Stacking robot

Abstract

A palletizing robot relates to the technical field of palletizing robots and is used for palletizing bagged goods conveyed by a roller type conveying line, the roller type conveying line comprises a plurality of conveying rollers arranged side by side, the palletizing robot comprises a mechanical arm and a mechanical claw, the mechanical claw comprises two paws arranged oppositely, each paw is provided with a plurality of claw fingers at intervals, and the claw fingers are arranged on the mechanical arm. Each claw finger is provided with two contact plates and a reset torsion spring, the two contact plates are symmetrically arranged on the two sides of each claw finger and can rotate so that the contact plates can be vertically folded and transversely unfolded, the reset torsion springs are connected with the contact plates so as to drive the contact plates to be vertically folded, each contact plate is provided with an inclined plane, and each inclined plane is provided with an inclined plane. After the claw fingers make contact with the goods, the contact plates are pressed to be transversely opened so as to fill the gaps between the claw fingers, and therefore the bottom face of the goods can be kept flat and cannot be extruded by the claw fingers to form grooves.

Description

Technical Field

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

[0002] Roller conveyor lines are a commonly used conveying device, which consists of multiple conveyor rollers arranged side by side. Each conveyor roller rotates in the same direction to convey the items placed on it. Bags are often transported by roller conveyor lines, and then palletized by palletizing robots after being transported to the destination.

[0003] The existing palletizing robots used in conjunction with roller conveyor lines usually use fork-type mechanical claws to stack bagged goods. This type of mechanical claw includes two claws arranged opposite to each other, each claw being provided with a plurality of claw fingers at intervals so as to extend into the intervals between the conveying rollers and lift the goods from the bottom. However, the spacing design of the claws makes it so that when the mechanical claws lift bagged goods with strong softness or fluidity, the position where the bottom surface of the bagged goods contacts the claws will be depressed due to pressure, resulting in spaced parallel grooves on the bottom surface of the goods. This is especially true for goods with a certain degree of stickiness, such as plasticine, which are not easy to recover after deformation and need to be smoothed to restore the flatness of the bottom surface of the bag. This will not only affect the integrity of the product appearance, but may also cause unstable stacking of the goods, which will have a great impact on storage, transportation and even product quality control. Patent document "An Intelligent Loading and Palletizing Equipment for Bagged Goods" with publication number CN115072394B discloses a palletizing equipment, which has two sets of clamping claws on both sides of the mechanical claws. Before the mechanical claws put down the bagged goods, the clamping claws on both sides are controlled by linear cylinders to clamp and stretch the bagged goods to make the bottom flat. It stretches the bottom of the bagged goods by stretching the packaging bag. For granular and non-sticky goods such as rice, the effect is acceptable, but for powdery goods such as flour, especially goods with a certain degree of stickiness such as plasticine, the bottom of the packaging bag may be flat after stretching, but the grooves on the bottom of the goods are not smoothed, and the effect is not good. Summary of the invention

[0004] In view of this, the present invention provides a palletizing robot, which can keep the bottom surface of the goods flat without forming grooves after grabbing the goods.

[0005] To achieve the above objectives, the present invention provides the following technical solutions.

[0006] A palletizing robot is used to palletize bagged goods conveyed by a roller conveyor line. The roller conveyor line includes a plurality of conveyor rollers arranged side by side. The palletizing robot includes a mechanical arm and a mechanical claw. The mechanical claw includes two claws arranged opposite to each other. Each claw is provided with a plurality of claw fingers at intervals so as to extend into the gap between the conveyor rollers and lift the goods from the bottom. The claw fingers are provided with two contact plates and a reset torsion spring. The two contact plates are symmetrically arranged on both sides of the claw fingers and can rotate so that the contact plates can be vertically retracted and horizontally opened. The reset torsion spring is connected to the contact plate to drive the contact plate to be vertically retracted. The contact plate is provided with an inclined surface to guide the contact plate to open horizontally after contacting the goods. After each claw finger contacts the goods, each contact plate is pressed to open horizontally to fill the gap between the claw fingers.

[0007] Before contacting the goods, the two contact plates are kept vertically retracted by the reset torsion spring, so that the claw fingers can normally extend into the gap between the conveyor rollers. The contact plate is provided with an inclined surface. When contacting the goods, the inclined surface of the contact plate contacts the goods first, and the contact pressure generated by the contact between the mechanical claw and the goods is used to guide the goods to open the contact plate and open it horizontally. After the contact plates on each claw finger are opened, they are spliced ​​together to form a contact surface that contacts the goods, filling the gap between the mechanical claws. Therefore, the bottom surface of the goods will not be squeezed by the claw fingers to form a groove, and the bottom surface of the goods can be kept flat, without the need for additional processes to level the goods.

[0008] Among them, the claw finger includes a pre-tensioning mechanism that can drive the contact plate to open horizontally to a preset angle. The claw finger is located under the cargo. Before the contact plate contacts the cargo, the pre-tensioning mechanism drives the contact plate to open horizontally to a preset angle so that the contact plate can open smoothly after contacting the cargo.

[0009] Among them, the pre-tensioning mechanism includes a driving cylinder and two cams, the cams correspond to the contact plates one by one, the cams are coaxially fixedly connected with the corresponding contact plates to drive the contact plates to rotate, and the driving cylinder drives the cams to rotate to synchronously drive the two contact plates to open a preset angle.

[0010] Among them, the claw also includes an opening and closing bracket, which is provided with a plurality of mounting grooves at intervals, and the mounting grooves correspond to the claw fingers one by one. Each claw finger is slidably connected in the mounting groove so that the two contact plates of the claw finger can be opened to contact the conveying roller under the drive of the pre-tensioning mechanism. A reset spring is provided in the mounting groove to drive the claw finger to reset to the center in the mounting groove.

[0011] Among them, the mechanical claw also includes a cylinder clamping mechanism for clamping the cargo. The cylinder clamping mechanism is located above the claw finger to clamp the cargo downward. The cylinder clamping mechanism includes a clamping cylinder and a clamping piece. The clamping piece is fixedly connected to the clamping cylinder to be driven to move by the clamping cylinder. When the mechanical claw lifts the cargo, the clamping cylinder drives the clamping piece to move and clamp the cargo so that the cargo cannot slide.

[0012] Among them, the gripper also includes a base plate, a rocker arm and an opening and closing cylinder. The opening and closing cylinder is fixedly connected to the base plate, the rocker arm is hinged to the base plate so as to be rotatable, the opening and closing bracket is fixedly connected to the rocker arm so as to rotate with the rocker arm, and the opening and closing cylinder is connected to the rocker arm so as to drive the rocker arm to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Schematic diagram of the three-dimensional structure of the palletizing robot.

[0014] Figure 2 Schematic diagram of the three-dimensional structure of the mechanical claw.

[0015] Figure 3 Schematic diagram of the three-dimensional structure of a single gripper.

[0016] Figure 4 Schematic diagram of the three-dimensional mechanism of a single gripper when the contact plate is open.

[0017] Figure 5 This is a schematic diagram of the three-dimensional structure of a single claw from another perspective when the contact plate is open.

[0018] Figure 6 for Figure 5 A magnified schematic diagram of center A.

[0019] Figure 7 Schematic diagram of the three-dimensional structure of a single claw finger.

[0020] Figure 8 Schematic diagram of the principle of contact plate pre-opening.

[0021] Fig. 9 for Figure 5 Schematic diagram of the internal structure of the installation slot in the state.

[0022] Mechanical claw 1, hand claw 11, claw finger 111, contact plate 1111, pre-tensioning mechanism 112, driving cylinder 1121, cam 1122, opening and closing bracket 113, mounting groove 1131, return spring 1132, base plate 114, strip hole 1141, fixing block 1142, protrusion 1143, swing rod 115, sliding groove 1151, opening and closing cylinder 116, connecting block 1161; Cylinder pressing mechanism 2, pressing cylinder 21, pressing member 22; Robotic arm 3, goods 4, conveyor roller 5. DETAILED DESCRIPTION

[0023] The present invention is described in detail below in conjunction with specific embodiments.

[0024] like Figure 1As shown, the palletizing robot of this embodiment is used to palletize bagged goods conveyed by a roller conveyor line, wherein the roller conveyor line includes a plurality of conveying rollers 5 arranged side by side. The palletizing robot of this embodiment includes a mechanical arm 3 and a mechanical claw 1, wherein the mechanical claw 1 includes two relatively arranged hand claws 11, Figure 2 and Figure 3 In this embodiment, each gripper 11 is provided with 8 claw fingers 111 at intervals. The number of claw fingers 111 can also be other reasonable numbers, which can be set according to actual conditions. The intervals between the claw fingers 111 are set based on the intervals between the conveying rollers 5. After the claw fingers 111 are inserted into the intervals between the conveying rollers 5, the goods 4 are lifted from the bottom. Figure 7 As shown, the claw finger 111 is provided with a reset torsion spring (not shown in the figure) and two contact plates 1111. The two contact plates 1111 are rotatably connected by two rotating shafts and are symmetrically arranged on both sides of the claw finger 111. The contact plates 1111 can be vertically retracted and horizontally opened around the rotating shaft. The reset torsion spring is connected to the contact plates 1111 and drives the contact plates 1111 to be vertically retracted. The contact plates 1111 are provided with an inclined surface. The inclined surface guides the contact plates 1111 to open horizontally after contacting the goods 4. After each claw finger 111 contacts the goods 4, each contact plate 1111 is pressed to open horizontally to fill the gap between the claw fingers 111.

[0025] Before contacting the goods 4, the two contact plates 1111 are kept vertically retracted by the reset torsion spring, so that the claw fingers 111 can normally extend into the gap between the conveyor rollers 5. When contacting the goods 4, the inclined surface of the contact plate 1111 first contacts the goods 4, and the contact pressure generated by the contact between the contact plate 1111 and the goods 4 is used to guide the goods 4 to open the contact plate 1111 horizontally. After the contact plates 1111 on each claw finger 111 are opened, they are spliced ​​together to form a contact surface that contacts the goods 4, filling the gap of the mechanical claw 1. Therefore, the bottom surface of the goods 4 can be kept flat and will not be squeezed by the claw fingers 111 to form a groove, and there is no need to add additional steps to level the goods 4.

[0026] For bagged goods that are not fully filled or goods 4 with high fluidity, when the contact plate 1111 in the retracted state contacts the goods 4, the top of the contact plate 1111 may push the goods 4 to form a relatively deep depression, causing the contact plate 1111 to sink into the depression and be unable to open, or even pierce the goods 4. Therefore, it is necessary to open the contact plate 1111 to a certain angle before contacting the goods 4, reduce the angle when the contact plate 1111 and the goods 4 first contact, and allow the contact plate 1111 to open horizontally smoothly during the process of the mechanical claw 1 lifting the goods 4, so as to avoid the contact plate 1111 sinking into or piercing the goods 4. Figure 5-Figure 8As shown, the claw finger 111 also includes a pre-tensioning mechanism 112 that can drive the contact plate 1111 to open horizontally to a preset angle. The claw finger 111 is located below the goods 4. Before the contact plate 1111 contacts the goods 4, the pre-tensioning mechanism 112 drives the contact plate 1111 to open horizontally to a preset angle, so that the contact plate 1111 can open smoothly after contacting the goods 4. The pre-tensioning mechanism 112 specifically includes a driving cylinder 1121 and two cams 1122. The cams 1122 correspond to the contact plates 1111 one by one. The two cams 1122 are symmetrically arranged and are coaxially fixedly connected to the corresponding contact plates 1111. When the driving cylinder 1121 extends, it simultaneously contacts the protrusions on the two cams 1122, and then pushes the two cams 1122 to rotate synchronously. The two cams 1122 thereby synchronously drive the two contact plates 1111 to rotate and open to a preset angle. Obviously, the pre-tensioning mechanism 112 can also be in other forms, such as driving the contact plate 1111 to open through a motor, or driving the contact plate 1111 to open through gear transmission. However, considering that the environment during stacking operations is usually full of dust, which is not conducive to the operation of the motor and gear transmission, and considering that the mechanical claw 1 usually adopts pneumatic methods to achieve the grasping action, the pre-tensioning mechanism 112 adopts pneumatic methods and cam 1122 transmission methods to drive the contact plate 1111 to pre-open, which can make full use of the air source set by the mechanical claw 1 itself, and the structure is simple and reliable, without the need to add an additional power source, thereby reducing the driving cost.

[0027] When the palletizing robot is operating, its movement may slightly deviate from the taught position, and the claw finger 111 does not extend into the gap between the conveyor rollers 5 in the center, causing one of the contact plates 1111 to contact the conveyor roller 5 first when the pre-tensioning mechanism 112 drives the contact plates 1111 to pre-open, and the two contact plates 1111 stop pre-opening and fail to pre-open to the maximum angle, or one of the contact plates 1111 does not pre-open enough, which may cause it to sink into the depression of the goods 4 and fail to open smoothly. Figure 5-Figure 9The gripper 11 of this embodiment also includes an opening and closing bracket 113, and the opening and closing bracket 113 is provided with a plurality of installation grooves 1131 at intervals. The installation grooves 1131 correspond to the claw fingers 111 one by one. Each claw finger 111 is slidably connected in the installation groove 1131. The two contact plates 1111 of the claw finger 111 can be opened to contact the conveying roller 5 under the drive of the pre-tensioning mechanism 112. A reset spring 1132 is provided in the installation groove 1131 to drive the claw finger 111 to reset to the center in the installation groove 1131. The claw finger 111 has a certain range of motion in the direction of the mounting groove 1131. When the pre-tensioning mechanism 112 drives the contact plate 1111 to pre-open, when one of the contact plates 1111 first contacts the conveying roller 5 and is supported, the contact plate 1111 also acts in the opposite direction to the contact plate 1111, thereby pushing the claw finger 111 to slide along the mounting groove 1131 until it is in the center of the interval between the conveying rollers 5. In this way, the two contact plates 1111 can contact the conveying rollers 5 on both sides at the same time, and the pre-opening angle reaches the maximum.

[0028] Since the gap between the mechanical claw 1 is filled, the goods 4 lose the locking effect brought by the depression. If the friction between the goods 4 and the contact plate 1111 is used to keep the goods 4 relatively still, the goods 4 are likely to slide on the contact surface formed by the contact plates 1111 during the lifting and moving process, causing the goods 4 to shift or even fall. The shift of the goods 4 will cause the goods 4 to be placed in the wrong position when they are put down for stacking, and the subsequent stacking cannot be completed. Therefore, it is necessary to press the goods 4 after the mechanical claw 1 lifts them, combined with Figure 1-Figure 3 The mechanical claw 1 of this embodiment also includes a cylinder pressing mechanism 2 for pressing the goods 4. The cylinder pressing mechanism 2 is located above the claw finger 111. The cylinder pressing mechanism 2 includes a pressing cylinder 21 and a pressing member 22. The pressing member 22 is fixedly connected to the pressing cylinder 21. When the mechanical claw 1 lifts the goods 4, the pressing cylinder 21 drives the pressing member 22 to move downward to press the goods 4, thereby preventing the goods 4 from sliding, effectively preventing the goods 4 from shifting or falling on the mechanical claw 1.

[0029] Combination Figure 3-Figure 5The gripper 11 of this embodiment further includes a base plate 114, a swing rod 115 and an opening and closing cylinder 116. The base plate 114 is provided with a strip hole 1141, a fixing block 1142 and a protrusion 1143. The swing rod 115 is T-shaped and provided with a sliding groove 1151. The opening and closing cylinder 116 is provided with a connecting block 1161. The opening and closing cylinder 116 is fixedly connected to the fixing block 1142. The swing rod 115 passes through the strip hole 1141 on the base plate 114 and is slidably connected to the connecting block 1161. The opening and closing support The frame 113 is fixedly connected to the swing rod 115. When the opening and closing cylinder 116 is extended, the connecting block 1161 pushes the swing rod 115 to rotate around the hinge axis, so that the opening and closing bracket 113 rotates with the swing rod 115, so that the claws 11 rotate upward, and the two claws 11 are opened accordingly; when the opening and closing cylinder 116 is retracted, the connecting block 1161 pulls back the swing rod 115, and the swing rod 115 drives the opening and closing bracket 113 to reverse, so that the claws 11 rotate downward, and the two claws 11 are closed accordingly. The connecting rod structure is used for transmission, and the linear telescopic motion of the cylinder is converted into the swing of the opening and closing bracket 113, and the structure is simple and reliable.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A palletizing robot, used for palletizing bagged goods conveyed by a roller conveyor line, wherein the roller conveyor line comprises a plurality of conveyor rollers arranged side by side, and the palletizing robot comprises a mechanical arm and a mechanical claw, wherein the mechanical claw comprises two claws arranged opposite to each other, and each claw is provided with a plurality of claw fingers at intervals, so as to extend into the intervals between the conveyor rollers and lift the goods from the bottom, characterized in that: The claw finger is provided with two contact plates and a reset torsion spring. The two contact plates are symmetrically arranged on both sides of the claw finger and can rotate so that the contact plates can be vertically retracted and horizontally opened. The reset torsion spring is connected to the contact plate to drive the contact plate to be vertically retracted. The contact plate is provided with an inclined surface to guide the contact plate to be horizontally opened after contacting the goods. After each claw finger contacts the goods, each contact plate is pressed to open horizontally to fill the gap between the claw fingers.

2. The palletizing robot according to claim 1, characterized in that: The claw finger includes a pre-tensioning mechanism that can drive the contact plate to open horizontally to a preset angle. The claw finger is located below the cargo. Before the contact plate contacts the cargo, the pre-tensioning mechanism drives the contact plate to open horizontally to a preset angle so that the contact plate can open smoothly after contacting the cargo.

3. The palletizing robot according to claim 2, characterized in that: The pre-tensioning mechanism includes a driving cylinder and two cams. The cams correspond to the contact plates one by one. The cams are coaxially fixedly connected with the corresponding contact plates to drive the contact plates to rotate. The driving cylinder drives the cams to rotate to synchronously drive the two contact plates to open a preset angle.

4. The palletizing robot according to claim 3, characterized in that: The gripper also includes an opening and closing bracket, which is provided with a plurality of mounting grooves at intervals, the mounting grooves corresponding to the claw fingers one by one, and each claw finger is slidably connected in the mounting groove so that the two contact plates of the claw finger can be opened to contact the conveying roller under the drive of the pre-tensioning mechanism, and a reset spring is provided in the mounting groove to drive the claw finger to reset to the center in the mounting groove.

5. The palletizing robot according to claim 4, characterized in that: The mechanical claw also includes a cylinder clamping mechanism for clamping the cargo. The cylinder clamping mechanism is located above the claw fingers to clamp the cargo downward. The cylinder clamping mechanism includes a clamping cylinder and a clamping piece. The clamping piece is fixedly connected to the clamping cylinder to be driven to move by the clamping cylinder. When the mechanical claw lifts the cargo, the clamping cylinder drives the clamping piece to move and clamp the cargo so that the cargo cannot slide.

6. The palletizing robot according to claim 4, characterized in that: The gripper also includes a base plate, a rocker arm and an opening and closing cylinder. The opening and closing cylinder is fixedly connected to the base plate. The rocker arm is hinged to the base plate so as to be rotatable. The opening and closing bracket is fixedly connected to the rocker arm so as to rotate with the rocker arm. The opening and closing cylinder is connected to the rocker arm so as to drive the rocker arm to rotate.

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