Palletizing robot

Abstract

The present disclosure provides a stacking robot, relates to the technical field of warehouse logistics equipment, and aims to solve the technical problem that some of the multiple containers stacked on the moving base are deviated or dumped. The stacking robot comprises a moving base, a lifting frame, a fork and a limiting device. The moving base has a container placement area and a lifting frame mounting area arranged adjacently. The lifting frame is fixed to the lifting frame mounting area, the fork is slidingly installed on the lifting frame, and the height of the fork on the lifting frame is adjustable. The limiting device is arranged at the circumferential edge of the container placement area. The limiting device has a container limiting space. The top of the container limiting space has a container taking and placing opening, and the bottom of the container limiting space is communicated with the container placement area. The stacking robot provided by the present disclosure is used for carrying multiple containers at a time and stacking.

Description

Technical Field

[0001] This disclosure relates to the field of warehousing and logistics equipment technology, and in particular to a palletizing robot. Background Technology

[0002] Palletizing robots consist of a mobile base, a lifting frame, and forks. They can stack multiple boxes on the mobile base, thus transporting multiple boxes at once and improving the efficiency of handling operations. Therefore, palletizing robots have become one of the research hotspots in the logistics industry.

[0003] Currently, palletizing robots use forks to stack multiple boxes on a mobile base. However, some of the boxes stacked on the mobile base may shift or tip over, causing them to easily fall off the mobile base. Summary of the Invention

[0004] In view of the above problems, this disclosure provides a palletizing robot that can stack each bin neatly on a moving base, avoiding bin displacement and tipping, and reducing the risk of bins falling off the moving base.

[0005] To achieve the above objectives, the present disclosure provides the following technical solutions:

[0006] This disclosure provides a palletizing robot, which includes a mobile base, a lifting frame, forks, and a limiting device. The mobile base has an adjacent bin placement area and a lifting frame mounting area. The lifting frame is fixed in the lifting frame mounting area, and the forks are slidably mounted on the lifting frame, with adjustable height. The limiting device is located at the circumferential edge of the bin placement area, and has a bin limiting space. The top of the bin limiting space has a bin loading / unloading opening, and the bottom of the bin limiting space communicates with the bin placement area.

[0007] In one alternative embodiment, the limiting device includes a plurality of limiting arms arranged circumferentially along the edge of the material box placement area.

[0008] In one optional embodiment, the movable base is provided with a mounting groove for installing the limiting device; along the height direction of the stacked hoppers, the first end of the limiting arm is fixed in the mounting groove, and the second end of the limiting arm protrudes above the hopper placement area.

[0009] In one optional embodiment, the limiting arm is a telescopic arm, which includes a plurality of limiting plates that are slidably connected in sequence; the telescopic height of the plurality of limiting plates is adjustable along the height direction of the stacked material boxes.

[0010] In one alternative embodiment, the second end of the limiting arm can be retracted into the mounting groove.

[0011] In one optional embodiment, multiple bins can be stacked in a row within the bin limiting space; the limiting device includes four limiting arms, with a gap between adjacent limiting arms.

[0012] In one alternative embodiment, the limiting arm abuts against the outer side of the side wall of the hopper.

[0013] In an optional embodiment, a palletizing device is further included; the palletizing device and the forks are respectively disposed on both sides of the lifting frame; the palletizing device is located above the limiting device, and the palletizing device is configured to remove the material box from the material box limiting space or place the material box into the material box limiting space.

[0014] In one optional embodiment, the palletizing device includes a guide frame and a gripping frame; the guide frame is disposed on the lifting frame and moves laterally relative to the lifting frame; the gripping frame is disposed within the guide frame and moves vertically relative to the lifting frame; the gripping frame is located above the limiting device, and the gripping frame is configured to extend into the gap and engage with the material box.

[0015] In one optional embodiment, the bottom end of the guide frame is provided with a first opening for the gripping frame to slide out; a sliding mechanism is provided on the side of the guide frame near the lifting frame, the sliding mechanism including a first mounting plate and a second mounting plate; the first mounting plate is fixed on the lifting frame, the second mounting plate is slidably disposed on the first mounting plate, and the second mounting plate is connected to the guide frame.

[0016] In one optional embodiment, the bottom end of the gripping frame is provided with a second opening; the second opening is configured to cooperate with the material box, and the second opening is engaged with the material box.

[0017] In one optional embodiment, the gripping frame is provided with a positioning groove near the second opening; the top of the material box is provided with a positioning edge, which is located on the side of the material box and can be engaged in the positioning groove.

[0018] In one alternative embodiment, the forks include a telescopic gripping arm; the gripping arm is bidirectionally telescopic relative to the lifting frame, and the end of the gripping arm extends below the gripping frame.

[0019] Compared with related technologies, the palletizing robot provided in this disclosure has the following advantages:

[0020] The palletizing robot provided in this embodiment has a material box placement area on a mobile base for stacking material boxes. A limiting device is provided around the circumferential edge of the material box placement area, and a material box limiting space is formed inside the limiting device. The top of the material box limiting space has a material box pick-up and drop opening. The material box is put into the material box placement area from the material box pick-up and drop opening, thereby achieving the purpose of limiting the multiple material boxes stacked on the mobile base.

[0021] Compared with related technologies where the bins are arbitrarily stacked on the moving base, the embodiments of this disclosure restrict the bins within the bin limiting space formed by the limiting device, thereby ensuring that the bins are stacked neatly on the moving base and preventing the bins from shifting or tipping over. This reduces the risk of the bins falling off the moving base and improves the safety of the bin transportation process.

[0022] In addition to the technical problems solved by the embodiments of this disclosure, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that the palletizing robot provided by the embodiments of this disclosure can solve, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 An axonometric view of a palletizing robot provided in an embodiment of this disclosure;

[0025] Figure 2 A side view of a palletizing robot provided in an embodiment of this disclosure;

[0026] Figure 3 This is a schematic diagram of the stacking of material bins on a mobile base provided in an embodiment of this disclosure;

[0027] Figure 4 A schematic diagram showing the arrangement of the limiting device on the movable base according to an embodiment of this disclosure;

[0028] Figure 5 This is a schematic diagram of the structure of the palletizing device provided in an embodiment of this disclosure.

[0029] Explanation of reference numerals in the attached figures:

[0030] 10-Mobile base;

[0031] 11-Walking wheels; 12-Material bin placement area; 13-Lifting frame installation area;

[0032] 20-Lifting frame;

[0033] 21-Column; 22-Connecting beam;

[0034] 30-Forklift;

[0035] 31 - Gripping arm;

[0036] 311 - Fixed section; 312 - First telescopic section; 313 - Second telescopic section;

[0037] 40 - Limit arm;

[0038] 41-Limit plate; 42-Gap;

[0039] 50 - Palletizing device;

[0040] 51-Guide frame; 511-First opening; 512-First mounting plate; 513-Second mounting plate; 52-Grab frame; 521-Second opening;

[0041] 100-Palletizing Robot;

[0042] 200-material bin. Detailed Implementation

[0043] As described in the background section, a palletizing robot can transport multiple boxes at once and stack them on a mobile base. However, some of the boxes stacked on the mobile base may shift or tip over, causing them to easily fall off the mobile base.

[0044] To address the aforementioned technical problems, this disclosure provides a palletizing robot with a palletizing area on its mobile base. A limiting device is provided along the circumferential edge of the palletizing area, and a pallet limiting space is formed inside the limiting device. Multiple pallets can be placed into the pallet limiting space from the pallet pick-up and drop port located at the top of the pallet limiting space, thereby achieving the purpose of limiting the multiple pallets placed on the mobile base, preventing the pallets from shifting or tipping over, and reducing the risk of the pallets falling off the mobile base.

[0045] To make the above-mentioned objects, features, and advantages of the embodiments of this disclosure more apparent and understandable, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0046] like Figures 1 to 3 As shown, this embodiment of the present disclosure provides a palletizing robot 100, including a movable base 10, a lifting frame 20, forks 30, and a limiting device (not shown in the figure). The movable base 10 serves as the moving and supporting unit of the entire palletizing robot 100. The forks 30 are mounted on the lifting frame 20, and the lifting frame 20 and the limiting device are mounted on the movable base 10.

[0047] Specifically, the bottom of the mobile base 10 is provided with a walking mechanism, which drives the mobile base 10 to move. The walking mechanism includes multiple walking wheels 11 and a driving device. The driving device is connected to at least one walking wheel 11 and provides driving force to the walking wheel 11, enabling the mobile base 10 to move forward, backward and turn. Thus, the palletizing robot 100 can move with the mobile base 10 to the shelf or other working position to complete the transfer of goods (bin 200).

[0048] The top of the mobile base 10 has a bearing surface, which can be horizontal. Depending on its function, the top of the mobile base 10 can be divided into a lifting frame mounting area 13 and a material box placement area 12, which are arranged adjacent to each other. The lifting frame mounting area 13 is used to mount the lifting frame 20, and the material box placement area 12 is used to stack the material boxes 200.

[0049] The lifting frame 20 includes two uprights 21 and a connecting beam 22. The two uprights 21 are arranged opposite each other with a gap between them. The connecting beam 22 is located on the top of the uprights 21 and connects the two uprights 21 together. The bottom end of each upright 21 is installed in the lifting frame mounting area 13. The lifting frame mounting area 13 is provided with mounting holes for inserting the uprights 21, thereby installing the bottom end of the lifting frame 20 in the lifting frame mounting area 13.

[0050] The forks 30 are slidably mounted on the lifting frame 20, for example along the forward direction of the moving base 10. The forks 30 can be mounted on one side of the lifting frame 20 and can move up and down along the height direction of the lifting frame 20. The working height of the forks 30 can be adjusted according to the height of the hopper 200, and the hopper 200 can be stacked in the hopper placement area 12 of the moving base 10.

[0051] In this embodiment, the movable base 10 is provided with a limiting device. The limiting device is arranged along the circumferential edge of the material box placement area 12. The limiting device has a material box 200 limiting space, which is used to accommodate at least one material box 200. The top of the material box 200 limiting space has a material box loading and unloading port, and the bottom of the material box 200 limiting space communicates with the material box placement area 12, that is, the material box 200 in the material box limiting space can contact the material box placement area 12 of the movable base 10.

[0052] The palletizing robot 100 in this embodiment is provided with a limiting device with a limiting space for the material box in the material box placement area 12 of the mobile base 10, so that the material box 200 to be placed on the mobile base 10 can be placed into the limiting device. By limiting the material box 200, the material box 200 is stacked neatly on the mobile base 10, which can prevent the material box 200 from shifting or tipping over, thereby reducing the risk of the material box 200 falling off the mobile base 10.

[0053] like Figure 4 As shown, the limiting device provided in this embodiment includes multiple limiting arms 40, which are arranged circumferentially along the edge of the material box placement area 12. The first end of the limiting arm 40 is connected to the movable base 10. Along the stacking height direction of the material boxes 200, the second end of the limiting arm 40 protrudes out of the material box placement area 12 and can extend vertically to the top of the material box placement area 12 to form a material box limiting space in the material box placement area 12.

[0054] Furthermore, the movable base 10 is provided with a mounting groove for installing the limiting device. The mounting groove can be arranged circumferentially along the edge of the material box placement area 12 so that each limiting arm 40 can be inserted into the mounting groove. For example, the first end of the limiting arm 40 is installed in the mounting groove, and the second end of the limiting arm 40 can extend upward perpendicularly to the material box placement area 12 along the stacking height direction of the material box 200. The second end of the limiting arm 40 can be located above the material box placement area 12, and the second end of each limiting arm 40 forms a material box loading and unloading port of the material box limiting space.

[0055] It should be noted that the height of each limiting arm 40 protruding above the material box placement area 12 remains unchanged, that is, the length of the limiting arm 40 is fixed, and the number of material boxes 200 that can be accommodated in the material box limiting space formed by the limiting device is determined.

[0056] For example, the material boxes 200 can be stacked in a row within the material box limiting space. The number of material boxes 200 stacked within the limiting device can be one, two, etc., while the remaining material boxes 200 are located outside the limiting device. That is, the limiting device can limit only a few material boxes 200 located at the bottom of the multiple stacked material boxes 200 to achieve the purpose of limiting the material box stack formed by multiple material boxes 200.

[0057] In some embodiments, to enhance the limiting effect on the stack of multiple bins 200, the height of the limiting arm 40 extending above the bin placement area 12 is variable and can be adjusted according to the required limiting height. Specifically, the limiting arm 40 provided in this embodiment is a telescopic arm, which includes multiple limiting plates 41 that are slidably connected in sequence, and the telescopic height of the multiple limiting plates 41 is adjustable along the height direction of the stack of bins 200.

[0058] For example, each limiting arm 40 includes a first limiting plate, a second limiting plate, and a third limiting plate that are slidably connected in sequence. The first limiting plate is located near the material box placement area 12. One end of the first limiting plate is installed in the mounting groove of the material box placement area 12. The other end of the first limiting plate is slidably connected to the second limiting plate, and the second limiting plate is slidably connected to the third limiting plate.

[0059] When the limiting arm 40 is in its initial state, the second limiting plate is retracted into the first limiting plate, and the third limiting plate is retracted into the second limiting plate. At this time, the second end of the limiting arm 40 extends to the height of the first limiting plate protruding from the material box placement area 12. When it is necessary to adjust the limiting height of the limiting arm 40, the second limiting plate extends out from the first limiting plate, followed by the third limiting plate extending out from the second limiting plate. After the adjustment is completed, the locking device between the limiting plates 41 is used to lock them in place.

[0060] It is understood that the above-mentioned locking device may be an elastic limiting post and a limiting groove that cooperates with it. The limiting groove is set in the sliding track of the elastic limiting post. The elastic limiting post is telescopically set on a limiting plate 41, and the sliding track is set in another adjacent limiting plate 41.

[0061] For example, a slide is provided on the side of the first limiting plate facing the second limiting plate, and a limiting groove is provided at the end of the slide to cooperate with the elastic limiting post. An elastic limiting post is provided on the side of the second limiting plate facing the first limiting plate. When the second limiting plate slides to the end of the first limiting plate, the elastic limiting post is inserted into the limiting groove to lock the first limiting plate and the second limiting plate.

[0062] Based on the above implementation, the limiting arm 40 is a telescopic arm. When it is in the initial state, the limiting arm 40 can retract and change its limiting height. After retraction, the second end of the limiting arm 40 still protrudes from the bearing surface of the material box limiting area 12. At this time, the limiting arm 40 has a certain limiting height.

[0063] In another embodiment, when the limiting arm 40 is in the initial state, the limiting arm 40 can be completely retracted into the mounting groove, with the second end of the limiting arm 40 flush with the bearing surface of the material box placement area 12, or the second end retracted into the mounting groove. At this time, the limiting arm 40 does not have a limiting height and is hidden in the mounting groove. When the material box 200 needs to be limited, the limiting arm 40 is extended to the top of the material box placement area 12. This setting can improve the appearance of the palletizing robot 100.

[0064] Continue reading Figure 4The limiting device includes four limiting arms 40, each of which abuts against the outer side of each side of the rectangular material box 200. The aforementioned multiple material boxes 200 are arranged in a row within the material box limiting space. The limiting device can be used to limit the side walls of each material box 200, so that the multiple material boxes 200 are neatly stacked on the movable base 10.

[0065] The four limiting arms 40 are connected in sequence to form a rectangular frame, or there is a gap 42 between two adjacent limiting arms 40, so that a part of the material box 200 is exposed through the gap 42, which makes it easy to remove the material box 200 from the limiting device or place the material box 200 inside the limiting device.

[0066] For example, the limiting device includes four limiting arms 40. Two limiting arms 40 can be grouped together, and within the same group, the two limiting arms 40 can be arranged opposite each other, with each limiting arm 40 abutting against one of the side walls of the material box 200. A gap 42 extending along the height direction is provided between two adjacent limiting arms 40, allowing the edges formed on each side of the material box 200 to protrude through the gap 42, facilitating the palletizing device 50 to grip each material box 200.

[0067] like Figure 5 As shown, and in combination Figure 2 Along the forward direction of the palletizing robot 100, the palletizing device 50 and the forks 30 are respectively set on the left and right sides of the lifting frame 20. The palletizing device 50 can be located above the limiting device and directly opposite it.

[0068] Specifically, the fork 30 is slidably mounted on one side of the lifting frame 20. The fork 30 includes two opposing gripping arms 31. Along the forward direction of the palletizing robot 100, the first end of the gripping arm 31 is mounted on the lifting frame 20, and the second end can extend towards the front end and be located on one side of the lifting frame 20. The two gripping arms 31 can clamp on both sides of the hopper 200.

[0069] The gripping arm 31 provided in this embodiment is a telescopic arm, which includes a fixed section 311, a first telescopic section 312 and a second telescopic section 313. The fixed section 311 is fixed on the lifting frame 20, the first telescopic section 312 is slidably installed on the fixed section 311, and the second telescopic section 313 is slidably installed on the first telescopic section 312. When it is necessary to grip the material box 200, the first telescopic section 312 and the second telescopic section 313 can slide out from the fixed section 311 in sequence and grip the material box 200.

[0070] Furthermore, in this embodiment, the gripping arm 31 can extend and retract bidirectionally relative to the lifting frame 20, that is, the first extension segment 312 and the second extension segment 313 of the gripping arm 31 can extend and retract in opposite directions and extend to the bottom of the palletizing device 50. For example, after the gripping arm 31 clamps the material box 200, the first extension segment 312 and the second extension segment 313 of the gripping arm 31 begin to slide in the opposite direction along the fixed segment 311, and the first extension segment 312 and the second extension segment 313 can slide to the other side of the lifting frame 20, so that the material box 200 is located below the palletizing device 50.

[0071] The palletizing device 50 is used to receive the bins 200 from the forks 30 and transfer the bins 200 so that the bins 200 can be placed from the bin delivery port of the limiting device into the bin limiting space; and the palletizing device 50 can grab the bins 200 located in the limiting device and transfer the bins 200 to one side of the palletizing robot 100 so that the bins 200 on the moving base 10 can be placed in the designated area.

[0072] The palletizing device 50 includes a guide frame 51 and a gripping frame 52 mounted on the guide frame 51. The guide frame 51 is mounted on the lifting frame 20 and can move laterally relative to the lifting frame 20. That is, one side of the guide frame 51 can protrude from one side of the lifting frame 20 so that the gripping frame 52 can move to one side of the lifting frame 20.

[0073] The gripping frame 52 is slidably mounted on the guide frame 51 and can move vertically relative to the lifting frame 20. The gripping frame 52 is positioned above the limiting device. When the gripping frame 52 moves downward along the lifting frame 20, the bottom end of the gripping frame 52 can extend into the gap 42 of the limiting device, so that the gripping frame 52 engages with the material box 200, thereby allowing the material box 200 to be removed from the limiting device using the gripping frame 52.

[0074] Furthermore, both the guide frame 51 and the gripping frame 52 are rectangular frames, and both the guide frame 51 and the gripping frame 52 include four plug-in posts and connecting posts connecting each plug-in post. It is understood that the cross-sectional dimension of the rectangular frame formed by the four plug-in posts of the gripping frame 52 is smaller than the cross-sectional dimension of the guide frame 51, so that the gripping frame 52 can be installed inside the guide frame 51.

[0075] In this embodiment, a sliding mechanism is provided on the side of the guide frame 51 facing the lifting frame 20 to allow the guide frame 51 to slide laterally relative to the lifting frame 20. The sliding mechanism includes a first mounting plate 512 and a second mounting plate 513, wherein the first mounting plate 512 is fixed on the column 21 of the lifting frame 20, and the second mounting plate 513 is slidably mounted on the first mounting plate 512 and connected to the guide frame 51. Under the action of external force, the second mounting plate 513 can slide relative to the first mounting plate 512, thereby adjusting the position of the gripping frame 52 relative to the lifting frame 20, so as to facilitate the transfer of the material box 200 between the movable base 10 and the working position.

[0076] The gripping frame 52 is slidably installed inside the guide frame 51. The bottom end of the guide frame 51 is provided with a first opening 511 for the gripping frame 52 to slide out. When the material box 200 inside the limiting device needs to be taken out, the bottom end of the gripping frame 52 slides out from the first opening 511 and is inserted into the gap 42 of the limiting device.

[0077] The bottom end of the gripping frame 52 is provided with a second opening 521, which is configured to cooperate with the material box 200. The insertion post at the second opening 521 can be inserted into the gap 42 of the limiting device, and the insertion post is engaged with the material box 200.

[0078] For example, a positioning groove is provided on the gripping frame 52 near the second opening 521, and the positioning groove is located on the side of the inserting column facing the material box 200; a positioning edge is provided on the top or bottom of the material box 200, and the positioning edge cooperates with the positioning groove. When the inserting column is inserted into the gap 42 of the limiting device, the positioning groove of the inserting column engages with the positioning edge of the material box 200, thereby realizing the engagement between the gripping frame 52 and the material box 200.

[0079] When the palletizing robot 100 provided in this embodiment transfers the bin 200, the first telescopic section 312 and the second telescopic section 313 of the gripping arm 31 extend toward the side away from the palletizing device 50 and clamp the bin 200 to be palletized. After the bin 200 is clamped, the first telescopic section 312 and the second telescopic section 313 of the gripping arm slide in opposite directions, so that the first telescopic section 312 and the second telescopic section 313 extend to the side of the lifting frame 20 facing the palletizing device, and the bin 200 can be located below the gripping frame 52, so that the bin 200 is placed at the second opening 521 of the gripping frame 52.

[0080] After the gripping frame 52 grips the material box 200, it moves downward along the guide frame 51 to place the material box 200 into the limiting device through the material box delivery port, and then transfers it to the designated area with the moving base 10. After the palletizing robot 100 transfers the material box 200 to the designated area, the gripping frame 52 descends along the guide frame 51 so that the bottom end of the gripping frame 52 inserts into the gap 42 of the limiting device, and clamps multiple material boxes 200 together; after clamping multiple material boxes 200, the gripping frame 52 rises to a certain height, and the guide frame 51 moves the gripping frame 52 toward one side of the lifting frame 20 so that the gripping frame 52 is above the designated area, and the multiple material boxes 200 on the gripping frame 52 are stacked in the designated area.

[0081] The palletizing robot 100 in this embodiment of the present disclosure is provided with a limiting device with a material box limiting space on the mobile base 10, so that the material box 200 can be placed into the limiting device. By limiting the material box 200 through the limiting device, the material box 200 is stacked neatly on the mobile base 10, which can prevent the material box 200 from shifting or tipping over, thereby reducing the risk of the material box 200 falling off the mobile base 10.

[0082] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0083] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0084] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0085] It should be readily understood that the terms “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0086] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A palletizing robot, characterized in that, Includes a movable base, lifting frame, forks, and limit devices; The mobile base has an adjacent material box placement area and a lifting frame installation area; The lifting frame is fixed in the lifting frame mounting area, the forks are slidably mounted on the lifting frame, and the height of the forks on the lifting frame is adjustable; The limiting device is located at the circumferential edge of the material box placement area. The limiting device has a material box limiting space. The top of the material box limiting space has a material box loading and unloading port, and the bottom of the material box limiting space communicates with the material box placement area. The limiting device includes multiple limiting arms, which are arranged circumferentially along the edge of the material box placement area, and there is a gap extending in the height direction between two adjacent limiting arms. The movable base is provided with a mounting groove for installing the limiting device; along the height direction of the stacked material boxes, the first end of the limiting arm is fixed in the mounting groove, and the second end of the limiting arm protrudes above the material box placement area; The limiting arm is a telescopic arm, and the second end of the limiting arm can be retracted into the mounting groove; the limiting arm includes a plurality of limiting plates that are slidably connected in sequence, and the telescopic height of the plurality of limiting plates is adjustable along the height direction of the stacked material boxes; Each of the limiting arms includes a first limiting plate, a second limiting plate, and a third limiting plate that are slidably connected in sequence. The first limiting plate is disposed near the material box placement area. One end of the first limiting plate is installed in the mounting groove of the material box placement area. The other end of the first limiting plate is slidably connected to the second limiting plate, and the second limiting plate is slidably connected to the third limiting plate. When the limiting arm is in its initial state, the second limiting plate is retracted into the first limiting plate, and the third limiting plate is retracted into the second limiting plate; when the limiting height of the limiting arm is adjusted, the second limiting plate extends out from the first limiting plate, the third limiting plate extends out from the second limiting plate, and then they are locked by a locking device between the limiting plates. The locking device includes an elastic limiting post and a limiting groove that cooperates with the elastic limiting post. The limiting groove is disposed in a sliding track of the elastic limiting post. The elastic limiting post is telescopically disposed on a limiting plate, and the sliding track is disposed in another adjacent limiting plate.

2. The palletizing robot according to claim 1, characterized in that, Multiple bins can be stacked in a row within the confined space of the bins; The limiting device includes four limiting arms, with a gap between adjacent two limiting arms.

3. The palletizing robot according to claim 2, characterized in that, The limiting arm abuts against the outer side of the side wall of the hopper.

4. The palletizing robot according to claim 3, characterized in that, It also includes palletizing equipment; The palletizing device and the forks are respectively installed on both sides of the lifting frame; The palletizing device is located above the limiting device, and the palletizing device is configured to remove the material box from the material box limiting space or place the material box into the material box limiting space.

5. The palletizing robot according to claim 4, characterized in that, The palletizing device includes a guide frame and a gripping frame; The guide frame is mounted on the lifting frame and moves laterally relative to the lifting frame; The gripping frame is disposed within the guide frame and moves vertically relative to the lifting frame; The gripping frame is located above the limiting device, and the gripping frame is configured to extend into the gap and engage with the material box.

6. The palletizing robot according to claim 5, characterized in that, The bottom end of the guide frame is provided with a first opening for the gripping frame to slide out; A sliding mechanism is provided on the side of the guide frame near the lifting frame, and the sliding mechanism includes a first mounting plate and a second mounting plate; The first mounting plate is fixed on the lifting frame, the second mounting plate is slidably mounted on the first mounting plate, and the second mounting plate is connected to the guide frame.

7. The palletizing robot according to claim 5, characterized in that, The bottom end of the grasping frame is provided with a second opening; The second opening is configured to cooperate with the material box, and the second opening is snapped into the material box.

8. The palletizing robot according to claim 7, characterized in that, The grasping frame is provided with a positioning groove near the second opening; The top of the material box is provided with a positioning edge, which is located on the side of the material box and can be engaged in the positioning groove.

9. The palletizing robot according to claim 5, characterized in that, The forks include retractable gripping arms; The gripping arm can extend and retract in both directions relative to the lifting frame, and the end of the gripping arm can extend below the gripping frame.

Images