A high-efficiency palletizing robot fixture

Abstract

The invention discloses a high-efficiency palletizing robot clamp, which belongs to the technical field of palletizing robot clamps. The following scheme is proposed, which includes a palletizing robot mounting base, on which a clamping structure is arranged; by arranging a rolling structure and an adjusting structure, the pushing structure pushes the movable plate to move, so that the second pushing block and the first pushing block drive the first rotating roller and the second rotating roller to move out of the second clamping plate through the first mounting frame and the second mounting frame, and under the auxiliary rolling action of the wedge surface at the end of the second clamping plate and the first rotating roller and the second rotating roller, the friction resistance between the object and the clamping surface is greatly reduced, and the object is realized to slide quickly and smoothly to the surface of the second clamping plate, which significantly improves the grasping efficiency, avoids wear on the first clamping plate, the second clamping plate and the surface of the object, and avoids the object from being offset during grasping, and has strong stability.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing robot clamps, and in particular to a high-efficiency palletizing robot clamp. Background Art

[0002] As a key component of the palletizing robot system, the palletizing robot fixture undertakes the important task of accurately grasping, carrying and fixing objects of various shapes, sizes and weights. It is an end effector specially designed according to the characteristics of the grasped object (such as shape, size, weight, material, etc.), with a variety of structural forms, such as clamp type, suction cup type, simulated multi-finger type, etc., to meet the palletizing needs of different materials.

[0003] For example, the patent number disclosed in the China Patent Network is: CN114955529B, and the patent name is: High-efficiency palletizing robot fixture, including a cover plate fixed on the end of the robot arm, the lower surface of the cover plate is fixedly connected to four support plates, the bottoms of the four support plates are fixedly connected to the bottom plate, two of the centrally symmetrical bottom plates are fixedly connected to electric push rods on the fixed axis, the end of the output shaft on the electric push rod is fixedly connected to the transmission shaft, the end of the transmission shaft away from the electric push rod is fixedly connected to the connecting seat, the inner wall of the connecting seat is rotatably connected to a clamping arm 1 through a pin, the surface of the clamping arm 1 is penetrated and fixedly connected to a synchronous shaft, the surface of the synchronous shaft penetrates the bottom plate and is rotationally connected to the bottom plate, and the synchronous shaft is fixedly connected to a clamping arm 2 of the same size as the clamping arm 1 and arranged linearly in the axial direction. This invention solves the problem that the clamping force of the existing palletizing robot fixture is not balanced and the palletizing efficiency is low easily through the coordinated use of the above structures.

[0004] Traditional palletizing robot clamps, such as the above patent, generally use mechanical grasping directly through the clamping arm when performing object clamping and shipping tasks. However, this method has significant limitations when facing objects placed on the ground or other planes. Specifically, when the clamping arm tries to extend between the object and the ground, it will inevitably be hindered by the friction from the bottom of the object. This friction not only increases the difficulty of the clamping arm's advancement, but may also cause the initial position of the object before clamping to deviate, thereby increasing the complexity and uncertainty of the clamping operation.

[0005] More importantly, due to the existence of friction, the clamping arm needs to consume more energy and time to overcome this resistance in the process of trying to stably clamp the object, which directly reduces the efficiency of the palletizing robot clamp in grasping the object. In addition, the friction may also cause wear on the clamping arm and the surface of the object, further affecting the service life and operation accuracy of the clamp, which has certain limitations. In response to the above problems, the present invention document proposes a high-efficiency palletizing robot clamp. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings existing in the prior art, and to propose a high-efficiency palletizing robot clamp that can reduce the friction resistance between the object and the clamping surface, realize the rapid and smooth sliding of the object to the surface of the second clamping plate, significantly improve the grasping efficiency, avoid wear on the first clamping plate, the second clamping plate and the surface of the object, and avoid the deviation of the object during grasping, and has strong stability.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A high-efficiency palletizing robot fixture comprises a palletizing robot mounting base, a clamping structure is arranged on the palletizing robot mounting base, a rolling structure for assisting material loading and an adjusting structure for pushing the rolling structure to perform lifting and lowering movements are arranged on the clamping structure, an elastic structure and a pushing structure are arranged on the clamping structure, and the elastic structure and the pushing structure cooperate with each other to drive the adjusting structure, an adsorption structure for adsorbing and fixing articles is installed on the clamping structure, a driving structure is arranged on the clamping structure, and the rolling structure adjusts the adsorption structure through the driving structure;

[0009] The clamping structure includes a clamping frame connected to both sides of the mounting base of the palletizing robot through a motor, a plurality of first clamping plates are fixedly connected to the bottom of the clamping frame, and a second clamping plate is connected to the bottom of the first clamping plate through a motor, and the shape of the end of the second clamping plate is set to a right-angle trapezoid, and the rolling structure includes a first mounting frame and a second mounting frame slidably connected to the inside of the second clamping plate, a plurality of first rotating rollers are rotatably connected to the top of the first mounting frame, a plurality of second rotating rollers are rotatably connected to the top of the second mounting frame, and a plurality of adjustment blocks are fixedly connected to the bottom of the first mounting frame;

[0010] The adjusting structure includes a movable plate slidably connected to the inside of the second clamping plate, a plurality of first pushing blocks are fixedly connected to the top of the movable plate, and a second pushing block is fixedly connected to a side of the movable plate close to the second mounting frame, anti-slip blocks are fixedly connected to the wedge surfaces of the first pushing block and the second pushing block, and the first pushing block and the second pushing block are respectively slidably connected to the second mounting frame and the adjusting block through the anti-slip blocks on the surface.

[0011] Preferably, a limiting plate is fixedly connected to the first clamping plate, and the limiting plate is fitted with the adjacent second clamping plate to support and limit the second clamping plate.

[0012] Preferably, the pushing structure includes a connecting plate slidably connected to the inside of the second clamping plate, the end of the connecting plate is rotatably connected to a pushing plate, and the end of the pushing plate away from the connecting plate is rotatably connected to the movable plate. When the second clamping plate rotates, the first clamping plate automatically squeezes the connecting plate, so that the pushing plate pushes the movable plate and the second pushing block to move, thereby causing the first rotating roller and the second rotating roller to extend out of the second clamping plate.

[0013] Preferably, the elastic structure includes a plurality of first vertical plates fixedly connected to the inside of the second clamping plate, a mounting sleeve fixedly connected to the side of the first vertical plate, a movable block and a connecting rod slidably connected inside the mounting sleeve, the movable block is fixedly connected to the adjacent connecting rod, the end of the connecting rod away from the movable block is fixedly connected to the second vertical plate, and the second vertical plate is fixedly connected to the first mounting frame.

[0014] Preferably, the cross-sectional shape of the connecting rod and the movable block is set to be T-shaped, a spring is fixedly connected to the movable block, one end of the spring away from the movable block is fixedly connected to the mounting sleeve, the spring is located inside the mounting sleeve, and the spring is sleeved on the outer wall of the connecting rod.

[0015] Preferably, the adsorption structure includes a plurality of adsorption cabinets fixedly connected to the inside of the second clamping plate, and a plurality of adsorption plates rotatably connected to the inside of the second clamping plate. The top of the adsorption cabinet is interconnected with the nearby adsorption plates through a corrugated hose. A sealing plate is slidably connected to the inside of the adsorption cabinet, and a sealing gasket is provided on the top of the sealing plate.

[0016] Preferably, a rubber pad is fixedly connected to the top of the adsorption plate, and a protective net is fixedly connected to the inside of the adsorption plate.

[0017] Preferably, the driving structure includes a plurality of rotating shafts rotatably connected to the inside of the second clamping plate, the outer walls of the rotating shafts are fixedly connected with a driven gear and a driving gear, the driven gear and the driving gear are respectively meshed with a driven tooth plate and a driving tooth plate, the top of the driven tooth plate is fixedly connected to a nearby sealing plate, and the top of the driving tooth plate is fixedly connected to the first mounting frame.

[0018] Preferably, the driven gear plate and the driving gear plate are located on the same side of the rotating shaft, and the diameter of the driven gear is larger than the diameter of the driving gear.

[0019] Preferably, a through hole for the driven gear plate to pass through is provided at the bottom of the adsorption cabinet, and a plurality of through holes for the driven gear plate to pass through are provided on the first mounting frame.

[0020] Compared with the prior art, the present invention provides a high-efficiency palletizing robot fixture having the following features:

[0021] Beneficial effects:

[0022] 1. The high-efficiency palletizing robot clamp is provided with a rolling structure and an adjusting structure. When an operator uses the palletizing robot clamp to grab and carry objects placed on a plane such as the ground, after the second clamping plate contacts the plane such as the ground, the second clamping plate rotates under the action of the motor on the first clamping plate, so that the first clamping plate automatically squeezes the pushing structure, and the pushing structure pushes the movable plate to move, so that the second pushing block and the first pushing block drive the first rotating roller and the second rotating roller to extend out of the second clamping plate through the first mounting frame and the second mounting frame. Under the auxiliary rolling action of the wedge surface at the end of the second clamping plate and the first rotating roller and the second rotating roller, the friction resistance between the object and the clamping surface is greatly reduced, and the object is realized. Fast and smooth sliding to the surface of the second clamping plate is achieved, the grabbing efficiency is significantly improved, and wear on the first clamping plate, the second clamping plate and the surface of the object is avoided, and the object is prevented from being offset during grabbing, and the stability is strong.

[0023] 2. The high-efficiency palletizing robot fixture is provided with an adsorption cabinet, a sealing plate and a driving structure. When the object moves to the surface of the first clamping plate and the second clamping plate, and the first clamping plate and the second clamping plate restore a parallel state, the first clamping plate releases the squeezing of the connecting plate. Under the action of the elastic structure, the first rotating roller and the second rotating roller are automatically retracted into the second clamping plate. At this time, the first mounting frame drives the active gear and the rotating shaft to rotate through the active tooth plate, so that the driven gear drives the sealing plate through the driven tooth plate to move away from the corrugated hose inside the adsorption cabinet. The rubber pad has been tightly fitted to the surface of the object due to its excellent sealing and elasticity, forming a good sealing environment. When the adsorption cabinet quickly reduces the internal air pressure to a negative pressure state, the adsorption plate uses its negative pressure effect to generate an adsorption force on the surface of the object, thereby realizing further limiting and fixing the object. This design not only enhances the stability of the object during the handling process, but also effectively prevents the object from slipping or shifting due to vibration or external force, further ensuring the high efficiency and safety of the operation of the palletizing robot fixture.

[0024] 3. The high-efficiency palletizing robot clamp is provided with a rotating adsorption plate. When the object moves to above the second clamping plate and the first clamping plate, as the first rotating roller and the second rotating roller retract into the second clamping plate, the adsorption plate is rotatably connected to the second clamping plate, so that the angle of the adsorption plate can be automatically adjusted according to the shape of the object, thereby ensuring that the rubber pad can fit closely to the object, further ensuring the adsorption and fixing effect of the adsorption plate on the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A three-dimensional view of a high-efficiency palletizing robot fixture proposed by the present invention;

[0026] Figure 2 A view of a mounting base, a first clamping plate, and a second clamping plate connection structure of the palletizing robot of the present invention;

[0027] Figure 3 A view of the connection structure of the first clamping plate, the second clamping plate and the limiting plate of the present invention;

[0028] Figure 4 A view of a cross-sectional structure of a second clamping plate of the present invention;

[0029] Figure 5 A view of the connection structure of the push plate, the connection plate, the movable plate, the first push block, the second push block and the anti-slip block of the present invention;

[0030] Figure 6 It is a bottom view of the movable plate, the second pushing block and the elastic structure connecting structure of the present invention;

[0031] Figure 7 A view of a rolling structure of the present invention;

[0032] Figure 8 A view of the connection structure of the adsorption cabinet, adsorption plate, rubber pad, corrugated hose, protection net and sealing plate of the present invention;

[0033] Fig. 9 A view of the connection structure of the first mounting frame, the first rotating roller, the adjusting block, the adsorption structure and the driving structure of the present invention;

[0034] Fig.10 It is a view of the first vertical plate, the mounting sleeve, the movable block, the connecting rod, the second vertical plate and the spring connection structure of the present invention.

[0035] In the figure: 1. Palletizing robot mounting base; 2. Clamping structure; 201. Clamping frame; 202. First clamping plate; 203. Second clamping plate; 204. Limiting plate; 3. Rolling structure; 301. First mounting frame; 302. Second mounting frame; 303. First rotating roller; 304. Second rotating roller; 305. Adjusting block; 4. Adjusting structure; 401. Movable plate; 402. First pushing block; 403. Second pushing block; 404. Anti-slip block; 5. Elastic structure; 501. First vertical plate ; 502, mounting sleeve; 503, movable block; 504, connecting rod; 505, second vertical plate; 506, spring; 6, pushing structure; 601, pushing plate; 602, connecting plate; 7, adsorption structure; 701, adsorption cabinet; 702, adsorption plate; 703, rubber pad; 704, corrugated hose; 705, protective net; 706, sealing plate; 8, driving structure; 801, rotating shaft; 802, driven gear; 803, driving gear; 804, driven gear plate; 805, driving gear plate. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0037] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] Example 1: Reference Figure 1 - Figure 8 A high-efficiency palletizing robot fixture comprises a palletizing robot mounting base 1, a clamping structure 2 is arranged on the palletizing robot mounting base 1, a rolling structure 3 for auxiliary feeding is arranged on the clamping structure 2, and an adjusting structure 4 for pushing the rolling structure 3 to perform lifting and lowering movements is arranged, an elastic structure 5 and a pushing structure 6 are arranged on the clamping structure 2, and the elastic structure 5 and the pushing structure 6 cooperate with each other to drive the adjusting structure 4, an adsorption structure 7 for adsorbing and fixing articles is installed on the clamping structure 2, a driving structure 8 is arranged on the clamping structure 2, and the rolling structure 3 adjusts the adsorption structure 7 through the driving structure 8;

[0039] The clamping structure 2 includes a clamping frame 201 which is rotatably connected to both sides of the mounting base 1 of the palletizing robot through a motor, a plurality of first clamping plates 202 are fixedly connected to the bottom of the clamping frame 201, and a second clamping plate 203 is rotatably connected to the bottom of the first clamping plate 202 through a motor, and the shape of the end of the second clamping plate 203 is set to a right-angled trapezoid, and the rolling structure 3 includes a first mounting frame 301 and a second mounting frame 302 which are slidably connected to the inside of the second clamping plate 203, a plurality of first rotating rollers 303 are rotatably connected to the top of the first mounting frame 301, a plurality of second rotating rollers 304 are rotatably connected to the top of the second mounting frame 302, and a plurality of adjusting blocks 305 are fixedly connected to the bottom of the first mounting frame 301;

[0040] The adjustment structure 4 includes a movable plate 401 slidably connected to the inside of the second clamping plate 203, a plurality of first pushing blocks 402 are fixedly connected to the top of the movable plate 401, and a second pushing block 403 is fixedly connected to the side of the movable plate 401 close to the second mounting frame 302, and anti-slip blocks 404 are fixedly connected to the wedge surfaces of the first pushing block 402 and the second pushing block 403, and the first pushing block 402 and the second pushing block 403 are respectively slidably connected to the second mounting frame 302 and the adjustment block 305 through the anti-slip blocks 404 on the surface.

[0041] In the present invention, a limiting plate 204 is fixedly connected to the first clamping plate 202. After the limiting plate 204 is fitted with the adjacent second clamping plate 203, the second clamping plate 203 is supported and limited. By setting the limiting plate 204, when the second clamping plate 203 is rotated to a state of close fitting with the limiting plate 204, the limiting plate 204 can support and limit the second clamping plate 203, thereby ensuring the stability of the connection between the first clamping plate 202 and the second clamping plate 203.

[0042] In the present invention, the pushing structure 6 includes a connecting plate 602 slidably connected to the inside of the second clamping plate 203, the end of the connecting plate 602 is rotatably connected to the pushing plate 601, and the end of the pushing plate 601 away from the connecting plate 602 is rotatably connected to the movable plate 401. When the second clamping plate 203 rotates, the first clamping plate 202 automatically squeezes the connecting plate 602, so that the pushing plate 601 pushes the movable plate 401 and the second pushing block 403 to move, thereby making the first rotating roller 303 and the second rotating roller 304 extend out of the second clamping plate 203. The elastic structure 5 includes a plurality of fixedly connected to the inside of the second clamping plate 203. The first vertical plate 501 has a mounting sleeve 502 fixedly connected to the side of the first vertical plate 501, and a movable block 503 and a connecting rod 504 are slidably connected inside the mounting sleeve 502. The movable block 503 is fixedly connected to the connecting rod 504 close to it, and the end of the connecting rod 504 away from the movable block 503 is fixedly connected to the second vertical plate 505, and the second vertical plate 505 is fixedly connected to the first mounting bracket 301, and the cross-sectional shape of the connecting rod 504 and the movable block 503 is set to be T-shaped. A spring 506 is fixedly connected to the movable block 503, and the end of the spring 506 away from the movable block 503 is fixedly connected to the mounting sleeve 502, and the spring 506 is fixedly connected to the mounting sleeve 502. 6 is located inside the installation sleeve 502, and the spring 506 is sleeved on the outer wall of the connecting rod 504. By arranging the pushing plate 601, the connecting plate 602, the first vertical plate 501, the installation sleeve 502, the movable block 503, the connecting rod 504, the second vertical plate 505 and the spring 506, when the second clamping plate 203 rotates, the first clamping plate 202 automatically squeezes the connecting plate 602, so that the first rotating roller 303 and the second rotating roller 304 can automatically extend out of the second clamping plate 203, and the first rotating roller 303 and the second rotating roller 304 can play a role in assisting the rolling of the article, so as to facilitate the stacking robot clamp The objects can be clamped and transported with high efficiency. When the first clamping plate 202 and the second clamping plate 203 return to a parallel state, the first clamping plate 202 releases the squeeze on the connecting plate 602, and under the action of the spring 506, the movable block 503 can automatically drive the movable plate 401 to move closer to the first clamping plate 202 through the connecting rod 504 and the second vertical plate 505, so that the first rotating roller 303 and the second rotating roller 304 are automatically retracted into the second clamping plate 203, which is convenient for the adsorption cabinet 701 and the adsorption plate 702 to adsorb and fix the objects, thereby ensuring the stability of the palletizing robot clamp in clamping and transporting the objects.

[0043] Example 2: Reference Figure 1 - Fig.10A high-efficiency palletizing robot fixture comprises a palletizing robot mounting base 1, a clamping structure 2 is arranged on the palletizing robot mounting base 1, a rolling structure 3 for auxiliary feeding is arranged on the clamping structure 2, and an adjusting structure 4 for pushing the rolling structure 3 to perform lifting and lowering movements is arranged, an elastic structure 5 and a pushing structure 6 are arranged on the clamping structure 2, and the elastic structure 5 and the pushing structure 6 cooperate with each other to drive the adjusting structure 4, an adsorption structure 7 for adsorbing and fixing articles is installed on the clamping structure 2, a driving structure 8 is arranged on the clamping structure 2, and the rolling structure 3 adjusts the adsorption structure 7 through the driving structure 8;

[0044] The clamping structure 2 includes a clamping frame 201 which is rotatably connected to both sides of the mounting base 1 of the palletizing robot through a motor, a plurality of first clamping plates 202 are fixedly connected to the bottom of the clamping frame 201, and a second clamping plate 203 is rotatably connected to the bottom of the first clamping plate 202 through a motor, and the shape of the end of the second clamping plate 203 is set to a right-angled trapezoid, and the rolling structure 3 includes a first mounting frame 301 and a second mounting frame 302 which are slidably connected to the inside of the second clamping plate 203, a plurality of first rotating rollers 303 are rotatably connected to the top of the first mounting frame 301, a plurality of second rotating rollers 304 are rotatably connected to the top of the second mounting frame 302, and a plurality of adjusting blocks 305 are fixedly connected to the bottom of the first mounting frame 301;

[0045] The adjustment structure 4 includes a movable plate 401 slidably connected to the inside of the second clamping plate 203, a plurality of first pushing blocks 402 are fixedly connected to the top of the movable plate 401, and a second pushing block 403 is fixedly connected to the side of the movable plate 401 close to the second mounting frame 302, and anti-slip blocks 404 are fixedly connected to the wedge surfaces of the first pushing block 402 and the second pushing block 403, and the first pushing block 402 and the second pushing block 403 are respectively slidably connected to the second mounting frame 302 and the adjustment block 305 through the anti-slip blocks 404 on the surface.

[0046] In the present invention, a limiting plate 204 is fixedly connected to the first clamping plate 202. After the limiting plate 204 is fitted with the adjacent second clamping plate 203, the second clamping plate 203 is supported and limited. By setting the limiting plate 204, when the second clamping plate 203 is rotated to a state of close fitting with the limiting plate 204, the limiting plate 204 can support and limit the second clamping plate 203, thereby ensuring the stability of the connection between the first clamping plate 202 and the second clamping plate 203.

[0047] In the present invention, the pushing structure 6 includes a connecting plate 602 slidably connected to the inside of the second clamping plate 203, the end of the connecting plate 602 is rotatably connected to the pushing plate 601, and the end of the pushing plate 601 away from the connecting plate 602 is rotatably connected to the movable plate 401. When the second clamping plate 203 rotates, the first clamping plate 202 automatically squeezes the connecting plate 602, so that the pushing plate 601 pushes the movable plate 401 and the second pushing block 403 to move, thereby making the first rotating roller 303 and the second rotating roller 304 extend out of the second clamping plate 203. The elastic structure 5 includes a plurality of fixedly connected to the inside of the second clamping plate 203. The first vertical plate 501 has a mounting sleeve 502 fixedly connected to the side of the first vertical plate 501, and a movable block 503 and a connecting rod 504 are slidably connected inside the mounting sleeve 502. The movable block 503 is fixedly connected to the connecting rod 504 close to it, and the end of the connecting rod 504 away from the movable block 503 is fixedly connected to the second vertical plate 505, and the second vertical plate 505 is fixedly connected to the first mounting bracket 301, and the cross-sectional shape of the connecting rod 504 and the movable block 503 is set to be T-shaped. A spring 506 is fixedly connected to the movable block 503, and the end of the spring 506 away from the movable block 503 is fixedly connected to the mounting sleeve 502, and the spring 506 is fixedly connected to the mounting sleeve 502. 6 is located inside the installation sleeve 502, and the spring 506 is sleeved on the outer wall of the connecting rod 504. By arranging the pushing plate 601, the connecting plate 602, the first vertical plate 501, the installation sleeve 502, the movable block 503, the connecting rod 504, the second vertical plate 505 and the spring 506, when the second clamping plate 203 rotates, the first clamping plate 202 automatically squeezes the connecting plate 602, so that the first rotating roller 303 and the second rotating roller 304 can automatically extend out of the second clamping plate 203, and the first rotating roller 303 and the second rotating roller 304 can play a role in assisting the rolling of the article, so as to facilitate the stacking robot clamp The objects can be clamped and transported with high efficiency. When the first clamping plate 202 and the second clamping plate 203 return to a parallel state, the first clamping plate 202 releases the squeeze on the connecting plate 602, and under the action of the spring 506, the movable block 503 can automatically drive the movable plate 401 to move closer to the first clamping plate 202 through the connecting rod 504 and the second vertical plate 505, so that the first rotating roller 303 and the second rotating roller 304 are automatically retracted into the second clamping plate 203, which is convenient for the adsorption cabinet 701 and the adsorption plate 702 to adsorb and fix the objects, thereby ensuring the stability of the palletizing robot clamp in clamping and transporting the objects.

[0048] In the present invention, the adsorption structure 7 includes a plurality of adsorption cabinets 701 fixedly connected to the inside of the second clamping plate 203, and a plurality of adsorption disks 702 rotatably connected to the inside of the second clamping plate 203. The top of the adsorption cabinet 701 is interconnected with the adjacent adsorption disk 702 through a corrugated hose 704. A sealing plate 706 is slidably connected to the inside of the adsorption cabinet 701, and a sealing gasket is arranged on the top of the sealing plate 706. A rubber pad 703 is fixedly connected to the top of the adsorption disk 702, and a protective net 705 is fixedly connected to the inside of the adsorption disk 702. By arranging the protective net 705, foreign objects from the outside are prevented from entering the adsorption cabinet 701 and the adsorption disk 702, thereby ensuring the service life of the palletizing robot clamp.

[0049] In the present invention, the driving structure 8 includes a plurality of rotating shafts 801 rotatably connected to the inside of the second clamping plate 203, the outer wall of the rotating shaft 801 is fixedly connected with a driven gear 802 and a driving gear 803, the driven gear 802 and the driving gear 803 are respectively meshed with a driven tooth plate 804 and a driving tooth plate 805, the top of the driven tooth plate 804 is fixedly connected to the adjacent sealing plate 706, the top of the driving tooth plate 805 is fixedly connected to the first mounting frame 301, the driven tooth plate 804 and the driving tooth plate 805 are located on the same side of the rotating shaft 801, the diameter of the driven gear 802 is larger than the diameter of the driving gear 803, the bottom of the adsorption cabinet 701 is provided with a through hole for the driven tooth plate 804 to pass through, and the first mounting frame 301 is provided with a plurality of through holes for the driven tooth plate 804 to pass through. 802, driving gear 803, driven gear plate 804 and driving gear plate 805. When the first mounting frame 301 drives the first rotating roller 303 to retract into the second clamping plate 203, the first mounting frame 301 can drive the driving gear 803 and the driven gear 802 to rotate through the driving gear plate 805, so that the driven gear plate 804 can drive the sealing plate 706 to move close to the driven gear 802 inside the adsorption cabinet 701, so that the air pressure inside the adsorption cabinet 701 changes. Under the action of negative pressure, the adsorption cabinet 701 and the adsorption plate 702 can adsorb the objects. Moreover, since the diameter of the driven gear 802 is larger than the diameter of the driving gear 803, the moving distance of the sealing plate 706 is larger than the moving distance of the first mounting frame 301, thereby ensuring the force generated by the negative pressure inside the adsorption cabinet 701.

[0050] Working principle: When the operator uses the palletizing robot clamp to grab and carry items placed on the ground or other flat surfaces, after the second clamping plate 203 contacts the ground or other flat surfaces, the second clamping plate 203 rotates under the action of the motor on the surface of the first clamping plate 202, so that the first clamping plate 202 automatically squeezes the connecting plate 602. When the connecting plate 602 retracts into the second clamping plate 203, the movable plate 401 is pushed to move by the pushing plate 601, so that the second pushing block 403 and the first pushing block 402 pass through the first mounting frame 301 and the second mounting frame 302 drives the first rotating roller 303 and the second rotating roller 304 to move out of the second clamping plate 203. Under the auxiliary rolling action of the wedge surface at the end of the second clamping plate 203 and the first rotating roller 303 and the second rotating roller 304, the object can be quickly moved to the surface of the second clamping plate 203. As the clamping frame 201 rotates, until the first clamping plate 202 and the second clamping plate 203 resume a parallel state, at this time, the object is completely moved to the surface of the first clamping plate 202 and the second clamping plate 203, so that the first clamping plate 202 and the second clamping plate 203 complete the grasping process of the object;

[0051] When the object moves to the top of the second clamping plate 203 and the first clamping plate 202, as the first rotating roller 303 and the second rotating roller 304 retract into the second clamping plate 203, the suction plate 702 is rotatably connected to the second clamping plate 203, so that the angle of the suction plate 702 can be automatically adjusted according to the shape of the object, thereby ensuring that the rubber pad 703 can fit closely with the object. When the first clamping plate 202 and the second clamping plate 203 return to a parallel state, the first clamping plate 202 releases the squeeze on the connecting plate 602, and under the action of the spring 506, the movable block 503 drives the movable plate 602 through the connecting rod 504 and the second vertical plate 505. 401 moves closer to the first clamping plate 202, so that the first rotating roller 303 and the second rotating roller 304 are automatically retracted into the second clamping plate 203. At this time, the first mounting frame 301 drives the active gear 803 and the rotating shaft 801 to rotate through the active tooth plate 805, so that the driven gear 802 drives the sealing plate 706 through the driven tooth plate 804 to move away from the corrugated hose 704 inside the adsorption cabinet 701. Since the rubber pad 703 fits tightly with the surface of the object, when the air pressure inside the adsorption cabinet 701 changes, under the action of negative pressure, the adsorption plate 702 adsorbs the object, thereby limiting and fixing the object to a certain extent.

[0052] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A high-efficiency palletizing robot fixture, comprising a palletizing robot mounting base (1), characterized in that: The palletizing robot mounting base (1) is provided with a clamping structure (2), the clamping structure (2) is provided with a rolling structure (3) for assisting material loading, and an adjusting structure (4) for driving the rolling structure (3) to perform lifting and lowering movements, the clamping structure (2) is provided with an elastic structure (5) and a driving structure (6), and the elastic structure (5) and the driving structure (6) cooperate with each other to drive the adjusting structure (4), the clamping structure (2) is provided with an adsorption structure (7) for adsorbing and fixing articles, the clamping structure (2) is provided with a driving structure (8), and the rolling structure (3) adjusts the adsorption structure (7) through the driving structure (8); The clamping structure (2) comprises a clamping frame (201) rotatably connected to both sides of the palletizing robot mounting base (1) via a motor, a plurality of first clamping plates (202) are fixedly connected to the bottom of the clamping frame (201), and a second clamping plate (203) is rotatably connected to the bottom of the first clamping plate (202) via a motor, and the shape of the end of the second clamping plate (203) is set to be a right-angled trapezoid, and the rolling structure (3) comprises a first mounting frame (301) and a second mounting frame (302) slidably connected to the inside of the second clamping plate (203), a plurality of first rotating rollers (303) are rotatably connected to the top of the first mounting frame (301), a plurality of second rotating rollers (304) are rotatably connected to the top of the second mounting frame (302), and a plurality of adjustment blocks (305) are fixedly connected to the bottom of the first mounting frame (301); The adjustment structure (4) comprises a movable plate (401) slidably connected to the inside of the second clamping plate (203), a plurality of first push blocks (402) are fixedly connected to the top of the movable plate (401), and a second push block (403) is fixedly connected to the side of the movable plate (401) close to the second mounting frame (302), and anti-slip blocks (404) are fixedly connected to the wedge surfaces of the first push block (402) and the second push block (403), and the first push block (402) and the second push block (403) are respectively slidably connected to the second mounting frame (302) and the adjustment block (305) through the anti-slip blocks (404) on the surface; The pushing structure (6) includes a connecting plate (602) slidably connected to the inside of the second clamping plate (203); the end of the connecting plate (602) is rotatably connected to a pushing plate (601); the end of the pushing plate (601) away from the connecting plate (602) is rotatably connected to the movable plate (401); when the second clamping plate (203) rotates, the first clamping plate (202) automatically squeezes the connecting plate (602), so that the pushing plate (601) pushes the movable plate (401) and the second pushing block (403) to move, thereby causing the first rotating roller (303) and the second rotating roller (304) to extend out of the second clamping plate (203).

2. A high-efficiency palletizing robot fixture according to claim 1, characterized in that: The first clamping plate (202) is fixedly connected to a limiting plate (204), and the limiting plate (204) is fitted with the adjacent second clamping plate (203) to support and limit the second clamping plate (203).

3. The high-efficiency palletizing robot fixture according to claim 2, characterized in that: The elastic structure (5) comprises a plurality of first vertical plates (501) fixedly connected to the inside of the second clamping plate (203); a mounting sleeve (502) is fixedly connected to the side of the first vertical plate (501); a movable block (503) and a connecting rod (504) are slidably connected inside the mounting sleeve (502); the movable block (503) is fixedly connected to the connecting rod (504) close to it; one end of the connecting rod (504) away from the movable block (503) is fixedly connected to the second vertical plate (505); and the second vertical plate (505) is fixedly connected to the first mounting frame (301).

4. The high-efficiency palletizing robot fixture according to claim 3, characterized in that: The cross-sectional shapes of the connecting rod (504) and the movable block (503) are set to be T-shaped, and a spring (506) is fixedly connected to the movable block (503). One end of the spring (506) away from the movable block (503) is fixedly connected to the mounting sleeve (502), and the spring (506) is located inside the mounting sleeve (502), and the spring (506) is sleeved on the outer wall of the connecting rod (504).

5. The high-efficiency palletizing robot fixture according to claim 4, characterized in that: The adsorption structure (7) includes a plurality of adsorption cabinets (701) fixedly connected to the inside of the second clamping plate (203), and a plurality of adsorption disks (702) rotatably connected to the inside of the second clamping plate (203). The top of the adsorption cabinet (701) is interconnected with the adjacent adsorption disks (702) via a corrugated hose (704). A sealing plate (706) is slidably connected to the inside of the adsorption cabinet (701), and a sealing gasket is provided on the top of the sealing plate (706).

6. The high-efficiency palletizing robot fixture according to claim 5, characterized in that: The top of the adsorption plate (702) is fixedly connected to a rubber pad (703), and the interior of the adsorption plate (702) is fixedly connected to a protective net (705).

7. The high-efficiency palletizing robot fixture according to claim 6, characterized in that: The driving structure (8) comprises a plurality of rotating shafts (801) rotatably connected to the inside of the second clamping plate (203); a driven gear (802) and a driving gear (803) are fixedly connected to the outer wall of the rotating shaft (801); a driven tooth plate (804) and a driving tooth plate (805) are respectively meshed on the driven gear (802) and the driving gear (803); the top of the driven tooth plate (804) is fixedly connected to a sealing plate (706) adjacent thereto; and the top of the driving tooth plate (805) is fixedly connected to the first mounting frame (301).

8. The high-efficiency palletizing robot fixture according to claim 7, characterized in that: The driven gear plate (804) and the driving gear plate (805) are located on the same side of the rotating shaft (801), and the diameter of the driven gear (802) is greater than the diameter of the driving gear (803).

9. The high-efficiency palletizing robot fixture according to claim 8, characterized in that: The bottom of the adsorption cabinet (701) is provided with a through hole for the driven tooth plate (804) to pass through, and the first mounting frame (301) is provided with a plurality of through holes for the driven tooth plate (804) to pass through.

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