Palletizing freight robot and palletizing method

Abstract

The present invention discloses a palletizing freight robot, comprising a mobile chassis, on which at least three driving mechanisms are arranged, and the driving mechanisms support the mobile chassis; a lifting frame is arranged on the mobile chassis, and clamping mechanisms are arranged on both sides of the lifting frame, and clamping members are arranged on the two clamping mechanisms, and the two clamping members are arranged oppositely to form a clamping position; a pushing mechanism is arranged on the mobile chassis or the lifting frame, and a pushing member is arranged on the pushing mechanism, and the pushing member faces the clamping position. The present invention can achieve the purpose of transferring products by a palletizing robot after palletizing products, reduce the cost investment of product palletizing, and improve the convenience of transferring palletized products.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing equipment, and in particular relates to a palletizing freight robot and a palletizing method. Background Art

[0002] Palletizing equipment is a type of equipment used to stack products in industry. Its purpose is to stack the products on pallets or pallets in a certain arrangement. It can stack multiple layers of products according to the stacking requirements, making it easier to use a forklift to transfer the products to a warehouse for storage or to load them for transportation.

[0003] The clamping mechanism used to clamp the product on the palletizing equipment needs to be adaptively designed and adjusted according to the shape of the clamped product when in use. The clamping claw structure is widely used in the industry. The existing palletizing equipment's clamping claw structure generally uses a cylinder drive to clamp the product, and then uses a mechanical arm mechanism to drive the product to rise and fall and move within a certain range, thereby achieving product stacking.

[0004] When the existing palletizing equipment is used, when the palletized products need to be transferred, it is necessary to use handling equipment to transfer the products stacked on the pallets and pallets to the warehouse or transport vehicle, so that palletizing requires the use of handling equipment, which increases the cost investment. Summary of the invention

[0005] The object of the present invention is to provide a palletizing freight robot and a palletizing method, which can achieve the purpose of transferring products through the palletizing freight robot after palletizing the products, reduce the cost investment of product palletizing, and improve the convenience of transferring the palletized products.

[0006] The above-mentioned purpose is achieved by the following technical solutions.

[0007] The present invention provides a palletizing freight robot, comprising a mobile chassis, on which at least three driving mechanisms are arranged, and the driving mechanisms support the mobile chassis;

[0008] A lifting frame is provided on the mobile chassis, clamping mechanisms are provided on both sides of the lifting frame, clamping pieces are provided on the two clamping mechanisms, and the two clamping pieces are arranged opposite to each other to form a clamping position;

[0009] A pushing mechanism is provided on the mobile chassis or the lifting frame, and a pushing member is provided on the pushing mechanism, and the pushing member faces the clamping position.

[0010] In some embodiments, the clamping mechanism further includes a box body, both ends of which are open, forming a lifting area on the lifting frame, the box body is arranged in the lifting area, a push-pull cylinder body is arranged in the box body, and the clamping member is arranged on the piston of the push-pull cylinder body.

[0011] In some embodiments, a flipping mechanism is provided between the piston of the push-pull cylinder and the clamping member, a rotating shaft is provided at one end of the flipping mechanism, the end of the rotating shaft is connected to the clamping member, and the other end of the flipping mechanism is connected to the piston of the push-pull cylinder.

[0012] In some embodiments, a fixing member is provided in the box body, a sliding member is provided on the fixing plate, the sliding member slidably cooperates with the fixing member, and the sliding member is connected to the flipping mechanism or the push-pull cylinder.

[0013] In some embodiments, the pushing mechanism also includes a pushing servo, two of which are provided and are relatively arranged on the mobile chassis or lifting frame, a rocker arm is provided on the pushing servo, a push-pull rod is provided on the rocker arm, and the pushing member is connected to the end of the push-pull rod.

[0014] In some embodiments, a stacking groove is opened on the mobile chassis, the pushing member is arranged in the stacking groove, and a guide wheel is provided on the pushing member, the guide wheel faces the groove wall of the stacking groove, and the guide wheel presses against the top surface and / or bottom surface of the mobile chassis.

[0015] In some of the embodiments, a distance measuring mechanism is provided on the mobile chassis, the distance measuring mechanism faces the stacking slot, a positioning mechanism is provided in the stacking slot, and the positioning mechanism is connected to the mobile chassis.

[0016] In some embodiments, a lifting motor is provided in the lifting area, a driving wheel is provided on the lifting motor, a driven wheel is provided on the top of the lifting frame, the driving wheel is transmission-connected to the driven wheel via a transmission belt, a lifting slide is provided on the outer wall of the box, the transmission belt passes through the lifting slide and is transmission-connected to the box, a lifting slider is provided on the outer wall of the box opposite to the lifting slider, the lifting slider is sleeved on the lifting frame and slidably cooperates with the lifting frame.

[0017] In some embodiments, the driving mechanism includes a driving motor, a moving wheel is provided on the motor shaft of the driving motor, a through slot is formed on the moving chassis, the moving wheel is arranged in the through slot, and the bottom end of the moving wheel passes through the through slot and extends to the bottom of the moving chassis.

[0018] The present invention also provides a palletizing method.

[0019] The driving mechanism drives the mobile chassis to move, and the lifting motor drives the clamping mechanism to move up and down in the lifting area until the products to be stacked enter the stacking slot and are located in the clamping position;

[0020] The driving cylinder drives the clamping member to move toward the clamping position to clamp the product to be stacked. The driving mechanism drives the mobile chassis to move to the designated stacking area. The lifting motor controls the lifting of the clamping member to stack the product to be stacked in the stacking area.

[0021] The driving mechanism drives the mobile chassis to move until the stacked products in the stacking area enter the stacking slot and are pressed against the products at the bottom of the stacking through the pushing member, and continue to drive the mobile chassis to move. The pushing member pushes the products in the stacking area to follow the displacement of the mobile chassis to transfer the products.

[0022] The palletizing freight robot and palletizing method provided by the present invention are characterized in that at least three driving mechanisms are provided on the mobile chassis, and the driving mechanisms are used to drive the mobile chassis to move, so as to realize the transfer of the products to be palletized by the mobile chassis; a lifting frame is provided on the mobile chassis, clamping mechanisms are provided on both sides of the lifting frame, clamping parts are provided on the two clamping mechanisms, and the two clamping parts are arranged oppositely to form a clamping position, and the products to be palletized are clamped, lifted and lowered on the lifting frame by the clamping mechanism and arranged oppositely by the two clamping parts; a pushing mechanism is provided on the mobile chassis or the lifting frame, and the pushing mechanism is used to push the products to the lifting frame. A pushing piece is provided on the upper part, and the pushing piece faces the clamping position. When the product needs to be transferred after palletizing is completed, the driving mechanism is used to drive the mobile chassis to move until the product enters the mobile chassis from the clamping position and presses on the pushing piece of the pushing mechanism. The driving mechanism continues to drive the mobile chassis to move, and the pushing piece pushes the product to follow the displacement of the mobile chassis when the mobile chassis moves. The palletizing equipment has the functions of palletizing and handling at the same time, and there is no need to invest in handling equipment. The purpose of transferring the product by the palletizing robot after the product palletizing is completed is achieved, while the cost investment of product palletizing is reduced and the convenience of transferring the palletized products is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 The present invention Figure 1 A magnified view of part A;

[0025] Figure 3 The present invention Figure 1 A magnified view of part B;

[0026] Figure 4 It is a structural schematic diagram of the camera of the present invention;

[0027] Figure 5 It is a structural schematic diagram of the clamping mechanism of the present invention;

[0028] Figure 6 is a cross-sectional view of the clamping mechanism of the present invention;

[0029] Figure 7 is an exploded view of the clamping mechanism of the present invention;

[0030] Figure 8 It is a structural schematic diagram of the pushing mechanism of the present invention;

[0031] Fig. 9 It is a structural schematic diagram of the distance measuring mechanism of the present invention;

[0032] Fig.10 It is a structural schematic diagram of the positioning mechanism of the present invention;

[0033] Fig.11 Detailed description of the invention is provided in the exploded view of the lifting frame.

[0034] Description of reference numerals:

[0035] 10. Mobile chassis; 11. Stacking slot; 12. Control circuit board; 13. Distance measuring mechanism; 131. Mounting platform; 132. Laser distance measuring device; 14. Positioning mechanism; 141. Connecting platform; 142. Groove; 143. Guide block; 144. Buffer block; 145. Positioning wheel; 15. Through slot; 16. Connecting block; 17. Driving motor; 18. Moving wheel; 19. Guide rail;

[0036] 20. Lifting frame; 21. Guide rod; 22. Support rod; 23. Connecting rod; 24. Lifting motor; 241. Motor mounting seat; 242. Adjusting slider; 25. Driving wheel; 26. Driven wheel; 261. First mounting seat; 27. Transmission belt; 28. Auxiliary wheel; 281. Second mounting seat; 201. Lifting area;

[0037] 30. Clamping mechanism; 31. Clamping member; 311. Friction plate; 312. Second connecting plate; 313. First bearing seat; 32. Box; 321. Lifting slide; 322. Lifting slide block; 323. Accommodating groove; 33. Driving cylinder; 331. Connecting column; 332. Piston; 333. Locking nut; 34. Support seat; 35. Fixing member; 36. Sliding member; 37. First connecting plate; 38. Mounting frame; 381. Slide rail; 382. Sliding block; 383. Mounting groove;

[0038] 40. Pushing mechanism; 41. Pushing steering gear; 411. First mounting block; 412. First mounting plate; 42. Rocker rod; 43. Push-pull rod; 44. First connecting seat; 45. Pushing member; 46. Guide wheel; 47. Second bearing seat;

[0039] 50. Flip servo; 51. Second mounting block; 52. Second mounting plate; 60. Fixing buckle; 61. Fixing plate; 71. Air supply member; 80. Connecting frame; 90. Top plate; 91. Camera; 92. Adjust servo; 93. Second connecting seat; 94. Extension rod; 95. Stabilizing rod. DETAILED DESCRIPTION

[0040] In order to facilitate the understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0041] Unless otherwise specified or defined, the "first, second..." used in this article is merely used to distinguish names and does not represent a specific quantity or order.

[0042] Unless specifically stated or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0043] It should be noted that, in this document, “fixed to” or “connected to” may mean directly fixing or connecting to an element, or indirectly fixing or connecting to an element.

[0044] like Figures 1 to 3 As shown, the palletizing freight robot provided in this embodiment includes a mobile chassis 10, on which at least three driving mechanisms are arranged, and the driving mechanisms are used to support the mobile chassis 10 and drive the mobile chassis 10 to move; a lifting frame 20 is arranged on the mobile chassis 10, and clamping mechanisms 30 are arranged on both sides of the lifting frame 20, and a lifting motor 24 that is transmission-connected to the clamping mechanisms 30, and clamping members 31 are arranged on the two clamping mechanisms 30, and the two clamping mechanisms 30 are arranged opposite to each other to form a clamping position, which is used to lift and clamp the products to be stacked on the lifting frame 20 for stacking; a pushing mechanism 40 is provided on the mobile chassis 10 for pushing the stacked products to follow the displacement of the mobile chassis 10 to achieve transfer.

[0045] A control circuit board 12 is provided on the mobile chassis 10 , and the driving mechanism, the clamping mechanism 30 , the pushing mechanism 40 and the lifting motor 24 are all connected to the control circuit board 12 to realize automatic control of the palletizing freight robot.

[0046] A stacking slot 11 is provided on the mobile chassis 10 , so that the mobile chassis 10 is in a concave shape. The lifting frame 20 is set at both sides of the stacking slot 11 , so that the clamping mechanism 30 is relatively arranged on both sides of the stacking slot 11 .

[0047] The driving mechanism described in this embodiment is preferably provided with four, and the driving mechanism includes a driving motor 17 and a moving wheel 18. Through slots 15 are opened at the four foot positions of the moving chassis 10, and a connecting block 16 is provided at a position of the moving chassis 10 close to the through slot 15. The driving motor 17 is fixed on the connecting block 16, and the motor shaft of the driving motor 17 faces the through slot 15. The moving wheel 18 is arranged in the through slot 15 and is transmission-connected with the driving motor 17, and the bottom end of the moving wheel 18 passes through the through slot 15 and extends to the bottom of the moving chassis 10, so as to support the moving chassis 10 and drive the moving chassis 10 to move. The moving wheel 18 described in this embodiment is an omnidirectional wheel.

[0048] Combination Fig.11 As shown, the lifting frame 20 includes a support rod 22 and a guide rod 21, the bottom ends of the support rod 22 and the guide rod 21 are both arranged on the mobile chassis 10, located on both sides of the stacking slot 11, the top ends of the support plate and the guide rod 21 are connected by a connecting rod 23, and a lifting area 201 is formed between the support rod 22 and the guide rod 21, and the clamping mechanism 30 and the lifting motor 24 transmission-connected to the clamping mechanism 30 are provided in the lifting area 201. The clamping mechanism 30 is driven by the lifting motor 24 to rise and fall in the lifting area 201, so as to achieve the clamping and stacking of products of different heights.

[0049] A motor mounting seat 241 is provided at the bottom of the lifting motor 24, and the motor mounting seat 241 is provided on the mobile chassis 10. A driving wheel 25 is sleeved on the motor shaft of the lifting motor 24, a first mounting seat 261 is provided on the connecting rod 23, and a driven wheel 26 is provided on the first mounting seat 261. The driving wheel 25 and the driven wheel 26 are connected by a transmission belt 27.

[0050] The clamping mechanism 30 is arranged between the transmission belt 27 and the guide rod 21. The clamping mechanism 30 includes a box body 32. A lifting slide 321 is provided on the outer wall of the box body 32 facing the transmission belt 27. The transmission belt 27 passes through the lifting slide 321 and is connected to the lifting slide 321 by meshing. A lifting slider 322 is provided on the outer wall of the box body 32 facing the guide rod 21. The lifting slider 322 can be slidably mounted on the guide rod 21.

[0051] A second mounting seat 281 is provided on the mobile chassis 10, and an auxiliary wheel 28 is provided on the second mounting seat 281. The auxiliary wheel 28 is connected to the driving wheel 25 through the transmission belt 27, and the axis of the auxiliary wheel 28 and the axis of the driven wheel 26 are connected perpendicular to the mobile chassis 10. The guide rod 21 is vertically arranged on the mobile chassis 10 to improve the accuracy and stability of the lifting and lowering of the clamping mechanism 30; at this time, the driving wheel 25 acts as a driving wheel and also serves to tension the transmission belt 27.

[0052] An adjusting slider 242 is provided at the bottom of the motor mounting seat 241, and a guide rail 19 is provided on the mobile chassis 10. The adjusting slider 242 can be slidably mounted on the guide rail 19. The position of the motor mounting seat 241 on the mobile chassis 10 is adjusted by sliding the adjusting slider 242 on the guide rail 19, thereby driving the driving wheel 25 to move and adjust the tension of the transmission belt 27.

[0053] A limit block (not shown in the figure, the same below) or a positioning structure (not shown in the figure, the same below) for limiting the position is provided on the guide rail 19 or the adjusting slider 242. In this embodiment, the adjusting slider 242 is preferably positioned on the guide rail 19 by means of sliding friction. In the absence of external force, the friction resistance and the tension applied by the transmission belt 27 on the driving wheel 25 are offset.

[0054] Of course, the line connecting the axis of the driving wheel 25 and the axis of the driven wheel 26 can also be set to be perpendicular to the mobile chassis 10, and the second mounting seat 281 at the bottom of the auxiliary wheel 28 is set with an adjusting slider 242 that slides with the guide rail 19, so that the auxiliary wheel 28 acts as a tensioning belt 27.

[0055] A top plate 90 mounted on the connecting rods 23 is provided on the top of the two connecting rods 23, or an extension rod 94 extending outward is provided on the side of the support rod 22 away from the connecting rod 23, the top plate 90 is mounted on the two extension rods 94, and a stabilizing rod 95 is provided between the angles between the support rod 22 and the extension rod 94 to improve the structural stability of the extension rod 94.

[0056] like Figure 4 As shown, a second connecting seat 93 is provided at the bottom of the top plate 90, an adjusting servo 92 is fixed on the second connecting seat 93, a camera 91 is provided on the rotating shaft of the adjusting servo 92, and the camera 91 adjusts its orientation angle when the rotating shaft of the adjusting servo 92 rotates, thereby improving the convenience and flexibility of using the camera 91.

[0057] like Figures 1 to 3 ,and Fig. 9As shown, a distance measuring mechanism 13 arranged toward the stacking slot 11 is provided on the mobile chassis 10, and the distance measuring mechanism 13 is connected to the control circuit board 12 to measure the distance between the product to be stacked and the clamping mechanism 30, and cooperates with the control circuit board 12 to determine whether the product to be stacked enters the stacking slot 11 and is located at the clamping position, which can effectively improve the clamping accuracy and reliability of the clamping mechanism 30. The distance measuring mechanism 13 includes a mounting platform 131, on which a laser rangefinder 132 is provided, and the detection probe of the laser rangefinder 132 faces the stacking slot 11; on the other hand, obstacles on the traveling path of the mobile chassis 10 can be detected by the laser rangefinder 132, and the traveling distance between the mobile chassis 10 and the product to be stacked can be calculated through the control circuit board 12.

[0058] like Figures 1 to 3 ,and Fig.10 As shown, a positioning mechanism 14 connected to the mobile chassis 10 is provided in the stacking groove 11, and the positioning mechanism 14 includes a connecting platform 141, and the connecting platform 141 is arranged in a triangular shape. The end of the connecting platform 141 is fixedly connected to the mobile chassis 10, and a groove 142 is formed at the other end. Guide blocks 143 are provided on the groove walls on both sides of the groove 142, and a liftable buffer block 144 is provided on the guide block 143. A positioning wheel 145 is provided at the bottom of the buffer block 144.

[0059] The positioning wheel 145 described in this embodiment is an omnidirectional wheel. When in use, since the buffer block 144 can be raised and lowered on the guide block 143, the positioning wheel 145 can be adapted to use on uneven terrain; at the same time, a positioning element, such as a position sensor, is arranged on the connecting platform 141, or the guide block 143, or the buffer block 144, or the positioning wheel 145, and the position of the positioning element is detected in real time by the control circuit board 12 to realize the positioning of the palletizing freight robot when in use.

[0060] It can be understood that the lifting and lowering principle of the buffer block 144 on the guide block 143 is that when the terrain is high, the ground presses against the positioning wheel 145 to make the buffer block 144 rise on the guide block 143, and when the terrain is low, it is necessary to apply a force to make the buffer block 144 descend and touch the ground. Therefore, it is necessary to provide an elastic return member (for example, a return spring structure, a shock-absorbing spring structure, etc.) on the guide block 143 to limit the rise of the buffer block 144 and provide a force when it descends, so as to realize the lifting and lowering of the buffer block 144 on the guide block 143.

[0061] Of course, other positioning technologies can also be used to achieve the position positioning of the palletizing freight robot, such as GPS positioning technology or base station positioning technology, as long as the position positioning of the palletizing freight robot can be achieved.

[0062] like Figures 5 to 7 As shown, the clamping mechanism 30 also includes a mounting frame 38, and a receiving groove 323 is formed in the box body 32. The mounting frame 38 and the box body 32 are slidably arranged in the receiving groove 323. A driving cylinder 33 is provided in the mounting frame 38, and a clamping member 31 is provided on the piston 332 of the driving cylinder 33. The clamping member 31 faces the stacking groove 11, and the two clamping members 31 located on both sides of the lifting frame 20 are relatively arranged to form the clamping position. The driving cylinder 33 described in this embodiment is a cylinder.

[0063] A mounting groove 383 is formed on the mounting frame 38, and at least two support seats 34 are provided on the groove wall of the mounting groove 383. Connecting columns 331 are provided at both ends of the driving cylinder body 33, and a connecting hole (not shown in the figure, the same below) is provided on the support seat 34. The connecting column 331 is inserted into the connecting hole and fixed to the support seat 34 by a locking nut 333. The driving cylinder body 33 is mounted on the support seat 34, and at least one connecting column 331 is provided with a piston 332 of the driving cylinder body 33.

[0064] A fixing part 35 is provided on the two groove walls adjacent to the driving cylinder body 33 in the installation groove 383, and a sliding part 36 slidably matched with the fixing part 35 is provided on the fixing part 35. A first connecting plate 37 is provided at one end of the sliding part 36 close to the piston 332 of the driving cylinder body 33. The first connecting plate 37 is connected to the driving cylinder body 33 to increase the bearing capacity of the driving cylinder body 33 when in use to avoid the clamping part 31 causing deformation of the driving cylinder body 33 when stacking products.

[0065] Of course, this embodiment may also adopt a drawer slide rail 381 structure, a linear guide rail 19 structure, a linear slide table structure, etc., as long as the bearing capacity of the drive cylinder 33 can be improved, and is not limited to the technical solution recorded in this embodiment.

[0066] A slide rail 381 is provided at the bottom of the mounting frame 38, and a sliding block 382 matching the slide rail 381 is provided in the box 32, or a sliding block 382 is provided at the bottom of the mounting frame 38, and a slide rail 381 matching the sliding block 382 is provided in the box 32. During use, the box 32 can be driven to slide within the range of the slide rail 381 manually or by means of a motor, a cylinder, or an oil cylinder. When the drive cylinder 33 adopts a larger stroke specification so that part of the drive cylinder 33 is located outside the mounting groove 383, the box 32 and the mounting frame 38 operate relative to each other to store the part of the drive cylinder 33 exposed outside the mounting frame 38, so as to avoid damage to the drive cylinder 33 due to collision during use or storage.

[0067] A flip servo 50 and a connecting frame 80 are provided between the piston 332 of the driving cylinder 33 and the clamping member 31. The rotating shaft of the flip servo 50 is transmission-connected to the clamping member 31. The connecting frame 80 is connected to the end of the flip servo 50 opposite to the rotating shaft of the flip servo 50. The other end of the connecting frame 80 is connected to the piston 332 of the driving cylinder 33 and is fixed by means of screws, pins, bolts, or the like.

[0068] A second mounting plate 52 is sleeved on the flip servo 50, and two oppositely arranged second mounting blocks 51 are provided on the flip servo 50. The second mounting blocks 51 are connected and fixed to the second mounting plate 52 by means of screws, pins, or bolts, and the second mounting plate 52 is connected to the first connecting plate 37 on the sliding member 36.

[0069] The clamping member 31 includes a friction plate 311 and a second connecting plate 312, wherein the friction plate 311 faces the clamping position, and the second connecting plate 312 is connected to the rotating shaft of the flip servo 50 through the first bearing seat 313. The rotating shaft of the flip servo 50 and the first bearing seat 313 can be connected by means of gear meshing, snap limit, screws, pins, and bolts. When the rotating shaft of the flip servo 50 rotates, the first bearing seat 313 can be driven to rotate to realize the rotation of the clamping member 31.

[0070] Combination Figure 1 As shown, a plurality of fixing buckles 60 are sleeved on the support rod 22, a fixing plate 61 is provided on the fixing buckle 60, the fixing plate 61 is fixedly connected to the support rod 22 by means of screws, pins, bolts, etc., an air supply member 71 is provided in the fixing buckle 60, and the air supply member 71 is connected to the driving cylinder body 33 to increase the air source for the driving cylinder body 33.

[0071] The gas supply part 71 of this embodiment is a gas cylinder, which is connected to the driving cylinder 33 through a delivery conduit, and a control valve is set on the delivery conduit to control the on-off of the delivery conduit and the gas delivery flow rate, etc., and the gas supply part 71 is further improved in connection stability by winding with the support rod 22.

[0072] like Figure 8 As shown, the pushing mechanism 40 is arranged on the mobile chassis 10, and the pushing mechanism 40 includes a pushing member 45, and the pushing member 45 is movably arranged in the stacking slot 11. Pushing servos 41 for driving the pushing member 45 to move in the stacking slot 11 are arranged on both sides of the pushing member 45.

[0073] Two first connecting seats 44 are arranged opposite to each other on the mobile chassis 10. The first connecting seats 44 are located on both sides of the stacking slot 11 and are arranged on the mobile chassis 10 near the stacking slot 11. A first mounting plate 412 is arranged on the first connecting seat 44. A push steering gear 41 is fixed on the first connecting plate 37. The rotation axis of the push steering gear 41 faces the stacking slot 11. A rotatable swing rod 42 is connected to the rotation axis of the push steering gear 41. A rotatable push-pull rod 43 is connected to the other end of the swing rod 42. The other end of the push-pull rod 43 is rotatably connected to the push member 45. When in use, the swing rod 42 is driven to swing by the rotation axis of the push steering gear 41, and then the push-pull rod 43 is driven to drive the push member to extend and retract in the stacking slot 11, so as to realize the transportation of the stacked products.

[0074] A first mounting block 411 is provided on the push steering gear 41 , and the first mounting block 411 is connected and fixed to the first mounting plate 412 by means of screws, pins, bolts, etc.

[0075] A second bearing seat 47 is provided on one end of the swing rod 42 facing the push steering gear 41. The rotating shaft of the push steering gear 41 is connected to the second bearing seat 47 through gear meshing, snap limit, screws, pins, and bolts, so as to drive the swing rod 42 to rotate.

[0076] A guide wheel 46 is provided on the side wall of the pushing member 45 facing the stacking slot 11 , and the guide wheel 46 presses against the top surface and / or bottom surface of the mobile chassis 10 to improve the accuracy and stability of the displacement of the pushing member 45 in the stacking slot 11 .

[0077] This embodiment also provides a palletizing method using the above-mentioned palletizing freight robot:

[0078] The driving mechanism is controlled to drive the mobile chassis 10 to move closer to the product to be palletized until the distance measuring mechanism 13 detects that the product to be palletized enters the palletizing slot 11 and stops moving when it is located at the clamping position;

[0079] The lifting motor 24 is controlled to drive the clamping mechanism 30 to lift on the lifting frame 20 until the clamping mechanism 30 is located on both sides of the products to be stacked, and the driving cylinder 33 of the clamping mechanism 30 drives the clamping member 31 to move toward the clamping position direction to clamp the products to be stacked, and the lifting motor 24 drives the clamping mechanism 30 to rise and clamp the products to be stacked;

[0080] The driving mechanism is controlled to drive the mobile chassis 10 to move to the preset stacking area and then stop moving. The flip servo 50 is controlled to adjust the angle of the product to be stacked and then the lifting motor 24 is controlled to drive the clamping mechanism 30 to descend and place it on the stacking area. The cylinder 33 is driven to contract and drive the clamping member 31 to reset and release the product to complete the stacking.

[0081] After repeating the above operation for several times, the stacking of multiple products is completed. At this time, the driving mechanism is controlled to drive the mobile chassis 10 to move closer to the stacked products until the stacked products enter the stacking slot 11. After the pushing servo 41 of the pushing mechanism 40 is controlled to push the pushing member 45 to press against the stacked products, the driving mechanism is controlled to drive the mobile chassis 10 to move. At this time, the pushing member 45 pushes the stacked products during the displacement of the mobile chassis 10 to transfer the products.

[0082] Of course, during palletizing, pallets or pallets can be placed in the palletizing area to improve the stability of the product during transfer.

[0083] The driving mechanism, ranging mechanism 13, positioning mechanism 14, clamping mechanism 30, pushing mechanism 40, lifting motor 24, camera 91, regulating steering gear 92 and control valve of the palletizing freight robot of this embodiment are all connected to the control circuit board 12, so as to realize centralized control, automatic control or intelligent control of the palletizing freight robot through automatic control of the control circuit board 12 or communication connection with an external controller.

[0084] The palletizing freight robot and palletizing method provided in the present embodiment are provided with at least three driving mechanisms on the mobile chassis 10, and the driving mechanisms are used to drive the mobile chassis 10 to move, so as to realize the transfer of the products to be palletized by the mobile chassis 10; a lifting frame 20 is provided on the mobile chassis 10, and clamping mechanisms 30 are provided on both sides of the lifting frame 20, and clamping members 31 are provided on the two clamping mechanisms 30, and the two clamping members 31 are arranged oppositely to form a clamping position, and the clamping mechanism 30 is used to lift and lower on the lifting frame 20 and the two clamping members 31 are arranged oppositely to realize the clamping, lifting and stacking of the products to be palletized; a pushing mechanism 40 is provided on the mobile chassis 10 or the lifting frame 20 A pushing member 45 is provided on the pushing mechanism 40, and the pushing member 45 faces the clamping position. When the product needs to be transferred after palletizing, the driving mechanism is used to drive the mobile chassis 10 to move until the product enters the mobile chassis 10 from the clamping position and presses on the pushing member 45 of the pushing mechanism 40. The driving mechanism continues to drive the mobile chassis 10 to move. When the mobile chassis 10 moves, the pushing member 45 pushes the product to move with the mobile chassis 10, so that the palletizing equipment has the functions of palletizing and handling at the same time, and there is no need to invest in handling equipment. The purpose of transferring the product by the palletizing robot after the product palletizing is completed is achieved, while reducing the cost investment of product palletizing and improving the convenience of transferring the palletized products.

[0085] The above embodiments are not exhaustive enumerations of the present invention, and there may be multiple other implementations not listed. Any replacement and improvement made without violating the concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. Palletizing freight robot, characterized in that: It comprises a mobile chassis, on which at least three driving mechanisms are arranged, and the driving mechanisms support the mobile chassis; A lifting frame is provided on the mobile chassis, clamping mechanisms are provided on both sides of the lifting frame, clamping pieces are provided on the two clamping mechanisms, and the two clamping pieces are arranged opposite to each other to form a clamping position; A pushing mechanism is provided on the mobile chassis or lifting frame, and a pushing member is provided on the pushing mechanism, and the pushing member faces the clamping position; The pushing mechanism further includes a pushing steering gear, two of which are provided and arranged on the mobile chassis or lifting frame in a relatively manner, a rocker arm is provided on the pushing steering gear, the rocker arm is rotatably connected to the rotating shaft of the pushing steering gear, a push-pull rod is provided on the rocker arm, the pushing member is connected to the end of the push-pull rod, the push-pull rod is rotatably connected to the rocker arm, and the other end of the push-pull rod is rotatably connected to the pushing member; A stacking groove is opened on the mobile chassis, the pushing member is arranged in the stacking groove, and a guide wheel is arranged on the pushing member, the guide wheel faces the groove wall of the stacking groove, the rotating shaft of the pushing servo gear faces the stacking groove, and the guide wheel presses against the top surface and / or bottom surface of the mobile chassis.

2. The palletizing freight robot according to claim 1, characterized in that: The clamping mechanism also includes a box body, both ends of which are open, forming a lifting area on the lifting frame, the box body is arranged in the lifting area, a push-pull cylinder body is arranged in the box body, and the clamping member is arranged on the piston of the push-pull cylinder body.

3. The palletizing freight robot according to claim 2, characterized in that: A flip mechanism is provided between the piston of the push-pull cylinder and the clamping member, a rotating shaft is provided at one end of the flip mechanism, the end of the rotating shaft is connected to the clamping member, and the other end of the flip mechanism is connected to the piston of the push-pull cylinder.

4. The palletizing freight robot according to claim 3, characterized in that: A fixing piece is arranged in the box body, a sliding piece is arranged on the fixing piece, the sliding piece is slidably matched with the fixing piece, and the sliding piece is connected with the turning mechanism or the push-pull cylinder body.

5. The palletizing freight robot according to claim 1, characterized in that: A distance measuring mechanism is arranged on the mobile chassis, the distance measuring mechanism faces the stacking slot, a positioning mechanism is arranged in the stacking slot, and the positioning mechanism is connected to the mobile chassis.

6. The palletizing freight robot according to any one of claims 2 to 4, characterized in that: A lifting motor is provided in the lifting area, a driving wheel is provided on the lifting motor, a driven wheel is provided on the top of the lifting frame, the driving wheel is transmission-connected to the driven wheel through a transmission belt, a lifting slide is provided on the outer wall of the box body, the transmission belt passes through the lifting slide and is transmission-connected to the box body, a lifting slider is provided on the outer wall of the box body opposite to the lifting slider, the lifting slider is sleeved on the lifting frame and slidably cooperates with the lifting frame.

7. The palletizing freight robot according to any one of claims 1 to 4, characterized in that: The driving mechanism comprises a driving motor, a moving wheel is arranged on the motor shaft of the driving motor, a through slot is formed on the moving chassis, the moving wheel is arranged in the through slot, and the bottom end of the moving wheel passes through the through slot and extends to the bottom of the moving chassis.

8. A palletizing method, applied to the palletizing freight robot according to any one of claims 1 to 7, characterized in that: The driving mechanism drives the mobile chassis to move, and the lifting motor drives the clamping mechanism to move up and down in the lifting area until the products to be stacked enter the stacking slot and are located in the clamping position; The driving cylinder drives the clamping member to move toward the clamping position to clamp the product to be stacked. The driving mechanism drives the mobile chassis to move to the designated stacking area. The lifting motor controls the lifting of the clamping member to stack the product to be stacked in the stacking area. The driving mechanism drives the mobile chassis to move until the stacked products in the stacking area enter the stacking slot and are pressed against the products at the bottom of the stacking through the pushing member, and continue to drive the mobile chassis to move. The pushing member pushes the products in the stacking area to follow the displacement of the mobile chassis to transfer the products.

Images