Stacking robot

Abstract

The application discloses a stacking manipulator and relates to the technical field of manipulators.The stacking manipulator comprises a top plate, a clamping mechanism arranged below the top plate, a threaded rod arranged at the bottom of the top plate, a first motor arranged at one end of the threaded rod, and two sections of threads arranged on the surface of the threaded rod.The stacking manipulator is characterized in that when the pushing plate moves upwards, the rack plate and the gear are engaged together, the connecting spring is extruded, the gear rotates, the upper roller and the lower roller simultaneously rotate through the rotation of the gear, the rotating rod moves, the rotating rod penetrates the slot, the width of the slot is greater than the diameter of the rotating rod, the rotating rod can move in the slot, and when the pushing plate is loosened, the rotating rod moves in the opposite direction, moves to the lower surface of the material, supports the material, and prevents the material from falling during the carrying process.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically a palletizing robotic arm. Background Technology

[0002] Palletizing refers to the neat and orderly stacking of items from bottom to top. In existing technologies, when gripping items, the existing robotic arms fix the sides of the items without supporting the bottom, making the items prone to falling and unable to complete the palletizing work.

[0003] For example, patent application number CN201720297562.6, this invention realizes the mechanical palletizing operation of waste metal bags, which greatly reduces the labor intensity of operators and improves the safety of personnel during operation. It has the advantages of reasonable design, convenient use and high palletizing efficiency. When in use, the existing robotic arms fix the sides of the items without supporting the bottom of the items, which makes the items easy to fall and unable to complete the palletizing work.

[0004] For example, patent application number CN202320094636.1, this invention belongs to the field of palletizing technology, and in particular relates to a palletizing robot. This invention can push the connecting column connected to it to move upward by activating an electric telescopic rod. During this process, the limiting column can move along the spiral guide groove opened on the periphery of the fixed tube, and the limiting column can drive the connecting column to rotate, thereby controlling the connecting column and the mechanical gripper to turn, which facilitates the gripping and stacking of products, and can further expand the gripping range of the palletizing robot. In use, existing robots fix the sides of the items without supporting the bottom of the items, which makes the items easy to fall and unable to complete the palletizing work. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a palletizing robot that solves the problem that existing robots fix the sides of the item without supporting the bottom, making the item prone to falling and unable to complete the palletizing work.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a palletizing robot, comprising a top plate, a clamping mechanism disposed below the top plate, a threaded rod disposed at the bottom of the top plate, a first motor disposed at one end of the threaded rod, the thread on the surface of the threaded rod being configured as two segments with the two segments of thread being arranged in opposite directions, an electric push rod disposed below the first motor, and a vertical plate disposed at the bottom of one end of the top plate.

[0007] The clamping mechanism includes a fixed plate, a clamping plate at the bottom of the fixed plate, a groove on one side surface of the clamping plate, a connecting spring inside the groove, a lifting plate at the bottom of the connecting spring and movably connected to the groove, a pushing plate on the side of the lifting plate away from the clamping plate, a slot on the surface of the pushing plate, a rack plate at the top of the pushing plate, a gear on one side of the top of the rack plate meshing with the rack plate, a rotating rod at the bottom of the clamping plate, and a lower roller on the outer side of one end of the rotating rod.

[0008] Preferably, an upper roller is provided above the lower roller, and the upper roller is connected to the lower roller via a conveyor belt, and a horizontal plate is provided at the bottom of the clamping plate.

[0009] Preferably, a connecting rod is provided on the top front of the clamping plate, and the connecting rod is movably connected to the upper roller.

[0010] Preferably, the upper roller is fixedly connected to the gear, and the number of connecting springs is multiple.

[0011] Preferably, the width of the slot is greater than the diameter of the rotating rod, and the rotating rod passes through the horizontal plate and is threadedly connected to the horizontal plate.

[0012] Preferably, a second motor is provided at the bottom end of the vertical plate, and a moving rod is provided at the bottom of one end of the top plate.

[0013] Preferably, the top end of the moving rod is fixedly connected to the top plate, and the bottom end of the moving rod extends into the interior of the vertical plate and is movably connected to the vertical plate. Beneficial effects

[0014] This invention provides a palletizing robot. Compared with the prior art, it has the following advantages:

[0015] 1. This palletizing robot uses an upward-moving push plate to engage a rack and pinion gear, which in turn compresses a connecting spring, causing the gear to rotate. This rotation causes the upper and lower rollers to rotate simultaneously, resulting in the movement of a rotating rod. The rotating rod passes through a slot, and the width of the slot is greater than the diameter of the rotating rod, allowing it to move within the slot. When the push plate is released, the rotating rod moves in the opposite direction, positioning itself under the material to support it and prevent it from falling during transport.

[0016] 2. This palletizing robot uses a first motor to drive a threaded rod to rotate. The thread on the surface of the threaded rod is set in two segments with opposite threads. The threaded rod passes through two fixed plates and is threadedly connected to the fixed plates. The rotation of the threaded rod causes the two fixed plates to move simultaneously and increases the distance between the two fixed plates, which facilitates the subsequent feeding of materials between the clamping plates and can accommodate materials of different widths. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a side view of the clamping mechanism of the present invention;

[0019] Figure 3 For the present invention Figure 2 Enlarged view of part A in the image;

[0020] Figure 4 This is a schematic diagram of the clamping plate and rotating rod of the present invention;

[0021] Figure 5 This is a top view of the motion rod and vertical plate of the present invention.

[0022] In the diagram: 1. Top plate; 2. Clamping mechanism; 201. Fixed plate; 202. Clamping plate; 203. Groove; 204. Connecting spring; 205. Lifting plate; 206. Pushing plate; 207. Slot; 208. Rack plate; 209. Gear; 210. Rotating rod; 211. Lower roller; 212. Upper roller; 213. Horizontal plate; 214. Connecting rod; 3. Threaded rod; 4. First motor; 5. Electric push rod; 6. Vertical plate; 7. Second motor; 8. Moving rod. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figure 1-4 The present invention provides a technical solution: a palletizing robot, including a top plate 1, a clamping mechanism 2 arranged below the top plate 1, a threaded rod 3 arranged at the bottom of the top plate 1, a first motor 4 arranged at one end of the threaded rod 3, the thread on the surface of the threaded rod 3 is configured as two segments, and the two segments of thread are arranged in opposite directions, an electric push rod 5 is arranged below the first motor 4, and a vertical plate 6 is arranged at the bottom of one end of the top plate 1.

[0025] The clamping mechanism 2 includes a fixed plate 201, a clamping plate 202 at the bottom of the fixed plate 201, a groove 203 on one side surface of the clamping plate 202, a connecting spring 204 inside the groove 203, a lifting plate 205 at the bottom of the connecting spring 204, and the lifting plate 205 is movably connected to the groove 203. A pushing plate 206 is provided on the side of the lifting plate 205 away from the clamping plate 202, a slot 207 is provided on the surface of the pushing plate 206, a rack plate 208 is provided on the top of the pushing plate 206, a gear 209 is provided on one side of the top of the rack plate 208, the gear 209 meshes with the rack plate 208, a rotating rod 210 is provided at the bottom of the clamping plate 202, and a lower roller 211 is provided on the outer side of one end of the rotating rod 210.

[0026] An upper roller 212 is provided above the lower roller 211, and the upper roller 212 is connected to the lower roller 211 via a conveyor belt. A horizontal plate 213 is provided at the bottom of the clamping plate 202, and a connecting rod 214 is provided on the front top of the clamping plate 202. The connecting rod 214 is movably connected to the upper roller 212.

[0027] The upper roller 212 is fixedly connected to the gear 209. There are multiple connecting springs 204. The width of the slot 207 is greater than the diameter of the rotating rod 210. The rotating rod 210 passes through the horizontal plate 213 and is threadedly connected to the horizontal plate 213.

[0028] A second motor 7 is provided at the bottom of the vertical plate 6, and a moving rod 8 is provided at the bottom of one end of the top plate 1. The top end of the moving rod 8 is fixedly connected to the top plate 1, and the bottom end of the moving rod 8 extends into the interior of the vertical plate 6 and is movably connected to the vertical plate 6.

[0029] During operation, the first motor 4 is used first. Since the output shaft of the first motor 4 is connected to the threaded rod 3, the first motor 4 drives the threaded rod 3 to rotate. The thread on the surface of the threaded rod 3 is set in two segments, and the two segments are set in opposite directions. The threaded rod 3 passes through the two fixed plates 201 and is threadedly connected to the fixed plates 201. The rotation of the threaded rod 3 causes the two fixed plates 201 to move simultaneously, and the distance between the two fixed plates 201 is increased, which facilitates the subsequent feeding of materials between the clamping plates 202. The push plate 206 is moved upward by manual means. Since the lifting plate 205 and the groove 203 are fixedly connected to the push plate 206, the push plate 206 is movable. The moving connection causes the lifting plate 205 to move and move within the groove 203, compressing the connecting spring 204 within the groove 203 and causing it to deform. Simultaneously, as the pushing plate 206 moves upward, the rack plate 208 on the pushing plate 206 moves upward, meshing with the gear 209 and causing the gear 209 to rotate. Since the gear 209 is fixedly connected to the upper roller 212, the upper roller 212 also rotates. Because the upper roller 212 is connected to the lower roller 211 via a conveyor belt, the lower roller 211 also rotates. Furthermore, the upper roller 212 and the horizontal plate... The 213 movable connection ensures the rotation of the upper roller 212. When the lower roller 211 rotates, because the rotating rod 210 passes through and is threadedly connected to the lower roller 211, the rotation of the lower roller 211 causes the threaded rod 3 to move, thus moving the rotating rod 210 and increasing the distance between the two rotating rods 210. This does not obstruct the clamping of the material. Furthermore, the rotating rod 210 passes through the slot 207, and the width of the slot 207 is greater than the diameter of the rotating rod 210, allowing the rotating rod 210 to move within the slot 207, ensuring the movement of the rotating rod 210. When the material is located between the two clamping plates 202... During this process, the first motor 4 is used again to narrow the gap between the two clamping plates 202 to fix the material. Then, the electric push rod 5 is used to move the top plate 1 and the material below upward. At this time, the push plate 206 is released, and the push plate 206 is automatically moved by the connecting spring 204, causing the rotating rod 210 to move in the opposite direction and move to the bottom of the material to support the material and prevent it from falling during transportation. The second motor 7 is used to rotate the upper vertical plate 6 and the material, and the electric push rod 5 moves the material upward to stack the material.

[0030] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

Claims

1. A palletizing robot, comprising a top plate (1), characterized in that: A clamping mechanism (2) is provided below the top plate (1), a threaded rod (3) is provided at the bottom of the top plate (1), a first motor (4) is provided at one end of the threaded rod (3), the thread on the surface of the threaded rod (3) is configured as two segments, and the two segments of the thread are configured in opposite directions, an electric push rod (5) is provided below the first motor (4), and a vertical plate (6) is provided at the bottom of one end of the top plate (1). The clamping mechanism (2) includes a fixed plate (201), a clamping plate (202) is provided at the bottom of the fixed plate (201), a groove (203) is provided on one side surface of the clamping plate (202), a connecting spring (204) is provided inside the groove (203), a lifting plate (205) is provided at the bottom of the connecting spring (204), and the lifting plate (205) is movably connected to the groove (203), the lifting plate (205) being away from the clamping plate (202). A push plate (206) is provided on one side of the clamping plate (202), and a groove (207) is provided on the surface of the push plate (206). A rack plate (208) is provided on the top of the push plate (206), and a gear (209) is provided on one side of the top of the rack plate (208). The gear (209) meshes with the rack plate (208). A rotating rod (210) is provided at the bottom of the clamping plate (202), and a lower roller (211) is provided on the outer side of one end of the rotating rod (210). An upper roller (212) is provided above the lower roller (211), and the upper roller (212) is connected to the lower roller (211) via a conveyor belt. A horizontal plate (213) is provided at the bottom of the clamping plate (202). The upper roller (212) is fixedly connected to the gear (209), and there are multiple connecting springs (204); The width of the slot (207) is greater than the diameter of the rotating rod (210), which passes through the horizontal plate (213) and is threadedly connected to the horizontal plate (213).

2. The palletizing robot according to claim 1, characterized in that: A connecting rod (214) is provided on the top front of the clamping plate (202), and the connecting rod (214) is movably connected to the upper roller (212).

3. A palletizing robot according to claim 1, characterized in that: The bottom end of the vertical plate (6) is provided with a second motor (7), and the bottom end of one end of the top plate (1) is provided with a moving rod (8).

4. A palletizing robot according to claim 3, characterized in that: The top end of the moving rod (8) is fixedly connected to the top plate (1), and the bottom end of the moving rod (8) extends into the interior of the vertical plate (6) and is movably connected to the vertical plate (6).

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