is used to drive the jaw rotating shaft to rotate; one end of the crank is rotatably connected to the second driving electric cylinder, and the other end is fixedly connected to the jaw rotating shaft.

[0011] Further, a plurality of the first clamping members are provided, and the plurality of first clamping members are respectively arranged on two sides in the first direction of the second fixture frame.

[0012] Further, a plurality of auxiliary jaws extending in the third direction are respectively provided on two sides in the third direction of the second fixture frame. The auxiliary jaw includes: an extension portion and a jaw head portion.

[0013] Further, the lifting device includes: a lifting support and a lifting motor. A slider is provided on the lifting support, and a slide rail cooperating with the slider is provided on the main body frame; the lifting motor is mounted on the lifting support or the main body frame and is used to drive the lifting support to lift.

[0014] Further, the flipping device includes: a flipping support and a flipping motor. The flipping support is rotatably mounted on the lifting support, and the first fixture frame is fixed on the flipping support; the flipping motor is mounted on the lifting support, and the flipping motor is used to drive the flipping support to rotate.

[0015] The robot according to an embodiment of the present invention includes the stacking device described in any one of the above.

[0016] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0018] Figure 1 is a schematic structural diagram of a stacking device according to an embodiment of the present invention;

[0019] Figure 2 is a schematic structural diagram of the unassembled main body frame of the stacking device according to an embodiment of the present invention;

[0020] Figure 3Schematic diagram of the installation of the second fixture frame and its upper components of the stacking device according to an embodiment of the present invention;

[0021] Figure 4 Schematic diagram of the second fixture frame of the stacking device clamping a sheet at the first position according to an embodiment of the present invention;

[0022] Figure 5 Schematic diagram of the second fixture frame of the stacking device clamping a sheet at the second position according to an embodiment of the present invention;

[0023] Figure 6 Schematic diagram of the second fixture frame of the stacking device clamping a sheet at the first position according to an embodiment of the present invention;

[0024] Figure 7 Schematic diagram of the second fixture frame of the stacking device stacking sheets at the second position according to an embodiment of the present invention.

[0025] Reference numerals: 100 - stacking device; 1 - main body frame;

[0026] 21 - first fixture frame;

[0027] 221 - auxiliary clamping jaw; 2211 - extension part; 2212 - jaw head;

[0028] 23 - first clamping member; 231 - jaw rotating shaft; 232 - jaw support; 233 - first jaw; 234 - second jaw; 235 - second driving electric cylinder; 236 - crank;

[0029] 24 - first adjustment assembly

[0030] 2 - lifting device; 251 - lifting bracket; 252 - slide rail;

[0031] 3 - flipping device; 33 - limiting assembly; 34 - third fixture frame; 35 - second fixture frame; 36 - first driving electric cylinder. Detailed implementation manners

[0032] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0033] The stacking device 100 and the robot according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0034] As Figure 1 - Figure 2As shown, the stacking device 100 according to an embodiment of the present invention is characterized in that it includes: a main body frame 1 and a clamping device. The clamping device includes: a first fixture frame 21, a second fixture frame 35, a first clamping member 23, a first adjustment assembly 24, a lifting device 2, and a flipping device 3. The first fixture frame 21 is movably installed on the main body frame 1; a rotatable connection mode is adopted between the first fixture frame 21 and the main body frame 1. In one embodiment, the first fixture frame 21 can rotate relative to the main body frame 1 to a horizontal angle. The first fixture frame 21 has two working states relative to the main body frame 1. The first working state is vertically arranged on the main body frame 1, and the second working state is horizontally arranged on the main body frame 1. At this time, the first fixture frame 21 is perpendicular to the main body frame 1, as Figure 3 and Figure 7 shown, the first fixture frame 21 is in a horizontal state, which is convenient for achieving the working purpose of the first fixture frame 21.

[0035] The second fixture frame 35 is movably installed on the first fixture frame 21; the first clamping member 23 is rotatably installed on the second fixture frame 35; the second fixture frame 35 is movably arranged on the first fixture frame 21. Specifically, the second fixture frame 35 can move relative to the first fixture frame 21 in a first direction. Among them, the first direction can refer to the up and down direction as Figure 1 shown, that is, the second fixture frame 35 can move upward relative to the first fixture frame 21 or move downward relative to the first fixture frame 21. Further, the second fixture frame 35 can be slidably connected to the first fixture frame 21, or the two can be movably connected through a connecting member. The first clamping members 23 are arranged on the upper and lower sides of the second fixture frame 35. The first clamping members 23 are used to clamp items. Here, taking the first clamping members 23 clamping sheet items as an example, as Figure 4 and Figure 5 shown, the vertically descending sheet item falls onto the first clamping members 23 at the bottom of the second fixture frame 35. The first clamping members 23 at the bottom play a role of bearing and supporting the sheet item. When the sheet item completely falls into the second fixture frame 35, the first clamping members 23 above the second fixture frame 35 are activated to fall into the clamping position, and the first clamping members 23 at the top and bottom of the second fixture frame 35 cooperate to clamp the sheet item.

[0036] The first adjustment assembly 24 is located between the first fixture frame 21 and the second fixture frame 35 to drive the second fixture frame 35 to move relative to the first fixture frame 21 in the first direction; the second fixture frame 35 can move relative to the first fixture frame 21 in the first direction. Specifically, the first fixture frame 21 and the second fixture frame 35 are connected by the first adjustment assembly 24. When the first adjustment assembly 24 works, the position of the first fixture frame 21 relative to the second fixture frame 35 can be adjusted. That is to say, the adjustment assembly can drive the second fixture frame 35 to move up and down relative to the first fixture frame 21, so that the second fixture frame 35 is in different working positions.

[0037] The lifting device 2 is arranged between the first fixture frame 21 and the main body frame 1. The lifting device 2 is used to drive the first fixture frame 21 to move in the first direction; the first fixture frame 21 can move up and down relative to the main body frame 1. Specifically, the lifting device 2 is arranged between the first fixture frame 21 and the main body frame 1, and the lifting device 2 drives the first fixture frame 21 to move in the first direction on the main body frame 1. That is to say, driven by the lifting device 2, the first fixture frame 21 can move up and down relative to the main body frame 1, and the different positions of the first fixture frame 21 relative to the main body frame 1 can be adjusted according to different working states.

[0038] The flipping device 3 is located between the lifting device 2 and the clamping device. The flipping device 3 is used to drive the clamping device to rotate in the second direction. Among them, the second direction can refer to, for example Figure 4 the rotation direction shown. Among them, taking the arrow direction as the positive rotation direction, the flipping device 3 can drive the clamping device to rotate forward or drive the clamping device to rotate backward. Specifically, it can be determined according to actual needs. In addition, the second direction can also refer to Figure 1 the rotation direction with the straight line in the left - right direction as the axis of rotation in [reference]. The clamping device can rotate relative to the main body frame 1. The bottom of the clamping device is rotatably connected to the main body frame 1, and the flipping device 3 drives the clamping device to rotate with its connection point with the main body frame 1 as the fulcrum.

[0039] According to the stacking device 100 of the embodiment of the present invention, the first fixture frame 21 is rotatably connected to the main body frame 1, and the first fixture frame 21 can rotate around the main body frame 1. Specifically, the first fixture frame 21 has two working states, namely the working state when placed in the vertical direction and the other is the working state when placed in the horizontal direction. The two working states are respectively the working states of the first fixture frame 21 clamping and placing articles; specifically, the article to be clamped is clamped by the second fixture frame 35, and the article is fixed specifically by the first clamping members 23 at the top and bottom of the second fixture frame 35. The first clamping members 23 located at the top and bottom of the second fixture frame 35 give the article to be clamped a fixing force in the first direction; when the first fixture frame 21 is in the horizontal state, this is the working state of placing the article. The first clamping members 23 at the top and bottom of the second fixture frame 35 are loosened, so that the article fixed by the first clamping members 23 falls, achieving the effect of stacking articles.

[0040] When stacking articles, the position of the second fixture frame 35 is changed by the first adjustment component 24. In order to stack the articles in a staggered manner when stacking articles, which can achieve the purpose of facilitating handling. Specifically, when the first clamping component completes a stacking action, the position of the second fixture frame 35 is adjusted by the first adjustment component 24. The first adjustment component 24 adjusts the position of the second fixture frame 35 to a place different from the first placement position. Taking the adjustment of the up and down position of the second fixture frame 35 as an example: after the first round of stacking and placing, the second fixture frame 35 is raised by the first adjustment component 24, or it can also be lowered relative to the original position. At this time, the above-mentioned process of clamping the article is repeated by the first clamping component. After placing the article, the position of the article at this time is different from the previous placement position, thereby achieving the purpose of stacking articles in a staggered manner.

[0041] According to the stacking device 100 of the embodiment of the present invention, it can not only realize the automatic stacking of plate-shaped objects, but also realize the position staggering between the stacked plate-shaped objects, so as to facilitate the subsequent quantitative fork-taking and packing of the plate-shaped objects, improve the overall operation efficiency, and save labor costs; at the same time, the compact structure design can ensure the flatness of the stacking, and save space and material costs.

[0042] Further, the clamping device further includes: a third fixture frame 34, a second clamping member, and a limiting component 33. The third fixture frame 34 is movably installed on the side of the first fixture frame 21 facing away from the second fixture frame 35, and the second clamping member is rotatably installed on the third fixture frame 34. The third fixture frame 34 is connected to the main body frame 1 in the same connection manner as the second fixture frame 35, and the third fixture frame 34 is also rotatably connected to the main body frame 1. The third fixture frame 34 can be horizontally placed and vertically placed relative to the main body frame 1 to achieve the same working purpose as the second fixture frame 35.

[0043] The limiting component 33 includes a fixture connecting rod. The fixture connecting rod is rotatably installed on the first fixture frame 21. The fixture connecting rod has a first end and a second end, and the first end and the second end are respectively rotatably connected to the second fixture frame 35 and the third fixture frame 34. Specifically, the limiting component 33 is rotatably connected to the first fixture frame 21, and both ends of the limiting component 33 are respectively connected to the second fixture frame 35 and the third fixture frame 34. When one of the second fixture frame 35 and the third fixture frame 34 moves up and down, the limiting component 33 rotates relative to the first fixture frame 21. Specifically, when the first adjusting component 24 drives one of the second fixture frame 35 and the third fixture frame 34 to move up and down, the driving force is transmitted to another component through the limiting component 33. Taking the first adjusting component 24 driving the second fixture frame 35 as an example, when the first adjusting component 24 drives the second fixture frame 35 to move upward, the driving force is transmitted through the limiting component 33 to drive the third fixture frame 34 to move downward, thereby realizing the stacking work requirement of two fixture frames by one power device.

[0044] Further, a plurality of fixture connecting rods are provided. The plurality of fixture connecting rods are respectively arranged on both sides of the first fixture frame 21 in the third direction. The first direction and the third direction are perpendicular to each other. Among them, the first direction can refer to Figure 1 the up-and-down direction shown, and the third direction can refer to Figure 1The left - right direction shown; further, the first adjustment assembly 24 includes a first driving electric cylinder 36. The two ends of the first driving electric cylinder 36 are respectively rotatably connected to the first fixture frame 21 and the second fixture frame 35. The first driving electric cylinder 36 is used to drive the second fixture frame 35 to move in the first direction. Here, the first driving electric cylinder 36 can be arranged between the first fixture frame 21 and the second fixture frame 35, or can be arranged between the first fixture frame 21 and the third fixture frame 34. When the first driving electric cylinder 36 drives one of the second fixture frame 35 and the third fixture frame 34 to move up and down, the transmission force is transmitted to the other component through the limiting component 33. Taking the first driving electric cylinder 36 driving the second fixture frame 35 as an example, when the first driving electric cylinder 36 drives the second fixture frame 35 to move upward, the power is transmitted through the limiting component 33 to drive the third fixture frame 34 to move downward, thereby realizing the stacking work requirements of two fixture frames by one power device.

[0045] Further, a jaw support 232 is provided on the second fixture frame 35. The first clamping member 23 includes: a jaw rotating shaft 231, a first jaw 233, a second jaw 234, a second driving electric cylinder 235, and a crank 236. The jaw rotating shaft 231 is rotatably installed on the jaw support 232; the first jaw 233 and the second jaw 234 are respectively installed at both ends of the jaw rotating shaft 231; the second driving electric cylinder 235 is installed on the second fixture frame 35, and the second driving electric cylinder 235 is used to drive the jaw rotating shaft 231 to rotate; one end of the crank 236 is rotatably connected to the second driving electric cylinder 235, and the other end is fixedly connected to the jaw rotating shaft 231. Further, a plurality of first clamping members 23 are provided, and the plurality of first clamping members 23 are respectively arranged on both sides of the second fixture frame 35 in the first direction.

[0046] The jaw support 232 is arranged on the second fixture frame 35 and the third fixture frame 34. Taking the jaw support 232 arranged on the second fixture frame 35 as an example, the jaw support 232 is arranged at the top and bottom of the second fixture frame 35. The jaw rotating shaft 231 is arranged on the jaw support 232. The jaw rotating shaft 231 is rotatable relative to the jaw support 232. The second driving electric cylinder 235 can drive the jaw rotating shaft 231 to rotate relative to the jaw support 232. The second driving electric cylinder 235 and the jaw support 232 are connected by a crank 236 therebetween to realize the rotation of the jaw rotating shaft 231 driven by the linear movement of the second driving electric cylinder 235. The first jaw 233 and the second jaw 234 are arranged on both sides of the jaw rotating shaft 231. When the jaw rotating shaft 231 rotates, it drives the first jaw 233 and the second jaw 234 to be in a clamping and loosening state.

[0047] Furthermore, a plurality of auxiliary jaws 221 extending in the third direction are respectively provided on both sides of the second fixture frame 35 in the third direction. The auxiliary jaws 221 include: an extension portion 2211 and a jaw head portion 2212; connection shafts are arranged in an array on the second fixture frame 35, and the extension portion 2211 and the jaw head portion 2212 are arranged at the ends of the connection shafts. The jaw head portion 2212 plays a role in further fixing and clamping.

[0048] Furthermore, the lifting device 2 includes: a lifting bracket 251 and a lifting motor. A slider is provided on the lifting bracket 251, and a slide rail 252 cooperating with the slider is provided on the main body frame 1; the lifting motor is installed on the lifting bracket 251 or the main body frame 1 and is used to drive the lifting of the lifting bracket 251; the lifting device 2 here can also be arranged in a cooperation mode of a lead screw and a lead screw nut. By rotatably arranging the lead screw on the main body frame 1, a lead screw nut cooperating with the lead screw is arranged on the lead screw, and the lead screw nut is connected to the lifting bracket 251 to drive the up and down movement of the lifting bracket 251. Of course, the structure of the lifting device 2 is not limited to this.

[0049] Furthermore, the flipping device 3 includes: a flipping bracket and a flipping motor. The flipping bracket is rotatably installed on the lifting bracket 251, and the first fixture frame 21 is fixed on the flipping bracket; the flipping motor is installed on the lifting bracket 251, and the flipping motor is used to drive the flipping of the flipping bracket; by driving the flipping of the first fixture frame 21 through the flipping bracket, different working states of the stacking device 100 can be realized.

[0050] Stacking device 100 according to an embodiment of the present invention, the first fixture frame 21 is rotatably connected to the main body frame 1, and the first fixture frame 21 can rotate around the main body frame 1. Specifically, the first fixture frame 21 has two working states, namely the working state when placed in the vertical direction and the other is the working state when placed in the horizontal direction. The two working states are respectively the working states of the first fixture frame 21 for clamping and placing articles. Specifically, the article to be clamped is clamped by the second fixture frame 35. Claw brackets 232 are provided at the top and bottom of the second fixture frame 35. A claw rotating shaft 231 is provided on the bracket of the claw bracket 232. The claw rotating shaft 231 is rotatable relative to the claw bracket 232. The second driving electric cylinder 235 can drive the claw rotating shaft 231 to rotate relative to the claw bracket 232. A crank 236 is connected between the second driving electric cylinder 235 and the claw bracket 232 to realize the rotation of the claw rotating shaft 231 driven by the linear movement of the second driving electric cylinder 235. A first claw 233 and a second claw 234 are provided on both sides of the claw rotating shaft 231. When the claw rotating shaft 231 rotates, the first claw 233 and the second claw 234 are driven to be in the clamping and loosening states. When the first fixture frame 21 is in the horizontal state, this is the working state of placing the article. The first clamping members 23 at the top and bottom of the second fixture frame 35 are loosened, so that the article fixed by the first clamping members 23 falls, realizing the effect of stacking articles.

[0051] When stacking articles, the position of the second fixture frame 35 is changed by the first driving electric cylinder 36. In order to stack the articles staggered when stacking the articles, which can achieve the purpose of facilitating handling. Specifically, when the first clamping assembly completes a stacking action, the position of the second fixture frame 35 is adjusted by the first driving electric cylinder 36. The first adjusting assembly 24 adjusts the position of the second fixture frame 35 to a place different from the first placement position. Taking the adjustment of the up and down position of the second fixture frame 35 as an example: after the first round of stacking and placing, the second fixture frame 35 is raised by the first adjusting assembly 24, or it can also be lowered relative to the original position. At this time, the above-mentioned process of clamping the article is repeated by the first clamping assembly. After placing the article, the article at this time is changed relative to the previous placement position, thereby achieving the purpose of stacking the articles staggered.

[0052] The stacking device 100 according to an embodiment of the present invention can not only realize the automatic stacking of plate-shaped objects, but also realize the position staggering between the stacked plate-shaped objects, so as to facilitate the subsequent quantitative fork-taking and packing of the plate-shaped objects, improve the overall operation efficiency, and save labor costs; at the same time, the compact structure design can ensure the flatness of the stacking, and save space and material costs.

[0053] The working process of the stacking device 100 is described in detail below;

[0054] The lifting device 2 is connected to the main body frame 1 through linear guide rails, enabling it to move back and forth on the main body frame 1 to complete the stacking work of plate-like objects at different heights; the flipping device 3 is vertically installed on the lifting device 2 and moves up and down together with the lifting device 2; the flipping device 3 drives the first fixture frame 21 to rotate clockwise and counterclockwise, rotating the flap frame with the plate-like object in the vertical state to the horizontal state to complete the plate placing work at the left or right horizontal positions of the plate-like object. The second driving cylinder pushes the crank 236, the crank 236 drives the jaw rotating shaft 231 to rotate, and the jaw rotating shaft 231 drives the first jaw 233 and the second jaw 234 to make reciprocating rotational motions to complete the grasping and placing work of the plate-like object. The limiting component 33 rotates around its own center, and the first driving electric cylinder 36 pulls back or pushes the second fixture frame 35 to move it up and down, while the third fixture frame 34 makes the opposite up and down motion to complete the staggered stacking work of the plate-like object.

[0055] The plate-like object staggered stacking device 100 includes the following actions:

[0056] Receiving the plate: As Figure 4 shown, the first fixture frame 21 is in the vertical state, the first jaws 233 and the second jaws 234 at the bottom of the second fixture frame 35 are in the plate-holding state, and the first jaws 233 and the second jaws 234 at the top are in the plate-releasing state, which is conducive to receiving the vertically transported plate-like object; when the plate-like object is placed on the first jaws 233 and the second jaws 234 at the bottom, the second driving electric cylinder 235 pushes the crank 236 to drive the first jaws 233 and the second jaws 234 to hold the plate. The fixation of the plate-like object is achieved through the clamping actions of the first jaws 233 and the second jaws 234, and then the flipping device 3 rotates to reach the position of the next action.

[0057] Placing the plate: As Figure 5 shown, when the flipping device 3 flips the first fixture frame 21 to the horizontal position, the air cylinder simultaneously opens the first jaws 233 and the second jaws 234 at the top and the bottom, and the plate-like object freely falls on the pallet stack due to gravity to complete the stacking work.

[0058] Staggered stacking: As Figure 6 and Figure 7 shown, the head of the first driving electric cylinder 36 is fixed on the first fixture frame 21, and the second fixture frame 35 and the third fixture frame 34 are connected and fixed to the first fixture frame 21 through the limiting component 33. Before the plate receiving action, the first driving electric cylinder 36 pushes the second fixture frame 35 downward, and at the same time the limiting component 33 applies a force to the third fixture frame 34 to make it move upward, and finally moves to the state shown in Figure 6 ; comparing Figure 4 and Figure 6, the two plate fixtures are misaligned, and then the operations of connecting the plates and placing the plates are performed in sequence. As Figure 7 shown, the function of staggered stacking is finally achieved.

[0059] The robot according to an embodiment of the present invention includes the stacking device 100 as described in any one of the above. Such a setting reduces the transfer equipment between the devices, improves the space utilization rate, improves the transfer efficiency of the robot, and reduces the production cost.

[0060] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0061] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected" and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] The other components and operations of the stacking device and the robot according to the embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail here.

[0063] In the description of this specification, the description with reference to terms such as "some embodiments", "optionally", "further" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0064] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A stacking device (100), characterized in that, include: Main frame (1); The clamping device comprises: A first clamp frame (21), the first clamp frame (21) being movably mounted on the main frame (1); a second fixture frame (35), the second fixture frame (35) being movably mounted on the first fixture frame (21); A first clamping member (23), the first clamping member (23) being rotatably mounted on the second clamp frame (35), a plurality of the first clamping members (23) being provided, and the plurality of the first clamping members (23) being respectively provided on both sides of the second clamp frame (35) in a first direction; a first adjusting component (24), the first adjusting component (24) being located between the first clamp frame (21) and the second clamp frame (35) to drive the second clamp frame (35) to move along the first direction relative to the first clamp frame (21); a lifting device (2), the lifting device (2) being arranged between the first clamp frame (21) and the main frame (1), the lifting device (2) being used for driving the first clamp frame (21) to move along the first direction; A flipping device (3), the flipping device (3) is located between the lifting device (2) and the clamping device, and the flipping device (3) is used to drive the clamping device to rotate along a second direction, wherein: The clamping device also includes: a third clamp frame (34), the third clamp frame (34) being movably mounted on a side of the first clamp frame (21) facing away from the second clamp frame (35); a second clamping member, the second clamping member being rotatably mounted on the third clamp frame (34); A limit assembly (33), the limit assembly (33) comprising a clamp connecting rod, the clamp connecting rod being rotatably mounted on the first clamp frame (21), the clamp connecting rod having a first end and a second end, the first end and the second end being rotatably connected to the second clamp frame (35) and the third clamp frame (34) respectively.

2. The stacking device (100) according to claim 1, characterized in that, A plurality of the clamp connecting rods are provided, and the plurality of the clamp connecting rods are respectively arranged on both sides of the first clamp frame (21) in a third direction, and the first direction and the third direction are perpendicular to each other.

3. The stacking device (100) according to claim 1, characterized in that, The first adjustment component (24) comprises: A first driving electric cylinder (36), wherein two ends of the first driving electric cylinder (36) are respectively rotatably connected to the first clamp frame (21) and the second clamp frame (35), and the first driving electric cylinder (36) is used to drive the second clamp frame (35) to move in the first direction.

4. The stacking device (100) according to claim 1, characterized in that, The second clamp frame (35) is provided with a clamping claw support (232), and the first clamping member (23) comprises: A clamping jaw rotating shaft (231), wherein the clamping jaw rotating shaft (231) is rotatably mounted on the clamping jaw bracket (232); A first clamping jaw (233) and a second clamping jaw (234), wherein the first clamping jaw (233) and the second clamping jaw (234) are respectively mounted at two ends of the clamping jaw rotating shaft (231); The second driving electric cylinder (235), the second driving electric cylinder (235) is installed on the second jig frame (35), and the second driving electric cylinder (235) is used to drive the jaw rotating shaft (231) to rotate; The crank (236), one end of the crank (236) is rotatably connected to the second driving electric cylinder (235), and the other end is fixedly connected to the jaw rotating shaft (231).

5. The stacking device (100) according to claim 1, wherein, On both sides of the second jig frame (35) in the third direction, a plurality of auxiliary jaws (221) extending in the third direction are respectively provided, and the auxiliary jaws (221) include: an extension portion (2211) and a jaw head portion (2212).

6. The stacking device (100) according to claim 1, characterized in that, The lifting device (2) includes: A lifting bracket (251), a slider is provided on the lifting bracket (251), and a slide rail (252) cooperating with the slider is provided on the main body frame (1); A lifting motor, the lifting motor is installed on the lifting bracket (251) or the main body frame (1), and is used to drive the lifting bracket (251) to lift.

7. The stacking device (100) according to claim 6, wherein, The flipping device (3) includes: A flipping bracket, the flipping bracket is rotatably installed on the lifting bracket (251), and the first jig frame (21) is fixed on the flipping bracket; A flipping motor, the flipping motor is installed on the lifting bracket (251), and the flipping motor is used to drive the flipping bracket to rotate.

8. A robot, characterized in that, Including the stacking device (100) according to any one of claims 1-7.

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