A mechanical arm for palletizing and automatic palletizing method

Abstract

The application discloses a mechanical arm for stacking and an automatic stacking method. The mechanical arm for stacking comprises a hydraulic telescopic column, a first mounting arm and a clamping mechanism. One end of the first mounting arm is rotatably mounted along an axis extending in a first direction of the hydraulic telescopic column. The clamping mechanism is mounted at the other end of the first mounting arm. The clamping mechanism comprises a mounting plate and two clamping parts. One end of each of the two clamping parts is connected to the two ends of the mounting plate respectively and can move towards each other in a second direction to complete a clamping action and move away from each other to release the clamping action. One end of one of the two clamping parts is further connected to an elastic member. One end of the elastic member away from one of the two clamping parts is connected to a pushing plate. The end of the pushing plate away from the elastic member is provided with a plurality of supporting rods arranged at intervals in a third direction and rotatably mounted to the other end of one of the two clamping parts. The application aims to complete the support of the bottom of goods while clamping, ensure the stability of clamping goods and avoid the risk of falling.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of palletizing machines, in particular to a palletizing mechanical arm and automatic palletizing method. BACKGROUND

[0002] The palletizing mechanical arm is a mechanical arm specially used for palletizing goods, and palletizing refers to stacking goods in a certain rule and manner in places such as warehouses or logistics centers for storage and transportation, and the palletizing mechanical arm is an automatic device developed in this background, which can replace manual palletizing operation, greatly improving work efficiency and reducing labor intensity.

[0003] The existing palletizing mechanical arm has some drawbacks, and the existing palletizing mechanical arm often uses the method of squeezing from both sides to transport goods when palletizing goods on the production line, and the goods will slide due to insufficient friction on both sides, and increasing the clamping force to increase the friction will easily cause the goods to be squeezed and damaged, and cannot guarantee the transportation stability of the goods on the production line during clamping and transportation, and has the risk of falling. SUMMARY

[0004] The main purpose of the present application is to overcome the defects of the prior art, and to provide a palletizing mechanical arm and automatic palletizing method, which aims to support the bottom of the goods on the conveying line while clamping, to ensure the stability of clamping goods and avoid the risk of falling.

[0005] To achieve the above purpose, the present application provides a palletizing mechanical arm and automatic palletizing method, which comprises:

[0006] A hydraulic telescopic column;

[0007] A first mounting arm, one end of which is rotatably mounted along the axis of the hydraulic telescopic column extending in a first direction; and

[0008] A clamping mechanism mounted at the other end of the first mounting arm, the clamping mechanism comprising a mounting plate extending in a second direction and two clamping portions extending in a first direction, one end of each of the two clamping portions being connected to the two ends of the mounting plate and being movable in the second direction to complete the clamping action and move away from each other to release the clamping action, one end of one of the two clamping portions being further connected to an elastic member, the end of the elastic member away from one of the two clamping portions being connected to a push plate, and the end of the push plate away from the elastic member being provided with a plurality of supporting rods arranged in a third direction and rotatably mounted relative to the other end of one of the two clamping portions.

[0009] Optionally, each of the clamping portions comprises a fixed plate and a clamping plate, one end of each of the fixed plates is fixedly connected to the two ends of the mounting plate and extends along the first direction, an electric push rod is mounted on the side of each of the fixed plates that faces the other, one end of each of the electric push rods is fixedly connected to the end of the fixed plate that is away from the mounting plate, the clamping plate extends along the first direction, one end of one of the clamping plates is fixedly connected to one end of the elastic member, the other end of the elastic member is fixedly connected to the push plate, and the end of the push plate that is away from the elastic member is rotatably mounted to the other end of one of the clamping plates.

[0010] Optionally, one of the clamping plates comprises a first main plate extending along the third direction and two first sub-plates extending along the first direction, one end of each of the first sub-plates is fixedly connected to the two ends of the first main plate that are away from the outer surface of the mounting plate and forms an accommodation space, the push plate comprises a second main plate extending along the first direction and a second sub-plate extending along the first direction, one end of the second sub-plate is fixedly connected to the end of the second main plate that is close to the mounting plate, both ends of the elastic member are fixedly connected to the first main plate and the second sub-plate, respectively, the accommodation space is used to place the second main plate between the two sub-plates when the clamping action of the two clamping portions is completed, and the surface of the second main plate in the second direction is parallel to the surface of the first main plate in the second direction.

[0011] Optionally, the other end of one of the clamping portions is provided with a transmission mechanism, the transmission mechanism comprises:

[0012] a mounting box provided on the side of one of the clamping portions and extending along the first direction, and a transmission portion provided in the mounting box;

[0013] two protrusions provided on the end face of the other end of one of the clamping portions and spaced apart along the third direction;

[0014] a first mounting rod extending along the third direction and rotatably mounted between the two protrusions, and a plurality of supporting rods spaced apart along the third direction and provided on the first mounting rod; and

[0015] two second mounting rods extending along the third direction, one end of each of the second mounting rods is fixedly connected to the two sides of the push plate, and the other end of each of the second mounting rods is rotatably mounted relative to the two protrusions;

[0016] One end of the first mounting rod is in driving connection with the transmission part in the mounting box through one end of one of the two protrusions, and the other end of one of the two second mounting rods is in driving connection with the transmission part through the other end of one of the two protrusions, so that the plurality of supporting rods rotate from a position parallel to one of the two clamping parts to a position parallel to the mounting plate when the two clamping parts complete the clamping action.

[0017] Optionally, the transmission part comprises a driving sprocket, a driven sprocket and a chain, the driving sprocket is in driving connection with one end of the first mounting rod, the driven sprocket is in driving connection with the other end of one of the two second mounting rods, the chain is installed between the driving sprocket and the driven sprocket, and the number of teeth of the driving sprocket is 3-9 times the number of teeth of the driven sprocket.

[0018] Optionally, the two clamping parts are each provided with the elastic member, the push plate, the mounting box and the plurality of supporting rods.

[0019] Optionally, a second mounting arm is arranged between the other end of the first mounting arm and the clamping mechanism, one end of the second mounting arm is rotatably mounted relative to an axis along which the other end of the first mounting arm extends in the first direction, and the other end of the second mounting arm is fixedly connected with a connecting arm, and the clamping mechanism is rotatably mounted relative to an axis along which the connecting arm extends in the first direction.

[0020] Optionally, the clamping mechanism further comprises a clamping and overturning mechanism, the clamping and overturning mechanism comprises:

[0021] a connecting plate is mounted on a surface of one of the two fixed plates away from the other one of the two fixed plates in the second direction, a motor is mounted on the connecting plate, the motor extends from inside the connecting plate to outside the connecting plate along the second direction, and

[0022] a double-claw air cylinder is rotatably mounted relative to the motor, two clamping claws of the double-claw air cylinder are each provided with a clamping claw plate extending along the first direction, and two clamping claw plates are respectively provided with clamping arms extending along the second direction at one end away from the two clamping claws in the first direction.

[0023] Optionally, one end of the double-claw air cylinder close to the motor is fixedly connected with an annular plate, the connecting plate is provided with an annular groove, and the annular plate is inserted into the annular groove and is in sliding connection with the annular groove.

[0024] The application further provides an automatic stacking method of the mechanical arm for stacking, comprising:

[0025] controlling the clamping mechanism to move to a material taking position;

[0026] The clamping mechanism completes the clamping action and controls its movement to a discharging position;

[0027] The clamping mechanism releases the clamping action.

[0028] In the technical scheme provided by the present application, when it is necessary to clamp and stack the goods on the conveying line, the stability of the goods during conveying after clamping is ensured by first moving the two clamping parts to the two sides of the goods and clamping the goods, moving one of the two clamping parts with the push plate towards the goods, and moving the push plate to contact the goods and continue to move towards the goods, so that the push plate generates a force towards the goods, and the goods generate a reaction force away from the goods, which pushes the push plate to compress the elastic member. Since the push plate is provided with a plurality of supporting rods arranged at intervals at one end away from the elastic member and is rotatably installed at the other end of one of the two clamping parts, the supporting rods pass through the gap of the conveying line where the goods are located and are located below the conveying line to support the goods when the two clamping parts are located at the two sides of the goods. When the push plate is compressed by the goods, it rotates relative to the other end of one of the two clamping parts, thereby driving the plurality of supporting rods to rotate to the bottom of the goods and supporting the goods. When it is necessary to release the clamping action, the two clamping parts move away from the goods, and the push plate rotates away from the elastic member under the elastic force of the elastic member, thereby driving the plurality of supporting rods to rotate back to the original position, thereby completing the stacking of the goods. The clamping mechanism of the present application not only ensures the stability of the clamped goods, but also has a simple structure and is easy to operate, without the need for an additional control system to control the plurality of supporting rods, thereby reducing costs. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from the structures shown in the drawings without creative labor.

[0030] Fig. 1 It is an embodiment of the front view structure diagram of the mechanical arm for stacking of the present application.

[0031] Fig. 2It is a side view schematic diagram of a clamping plate and a pushing plate of a mechanical arm for stacking according to the present application;

[0032] Fig. 3 It is a side view schematic diagram of a transmission part of a mechanical arm for stacking according to the present application.

[0033] BRIEF DESCRIPTION OF DRAWINGS

[0034]

[0035] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0038] In addition, if the embodiments of the present application involve descriptions of “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first” and “second” can explicitly or implicitly include at least one of the features. In addition, the meaning of “and / or” appearing throughout the text includes three parallel solutions. Taking “A and / or B” as an example, it includes A solution, or B solution, or A and B solutions. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0039] The stacking mechanical arm is a mechanical arm specially used for stacking goods. Stacking refers to stacking goods according to certain rules and ways in warehouses or logistics centers and the like, so as to facilitate storage and transportation. The stacking mechanical arm is an automatic device developed in this background, which can replace manual stacking operation of goods, greatly improving work efficiency and reducing labor intensity.

[0040] The existing stacking mechanical arm has some disadvantages, when the existing stacking mechanical arm stacks the goods on the production line, the goods are often transported by the method of extrusion on both sides, the goods will slip due to insufficient friction on both sides, and in order to increase the friction, the clamping force is increased, which is easy to cause the extrusion of the goods and lead to damage, and cannot guarantee the transportation stability of the goods on the production line in the process of clamping and transporting, and has the risk of falling.

[0041] Therefore, the present application provides a stacking mechanical arm 100 and an automatic stacking method, Figs. 1-3 An embodiment of the present application is provided.

[0042] Please refer to Fig. 1 , an embodiment of the present application is provided, a stacking mechanical arm 100 is provided, including a hydraulic telescopic column 1, a first mounting arm 21 and a clamping mechanism 3, one end of the first mounting arm 21 is rotatably mounted along the axis of the first direction extending relative to the hydraulic telescopic column 1, the clamping mechanism 3 is installed on the other end of the first mounting arm 21, the clamping mechanism 3 includes an installation plate 31 extending in the second direction and two clamping parts 32 extending in the first direction, one end of each of the two clamping parts 32 is respectively connected with both ends of the installation plate 31 and can move towards each other in the second direction to complete the clamping action and move away from each other to release the clamping action, one end of one of the two clamping parts 32 is also connected with an elastic member 3221, the end of the elastic member 3221 away from one of the two clamping parts 32 is connected with a push plate 3222, the end of the push plate 3222 away from the elastic member 3221 is provided with a plurality of supporting rods 3224 arranged in the third direction and rotatably mounted relative to the other end of one of the two clamping parts 32.

[0043] In the technical scheme provided by the present application, the elastic member 3221 and the push plate 3222 are arranged on the clamping part 32. When it is necessary to clamp and stack the goods on the conveying line, it is necessary to ensure the stability of the goods during conveying to the stacking position after clamping. Therefore, the two clamping parts 32 are first arranged on both sides of the goods and clamped. One of the two clamping parts 32 moves towards the goods with the push plate 3222. When the push plate 3222 contacts the goods and continues to move towards the goods, the push plate 3222 generates a force towards the goods. At this time, the goods also generate a reaction force away from the goods on the push plate 3222. The reaction force pushes the push plate 3222 to compress the elastic member 3221. The end of the push plate 3222 away from the elastic member 3221 is provided with a plurality of supporting rods 3224 arranged at intervals and rotatably connected to the other end of one of the two clamping parts 32. When the two clamping parts 32 are arranged on both sides of the goods, the supporting rods 3224 pass through the gap of the conveying line where the goods are located and are arranged below the conveying line to support the goods. When the push plate 3222 is compressed by the goods, it rotates relative to the other end of one of the two clamping parts 32, thereby driving the supporting rods 3224 to rotate to the bottom of the goods and support the goods. When it is necessary to release the clamping action, the two clamping parts 32 move away from the goods. The push plate 3222 rotates away from the elastic member 3221 under the action of the elastic force of the elastic member 3221, thereby driving the supporting rods 3224 to rotate back to the original position, thereby completing the stacking of the goods. The clamping mechanism 3 of the present application not only ensures the stability of the clamped goods, but also has a simple structure and is easy to operate. It does not need to increase a control system to control the supporting rods 3224, thereby reducing the cost.

[0044] In the embodiment, each of the clamping parts 32 comprises a fixed plate 321 and a clamping plate 322, one end of each of the two fixed plates 321 is fixedly connected with one end of the mounting plate 31 and extends along the first direction, an electric push rod 3211 is mounted on the side of each of the two fixed plates 321 close to each other, the clamping plate 322 extending along the first direction is mounted on the end of each of the two electric push rods 3211 away from the fixed plate 321, one end of one of the two clamping plates 322 is fixedly connected with one end of the elastic piece 3221, the push plate 3222 is fixedly connected with the other end of the elastic piece 3221, and the other end of the push plate 3222 away from the elastic piece 3221 is rotatably mounted to the other end of one of the two clamping plates 322. When clamping the goods on the production line, the two clamping parts 32 of the clamping mechanism 3 need to move linearly towards the goods, so the electric push rod 3211 which is easy to operate is mounted on the side of each of the two fixed plates 321 close to each other, the rotation speed and direction of the motor are controlled to drive the two clamping plates 322 to move linearly, which greatly reduces the operation difficulty; the clamping force of the two clamping plates 322 needs to be consistent, the two electric push rods 3211 have high repetition accuracy, which can ensure that the position and force of the two clamping plates 322 clamping the goods remain consistent during movement, thereby ensuring the stability of the goods clamped for stacking; when installing the clamping and overturning mechanism 33, if the clamping and overturning mechanism 33 is installed on the clamping part 32 and moves together with the clamping part 32 when clamping the goods, it will inevitably increase the burden of the clamping mechanism 3 or the clamping part 32, and also limits the size of the clamping and overturning mechanism 33, so that it does not affect the movement of the clamping part 32, the electric push rod 3211 is used to drive the clamping plate 322 to move, and the clamping and overturning mechanism 33 is installed on the side of the fixed plate 321 away from the electric push rod 3211, which facilitates the movement of the clamping plate 322 and does not increase the additional load of the clamping plate 322.

[0045] Further, one of the two clamping plates 322 comprises a first main plate extending along the third direction and two first sub-plates extending along the first direction, one end of the two first sub-plates is respectively fixedly connected to the two ends of the first main plate away from the outer surface of the mounting plate 31 and is formed with a receiving space, the push plate 3222 comprises a second main plate extending along the first direction and a second sub-plate extending along the first direction, one end of the second sub-plate is fixedly connected to the end of the second main plate close to the mounting plate 31, both ends of the elastic member 3221 are respectively fixedly connected to the first main plate and the second sub-plate, the receiving space is used to make the second main plate between the two sub-plates when the two clamping parts 32 complete the clamping action, and the surface of the second main plate in the second direction is parallel to the surface of the first main plate in the second direction. In order to ensure that the two clamping plates 322 have more movement space, and further make the two clamping plates 322 have more activity space to adapt to the clamping of more size goods without changing the length of the mounting plate 31 and the installation position and distance of the two fixed plates 321, the surface of the push plate 3222 needs to be parallel to the surface of one of the two clamping plates 322 in the second direction and be in the receiving space when the clamping mechanism 3 completes the clamping action, that is, the center line of the push plate 3222 is substantially coincided with the center line of one of the two clamping plates 322, which improves the space utilization of the two clamping parts 32.

[0046] In the embodiment, the other end of one of the two clamping portions 32 is provided with a transmission mechanism, which comprises a mounting box 3223, two protrusions, a first mounting rod 3225 and two second mounting rods 3226. The mounting box 3223 is arranged on the side of one of the two clamping portions 32 and extends in the first direction. The mounting box 3223 is internally provided with a transmission portion. The two protrusions are arranged on the other end face of one of the two clamping portions 32 and are spaced apart in the third direction. The first mounting rod 3225 extends along the third direction and is rotatably mounted between the two protrusions. The first mounting rod 3225 is provided with a plurality of supporting rods 3224 which are spaced apart along the third direction. The two second mounting rods 3226 extend along the third direction. One end of each of the two second mounting rods 3226 is correspondingly mounted to the two sides of the push plate 3222. The other end of each of the two second mounting rods 3226 is correspondingly rotatably mounted relative to the two protrusions. One end of the first mounting rod 3225 penetrates one end of one of the two protrusions and is drivingly connected with the transmission portion in the mounting box 3223. The other end of one of the two second mounting rods 3226 penetrates the other end of one of the two protrusions and is drivingly connected with the transmission portion, so that when the two clamping portions 32 complete the clamping action, the plurality of supporting rods 3224 are rotated from the position parallel to one of the two clamping portions 32 to the position parallel to the mounting plate 31.When the pushing plate 3222 rotates relative to the other end of one of the two clamping plates 322 without the transmission part, it drives the plurality of supporting rods 3224 to rotate by the same angle. When the plurality of supporting rods 3224 are in the horizontal position, they can better support the goods and keep the goods stable. In order to make the plurality of supporting rods 3224 be in the horizontal position, the plurality of supporting rods 3224 are inclined downward before the clamping mechanism 3 performs the clamping action, and the free ends of the plurality of supporting rods 3224 are all directed to the middle of the mounting plate 31. Thus, the smaller gap between the goods on the production line and the conveying table cannot be inserted into the lower part of the production line to support the goods, and the mounting plate 31 needs to be larger in size to make the distance between the plurality of supporting rods 3224 of one of the two clamping plates 322 and the other one of the two clamping plates 322 larger to adapt to the size of the goods. By setting the transmission part, due to the speed amplification effect of the transmission part, the pushing plate 3222 can drive the plurality of supporting rods 3224 on the first mounting rod 3225 to rotate by a larger angle when rotating by a smaller angle. Thus, the plurality of pushing rods can be in the vertical position before the clamping mechanism 3 performs the clamping action, thereby being able to insert into the smaller gap and adapt to more sizes of the goods, and also improving the efficiency of the clamping action of the clamping mechanism 3.

[0047] Further, the transmission part comprises a driving sprocket 32231, a driven sprocket 32233 and a chain 32232, the driving sprocket 32231 is drivingly connected with one end of the first mounting rod 3225, the driven sprocket 32233 is drivingly connected with the other end of one of the second mounting rods 3226, the chain 32232 is installed between the driving sprocket 32231 and the driven sprocket 32233, the number of teeth of the driving sprocket 32231 is 3-9 times of the number of teeth of the driven sprocket 32233. The torque of the pressing plate 3222 is transmitted to the plurality of supporting rods 3224 through the meshing of the driving sprocket 32231 and the driven sprocket 32233 with the chain 32232, so that the plurality of supporting rods 3224 rotate with the pressing plate 3222, wherein the number of teeth of the driving sprocket 32231 is set to be 3-9 times of the number of teeth of the driven sprocket 32233, so that the rotation speed of the driven sprocket 32233 is increased to three times or even nine times of the rotation speed of the driving sprocket 32231, thereby the pressing plate 3222 can make the plurality of supporting rods 3224 generate a larger rotation angle with a smaller rotation angle of the pressing plate 3222. It can be understood that, with the chain 32232, the rotation direction of the driven sprocket 32233 can be consistent with the rotation direction of the driving sprocket 32231, thereby without increasing some mechanical parts to make the rotation direction of the driven sprocket 32233 consistent with the rotation direction of the driving sprocket 32231, the cost is reduced and the space occupied by the mounting box 3223 is saved; in some embodiments, the transmission part can further comprise three gears meshing with each other in the first direction, the three gears comprise two large gears and one small gear or one large gear and two small gears, wherein the number of teeth of the large gear is more than the number of teeth of the small gear, and the pressing plate 3222 can still make the plurality of supporting rods 3224 generate a larger rotation angle with a smaller rotation angle of the pressing plate 3222.

[0048] Further, both the clamping parts 32 are provided with the elastic member 3221, the pressing plate 3222, the mounting box 3223 and the plurality of supporting rods 3224. In this way, both the pressing plates 3222 and the plurality of supporting rods 3224 on both sides of the mounting plate 31 can move towards the direction close to the goods at the same time, so that the plurality of supporting rods 3224 on both sides of the mounting plate 31 can support the bottom of the goods, which not only improves the clamping efficiency, but also makes the clamping of the goods more stable.

[0049] In the embodiment, the other end of the first mounting arm 21 is provided with a second mounting arm, one end of the second mounting arm 22 is rotatably mounted relative to the axis along which the other end of the first mounting arm 21 extends in the first direction, the other end of the second mounting arm 22 is fixedly connected with a connecting arm 23, and the clamping mechanism 3 is rotatably mounted relative to the axis along which the connecting arm 23 extends in the first direction. By arranging the second mounting arm 22, the activity range of the palletizing robot 100 can be increased, and the goods can be palletized in a larger range. By rotatably mounting the clamping mechanism 3 relative to the axis along which the connecting arm 23 extends in the first direction, the goods clamped by the clamping mechanism 3 can be rotated in a smaller space, and the orientation of each surface of the goods can be adjusted.

[0050] In an embodiment, the clamping mechanism 3 further comprises a clamping and overturning mechanism 33, the clamping and overturning mechanism 33 comprises a connecting plate 331 and a double-claw air cylinder 332, the connecting plate 331 is mounted on one of the two fixed plates 321 away from the surface of the other of the two fixed plates 321 in the second direction, a motor 3311 is mounted on the connecting plate 331, the motor 3311 extends from the inside of the connecting plate 331 to the outside of the connecting plate 331 in the second direction, and the double-claw air cylinder 332 is rotatably mounted relative to the motor 3311. Two clamping jaws 3322 of the double-claw air cylinder 332 are each provided with a clamping jaw plate extending in the first direction, and two clamping arm 3323 extending in the second direction are arranged on the two clamping jaw plates respectively away from one end of the two clamping jaws in the first direction. When it is necessary to overturn the goods up and down, the clamping and overturning mechanism 33 is mounted on one of the two fixed plates 321. The clamping and overturning mechanism 33 can not only overturn the goods up and down by the action of the double-claw air cylinder 332, but also can clamp and palletize longer goods extending in the first direction.

[0051] Further, an annular plate 3321 is fixedly connected to the end face of the double-claw air cylinder 332 close to the motor 3311, an annular groove is arranged on the connecting plate 331, and the annular plate 3321 is inserted into and slidably arranged in the annular groove. By arranging the annular groove and the annular plate 3321, the motor 3311 can share the gravity from the double-claw air cylinder 332 and the goods, the load of the motor 3311 can be reduced, the motor 3311 can be prevented from being damaged, and the rotation of the double-claw air cylinder 332 driven by the motor 3311 can be more stable.

[0052] The application further provides an automatic stacking method of the stacking mechanical arm 100, which comprises three steps of controlling the clamping mechanism 3 to move to a material taking position, the clamping mechanism 3 to complete a clamping action and move to a material placing position, and the clamping mechanism 3 to release the clamping action. Specifically, when the goods on the production line need to be stacked, the second mounting arm 22 rotates relative to the axis along which the other end of the first mounting arm 21 extends in the first direction and rotates to a position where the clamping mechanism 3 is above the goods, the hydraulic telescopic column 1 is activated downward to place the goods between the two clamping plates 322, the two clamping plates 322 are both moved toward the goods, and the plurality of supporting rods 3224 are also rotated to support the bottom of the goods. After the clamping of the goods is completed, the hydraulic telescopic column 1 is activated upward to drive the clamping mechanism 3 to rise, and then the clamping mechanism 3 is above the material placing position under the joint action of the first mounting arm 21 and the second mounting arm 22. Finally, the stacking of the goods is completed under the action of the hydraulic telescopic column 1 and the clamping mechanism 3. When the goods or the erected long goods need to be turned over, the second mounting arm 22 drives the clamping and overturning mechanism 33 to move to the middle side of the goods or the erected long goods, and then the two clamping arms 3323 of the double-claw air cylinder 332 clamp the middle part of the goods or the erected long goods, and then the motor 3311 is controlled to drive the double-claw air cylinder 332 to rotate to complete the overturning of the goods or the erected long goods.

[0053] The above description is only the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made according to the content of the specification and drawings of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A palletizing robot characterized by comprising: The palletizing mechanical arm comprises: a hydraulic telescopic column; a first mounting arm, one end of which is rotatably mounted along an axis extending in a first direction relative to the hydraulic telescopic column; and a clamping mechanism, mounted at the other end of the first mounting arm, comprising a mounting plate extending in a second direction and two clamping portions extending in the first direction, one end of each of the two clamping portions being connected to the two ends of the mounting plate respectively and movable towards each other in the second direction to complete a clamping action and move away from each other to release the clamping action, one end of one of the two clamping portions being further connected to an elastic member, one end of the elastic member away from one end of one of the two clamping portions being connected to a push plate, and one end of the push plate away from the elastic member being provided with a plurality of supporting rods arranged in a third direction and rotatably mounted relative to the other end of one of the two clamping portions; the other end of one of the two clamping portions is provided with a transmission mechanism, the transmission mechanism comprising: a mounting box provided on the side of one of the two clamping portions and extending in the first direction, the mounting box being provided with a transmission portion inside; two protrusions provided on the end face of the other end of one of the two clamping portions and arranged in the third direction; a first mounting rod extending in the third direction and rotatably mounted between the two protrusions, the first mounting rod being provided with a plurality of supporting rods arranged in the third direction; and two second mounting rods extending in the third direction, one end of each of the two second mounting rods being rotatably mounted on the two sides of the push plate respectively, and the other end of each of the two second mounting rods being rotatably mounted relative to the two protrusions respectively; wherein one end of the first mounting rod is drivingly connected to the transmission portion in the mounting box through one end of one of the two protrusions, and the other end of one of the two second mounting rods is drivingly connected to the transmission portion through the other end of one of the two protrusions, so that when the two clamping portions complete the clamping action, the plurality of supporting rods rotate from a position parallel to one of the two clamping portions to a position parallel to the mounting plate; the transmission portion comprises a driving sprocket, a driven sprocket and a chain, the driving sprocket is drivingly connected to one end of the first mounting rod, the driven sprocket is drivingly connected to the other end of one of the two second mounting rods, the chain is mounted between the driving sprocket and the driven sprocket, and the number of teeth of the driving sprocket is 3-9 times the number of teeth of the driven sprocket.

2. The palletizing robot according to claim 1, characterized in that Each of the two clamping portions comprises a fixed plate and a clamping plate, one end of each of the two fixed plates is fixedly connected to the two ends of the mounting plate respectively and extends in the first direction, an electric push rod is mounted on the side of each of the two fixed plates close to each other, the clamping plate extending in the first direction is mounted on one end of each of the two electric push rods away from the two fixed plates respectively, one end of one of the two clamping plates is fixedly connected to one end of the elastic member, the other end of the elastic member is fixedly connected to the push plate, and one end of the push plate away from the elastic member is rotatably mounted relative to the other end of one of the two clamping plates.

3. The palletizing robot according to claim 2, characterized in that One of the two clamping plates comprises a first main plate extending along the third direction and two first sub-plates extending along the first direction, one end of the two first sub-plates is respectively fixedly connected to the outer surfaces of the two ends of the first main plate away from the mounting plate in the first direction and is formed with a receiving space, the push plate comprises a second main plate extending along the first direction and a second sub-plate extending along the first direction, one end of the second sub-plate is fixedly connected to one end of the second main plate close to the mounting plate, two ends of the elastic member are respectively fixedly connected to the first main plate and the second sub-plate, the receiving space is used to make the second main plate between the two sub-plates when the two clamping parts complete the clamping action, and the surface of the second main plate in the second direction is parallel to the surface of the first main plate in the second direction.

4. The palletizing robot according to claim 1, characterized in that, The two clamping parts are respectively provided with the elastic member, the push plate, the mounting box and the plurality of supporting rods.

5. The palletizing robot according to claim 1, wherein The other end of the first mounting arm is provided with a second mounting arm between the clamping mechanism, one end of the second mounting arm is rotatably mounted relative to the axis extending in the first direction of the other end of the first mounting arm, the other end of the second mounting arm is fixedly connected with a connecting arm, and the clamping mechanism is rotatably mounted relative to the axis extending in the first direction of the connecting arm.

6. The palletizing robot according to claim 2, wherein The clamping mechanism further comprises a clamping and overturning mechanism, the clamping and overturning mechanism comprises: A connecting plate is mounted on one of the two fixed plates away from the surface of the other one of the two fixed plates in the second direction, a motor is mounted on the connecting plate, the motor extends from the inside of the connecting plate along the second direction and penetrates out of the connecting plate; and A double-claw air cylinder is rotatably mounted relative to the motor, two claws of the double-claw air cylinder are respectively provided with a claw plate extending along the first direction, and two claw plates are respectively provided with a clamping arm extending in the second direction away from one end of the two claws in the first direction.

7. The palletizing robot according to claim 6, characterized in that One end face of the double-claw air cylinder close to the motor is fixedly connected with an annular plate, the connecting plate is provided with an annular groove, the annular plate is inserted into the annular groove and is slidably arranged in the annular groove.

8. An automatic palletizing method of a palletizing robot for the palletizing robot according to any one of claims 1 to 7, characterized by, It comprises: Controlling the clamping mechanism to move to a material taking position; The clamping mechanism completes the clamping action and controls it to move to a material placing position; The clamping mechanism releases the clamping action.

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