Stacking robot convenient to adjust and using method thereof

Abstract

The invention relates to the technical field of robots, and provides a stacking robot convenient to adjust and a using method thereof.The stacking robot convenient to adjust comprises a conveying belt, a multi-axis machine table arranged on one side of the conveying belt and a mechanical gripper driven by the multi-axis machine table to stack packaging boxes conveyed on the conveying belt; a movable clamping jaw is movably arranged on one side of the bottom of the support, and a fixed clamping jaw is fixedly arranged on the other side of the bottom of the support. When an electric telescopic rod works to drive a movable clamping jaw to clamp a packaging box, a turning and pressing assembly is driven by the movable clamping jaw to push the packaging box from one side of the top in advance, and due to the fact that the other side of the bottom of the packaging box abuts against a stop lever on a fixed clamping jaw, the bottom of the side, close to the movable clamping jaw, of the packaging box tilts upwards; by the adoption of the clamping mode, damage to the packaging box can be reduced, and the clamping efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an easily adjustable palletizing robot and a method for using the same. Background Art

[0002] The palletizing robot is a vertical multi-joint robot with special functions. It can set parameters such as stacking order and number of layers according to different material packaging through a computer. It is widely used in the palletizing industry.

[0003] After searching, the patent technology with the announcement number CN115724219A discloses a palletizing robot that is easy to adjust, including a palletizing robot body, the palletizing robot body is electrically connected to a control device, the output end of the palletizing robot body is connected to a mechanical claw, and the control device is electrically connected to the mechanical claw, the bottom of the mechanical claw is installed with a main claw body through a driving component, and the top of the main claw body is symmetrically connected to an extended claw. The palletizing robot is installed with an extended claw, a micro electric push rod and a first force sensor, and the mechanical claw is decomposed into a main claw body and an extended claw, and the two are connected by a micro electric push rod. The staff controls the extension of the micro electric push rod through the control device, and can adjust the distance between the extended claw and the main claw body. Combined with the first force sensor, the displacement space of the limit plate inside the telescopic slot is limited to control the maximum telescopic length of the extended claw, and the gripping surface of the mechanical claw is adjusted by adjusting the overall length of the mechanical claw.

[0004] However, the above-mentioned palletizing robot still has the following problems: the mechanical claws used in the above-mentioned palletizing robot clamp objects by synchronously clamping on both sides. When the width of the packaging box is smaller than the conveying width of the conveyor belt, the clamping method of the above-mentioned mechanical claws is likely to damage the packaging box. Therefore, the conveyor belt needs to be narrowed to achieve safe clamping of the packaging box. However, when the conveyor belt is narrowed, the stability of the packaging box during transportation will be reduced. When the center of gravity of the packaging box is biased to one side of the conveyor belt, it is very easy to tip over from the conveyor belt, thereby affecting the clamping. Summary of the invention

[0005] The present invention provides an easily adjustable palletizing robot and a method for using the same, which solves the problem in the prior art that a synchronous clamping method on both sides is prone to damage to a packaging box and affects the stability of the packaging box.

[0006] The technical solution of the present invention is as follows: a palletizing robot that is easy to adjust, comprising a conveyor belt, a multi-axis machine platform arranged on one side of the conveyor belt, and a mechanical claw for palletizing packaging boxes conveyed on the conveyor belt under the drive of the multi-axis machine platform, wherein the mechanical claw comprises a bracket, a movable clamping claw is movably arranged on one side of the bottom of the bracket, and a fixed clamping claw is fixedly arranged on the other side of the bottom of the bracket, an electric telescopic rod for driving the movable clamping claw to open and close is arranged between the movable clamping claw and the fixed clamping claw, a baffle rod that can slide up and down is arranged on the fixed clamping claw, and the bracket is close to the movable clamping claw. A turning and pressing component is provided on one side for lifting one side of the bottom of the packaging box in cooperation with the baffle rod before the movable jaw clamps the packaging box; a traction component is provided on the side of the bracket close to the fixed jaw for pulling the baffle rod upward after the movable jaw clamps the packaging box; a scissors support component is provided on the fixed jaw for automatically opening when the baffle rod is pulled upward; the turning and pressing component can press the top of the packaging box on one side after the movable jaw clamps the packaging box; a top pressing component is provided at the bottom of the bracket for pressing the top of the packaging box on the other side with the help of the traction component.

[0007] Preferably, the movable clamp includes a movable claw rod, an upper swing arm is fixed to the top of the movable claw rod, a lower swing arm is fixed to the bottom of the upper swing arm, a first shaft rod is fixed to the upper end of the upper swing arm, a second shaft rod is fixed to the lower end of the upper swing arm, the second shaft rod is rotatably connected to the bracket, and both ends of the second shaft rod pass through the bracket and are fixed with a first synchronous wheel.

[0008] Preferably, the fixed clamp includes a second cross bar, which is fixed on the bracket, with fixed claw rods fixed at both ends of the second cross bar, guide grooves are provided on both sides of the fixed claw rod, both ends of the baffle rod are fixed with guide rods limitedly located in the guide grooves, and a slide rail is fixed at the bottom of the fixed claw rod.

[0009] Preferably, one end of the electric telescopic rod is hinged to the first shaft rod, and the other end of the electric telescopic rod is hinged to the second cross rod.

[0010] Preferably, the flip-pressing assembly includes a first pressure rod, side guard rods are fixed at both ends of the first pressure rod, a fan-shaped piece is hinged on the top end of the side guard rod, a first rotating shaft rotatably connected to the bracket is fixed at the center of the fan-shaped piece, a second synchronous wheel is fixed on the first rotating shaft, the second synchronous wheel is transmission connected to the first synchronous wheel through a synchronous belt, a first spring rod and a stop rod are fixed to the side of the fan-shaped piece, a second spring rod is fixed to the side of the side guard rod, the first spring rod and the second spring rod are elastically connected by a first tension spring, and the side guard rod contacts the stop rod under the elastic force of the first tension spring.

[0011] Preferably, the traction assembly includes a paddle, which is located on the rotation path of the lower swing arm, a first sliding block slidably connected to the bracket is fixed on one side of the paddle, and a traction belt is fixed on the top side of the paddle.

[0012] Preferably, a first cross bar is threadedly installed on the inner side of the bottom of the bracket, the traction belt passes around the first cross bar and the second cross bar and is fixed to the barrier bar, and a plurality of relatively arranged adjustment holes are opened laterally on the bottom of the bracket, and the plurality of adjustment holes are adapted to the thread of the first cross bar.

[0013] Preferably, the scissors strut assembly includes a first strut and a second strut, the first strut and the second strut are cross-arranged and elastically connected by a second tension spring, both ends of the first strut and the second strut are hinged with a second slider, the second sliders at the bottom ends of the first strut and the second strut are both slidably set on the slide rail, and the second sliders at the top ends of the first strut and the second strut are both slidably set at the bottom of the baffle rod.

[0014] Preferably, the top pressure assembly includes a pressure plate, and second rotating shafts are fixed on both sides of the top of the pressure plate. The second rotating shaft is rotatably connected to the bracket and a torsion spring is clamped at the connection. The pressure plate is in contact with the paddle under the elastic force of the torsion spring, and a second pressure rod is fixed to the bottom surface of the pressure plate.

[0015] Based on the above-mentioned palletizing robot that is easy to adjust, the present invention also proposes a method for using the palletizing robot, comprising the following steps:

[0016] Step 1: The packaging box is continuously transported by the conveyor belt, and when passing through the multi-axis machine, the multi-axis machine drives the mechanical claw to work;

[0017] Step 2: The bracket is driven by the multi-axis machine to make the bottom of the fixed clamp close to the conveyor belt;

[0018] Step 3: The electric telescopic rod drives the movable clamping claw to start clamping the packaging box;

[0019] Step 4: The turning and pressing assembly is driven by the movable clamping claw to push the packaging box from the top side in advance. Since the other side of the bottom of the packaging box is resisted by the stopper on the fixed clamping claw, the bottom of the packaging box close to the movable clamping claw is tilted upward;

[0020] Step 5: The movable clamping claw is driven by the electric telescopic rod to continue clamping the packaging box until the bottom of the movable clamping claw extends to the bottom of the packaging box, and the turning and pressing assembly releases the packaging box and presses the top of the packaging box on one side;

[0021] Step 6: The movable clamping claw clamps the packaging box and drives the traction assembly to pull the barrier rod, so that the barrier rod is raised from a low position. During this process, the scissor support assembly gradually opens as the barrier rod is raised to protect the packaging box;

[0022] Step 7: The top pressing component presses the top of the packaging box on the other side with the help of the traction component;

[0023] Step 8: Driven by the multi-axis machine, the mechanical claw stacks the clamped packaging box at the specified position and then releases it, returning to the initial position to wait for the arrival of the next packaging box.

[0024] The beneficial effects of the present invention are:

[0025] 1. When the electric telescopic rod drives the movable clamping claw to clamp the packaging box, the turning and pressing assembly is driven by the movable clamping claw to push the packaging box from the top side in advance. Since the other side of the bottom of the packaging box is resisted by the blocking rod on the fixed clamping claw, the bottom of the packaging box close to the movable clamping claw is tilted upward to facilitate the clamping action of the packaging box. The present invention adopts this clamping method, which can reduce the damage of the packaging box and improve the clamping efficiency;

[0026] 2. In the present invention, the movable clamp is driven by the electric telescopic rod to continue to clamp the packaging box until the bottom of the movable clamp extends to the bottom of the packaging box, and the turning and pressing assembly releases the packaging box and presses the top of the packaging box on one side. The movable clamp clamps the packaging box and drives the traction assembly to pull the blocking rod, so that the blocking rod is raised from a low position. In this process, the scissor support assembly gradually opens with the rise of the blocking rod to protect the packaging box, and the top pressing assembly is pushed by the traction assembly to press the top of the packaging box on the other side. Compared with the prior art, the present invention adopts an enclosing multi-point pressing and fixing method, which can ensure stability during the clamping process;

[0027] 3. In the present invention, a first cross bar is installed with a thread on the inner side of the bottom of the bracket, and the traction belt is passed around the first cross bar and the second cross bar and fixed to the baffle bar. A plurality of relatively arranged adjustment holes are opened on the side of the bottom of the bracket, and the plurality of adjustment holes are adapted to the thread of the first cross bar. The position of the first cross bar can be installed in the adjustment holes at different positions according to needs, thereby adjusting the lifting height of the baffle bar, which is suitable for clamping boxes of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] Figure 1 A schematic structural diagram of an easily adjustable palletizing robot and a method of using the same proposed by the present invention;

[0030] Figure 2 This is a schematic diagram of the mechanical claw structure proposed by the present invention;

[0031] Figure 3 This is a schematic diagram of the front view structure of the mechanical claw proposed by the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of the movable clamping jaw proposed by the present invention;

[0033] Figure 5 This is a schematic diagram of the fixed clamping jaw structure proposed by the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of the turning and pressing assembly proposed by the present invention;

[0035] Figure 7 This is a schematic diagram of the local structure of the traction assembly proposed by the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of the top pressing assembly proposed by the present invention;

[0037] In the figure: 1, conveyor belt; 2, multi-axis machine; 3, mechanical claw; 31, bracket; 311, first crossbar; 312, adjustment hole; 32, movable clamping claw; 321, movable claw rod; 322, upper swing arm; 323, lower swing arm; 324, first shaft rod; 325, second shaft rod; 326, first synchronous wheel; 33, fixed clamping claw; 331, second crossbar; 332, fixed claw rod; 333, guide groove; 334, slide rail; 34, electric telescopic rod; 35, stop rod; 351, guide rod; 36, flipping and pressing assembly; 361, first pressing rod; 362. Side guard bar; 363. Fan-shaped piece; 364. First rotating shaft; 365. Second synchronous wheel; 366. First spring rod; 367. Second spring rod; 368. First tension spring; 369. Stop rod; 37. Traction assembly; 371. Paddle; 372. First slider; 373. Traction belt; 38. Scissors support assembly; 381. First support rod; 382. Second support rod; 383. Second tension spring; 384. Second slider; 39. Pressing assembly; 391. Pressing plate; 392. Second rotating shaft; 393. Torsion spring; 394. Second pressure rod. DETAILED DESCRIPTION

[0038] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figure 1 and Figure 2The present invention provides a technical solution: a palletizing robot that is easy to adjust, comprising a conveyor belt 1, a multi-axis machine platform 2 arranged on one side of the conveyor belt 1, and a mechanical claw 3 for palletizing the packaging boxes conveyed on the conveyor belt 1 under the drive of the multi-axis machine platform 2, the mechanical claw 3 comprising a bracket 31, a movable clamping claw 32 is movably arranged on one side of the bottom of the bracket 31, a fixed clamping claw 33 is fixedly arranged on the other side of the bottom of the bracket 31, an electric telescopic rod 34 for driving the movable clamping claw 32 to open and close is arranged between the movable clamping claw 32 and the fixed clamping claw 33, a blocking rod 35 that can slide up and down is arranged on the fixed clamping claw 33, and the bracket 31 is close to the movable clamping claw 32. A turning and pressing assembly 36 is provided on one side for lifting one side of the bottom of the packaging box in cooperation with the stop rod 35 before the movable jaw 32 clamps the packaging box. A traction assembly 37 for pulling the stop rod 35 upward after the movable jaw 32 clamps the packaging box is provided on the side of the bracket 31 close to the fixed jaw 33. A scissor support assembly 38 is provided on the fixed jaw 33 for automatically opening when the stop rod 35 is pulled upward. The turning and pressing assembly 36 can press the top of the packaging box on one side after the movable jaw 32 clamps the packaging box. A top pressing assembly 39 is provided at the bottom of the bracket 31 for pressing the top of the packaging box on the other side with the help of the traction assembly 37.

[0040] See also Figure 2 , Figure 3 and Figure 4 The movable claw 32 includes a movable claw rod 321, an upper swing arm 322 is fixed to the top of the movable claw rod 321, a lower swing arm 323 is fixed to the bottom of the upper swing arm 322, a first shaft rod 324 is fixed to the upper end of the upper swing arm 322, a second shaft rod 325 is fixed to the lower end of the upper swing arm 322, the second shaft rod 325 is rotatably connected to the bracket 31, and both ends of the second shaft rod 325 pass through the bracket 31 and are fixed with a first synchronous wheel 326.

[0041] See also Figure 2 , Figure 3 and Figure 5 The fixed clamping claw 33 includes a second cross bar 331, which is fixed on the bracket 31. Fixed claw rods 332 are fixed at both ends of the second cross bar 331. Guide grooves 333 are opened on both sides of the fixed claw rod 332. Guide rods 351 limitedly located in the guide grooves 333 are fixed at both ends of the blocking rod 35. A slide rail 334 is fixed at the bottom of the fixed claw rod 332.

[0042] See also Figure 2 One end of the electric telescopic rod 34 is hinged to the first shaft rod 324, and the other end of the electric telescopic rod 34 is hinged to the second cross bar 331. When the electric telescopic rod 34 works, it pushes the first shaft rod 324, so that the movable claw rod 321 rotates counterclockwise with the first synchronous wheel 326 as the rotation center, that is, the movable clamping claw 32 starts to clamp the packaging box or release the packaging box.

[0043] See also Figure 2 , Figure 3 and Figure 6 The flipping assembly 36 includes a first pressure rod 361, side guard rods 362 are fixed at both ends of the first pressure rod 361, a fan-shaped piece 363 is hinged on the top of the side guard rod 362, a first rotating shaft 364 rotatably connected to the bracket 31 is fixed at the center of the fan-shaped piece 363, a second synchronous wheel 365 is fixed on the first rotating shaft 364, and the second synchronous wheel 365 is transmission-connected to the first synchronous wheel 326 through a synchronous belt (the synchronous belt is not marked in the figure), a first spring rod 366 and a stop rod 369 are fixed on the side of the fan-shaped piece 363, a second spring rod 367 is fixed on the side of the side guard rod 362, the first spring rod 366 and the second spring rod 367 are elastically connected by a first tension spring 368, and the side guard rod 362 is in the first tension spring 368. The elastic force of the spring 368 abuts against the stop rod 369, and when the second shaft rod 325 rotates, the first synchronous wheels 326 at both ends can be driven to rotate, and the second synchronous wheels 365 can be driven to rotate synchronously under the transmission action of the synchronous belt, thereby driving the fan-shaped piece 363 to rotate synchronously counterclockwise with the first rotating shaft 364 as the rotation center. Since the side guard rod 362 abuts against the stop rod 369, the first pressure rod 361 can push the top corner of one side of the packaging box, that is, the flipping assembly 36 is driven by the movable clamp 32 to push the packaging box from the top side in advance, and since the other side of the bottom of the packaging box is abutted by the blocking rod 35 on the fixed clamp 33, the bottom of the packaging box close to the movable clamp 32 can be tilted upward.

[0044] See also Figure 2 , Figure 3 and Figure 7 The traction assembly 37 includes a paddle 371, which is on the rotation path of the lower swing arm 323. A first slider 372 slidably connected to the bracket 31 is fixed to one side of the paddle 371, and a traction belt 373 is fixed to the top side of the paddle 371. When the movable clamp 32 clamps the packaging box, the lower swing arm 323 can push the paddle 371. Under the sliding limit of the first slider 372 on the bracket 31, the paddle 371 can pull the traction belt 373, and then the traction belt 373 pulls the blocking rod 35 to raise the blocking rod 35 from a low position.

[0045] Furthermore, a first cross bar 311 is threadedly installed on the inner side of the bottom of the bracket 31, and the traction belt 373 passes through the first cross bar 311 and the second cross bar 331 and is fixed to the baffle bar 35. A plurality of relatively arranged adjustment holes 312 are opened on the bottom side of the bracket 31, and the plurality of adjustment holes 312 are threadedly adapted to the first cross bar 311. The position of the first cross bar 311 can be installed in the adjustment holes 312 at different positions as needed, thereby adjusting the lifting height of the baffle bar 35, which is suitable for clamping packaging boxes of different heights.

[0046] See also Figure 2 , Figure 3 and Figure 5 The scissors support assembly 38 includes a first support rod 381 and a second support rod 382, ​​the first support rod 381 and the second support rod 382 are cross-arranged and elastically connected by a second tension spring 383, and the first support rod 381 and the second support rod 382 are hinged at both ends with a second slider 384, and the second sliders 384 at the bottom ends of the first support rod 381 and the second support rod 382 are slidably set on the slide rail 334, and the second sliders 384 at the top ends of the first support rod 381 and the second support rod 382 are slidably set at the bottom of the blocking rod 35. In the process of the blocking rod 35 rising from a low position, due to the increase in the height of the blocking rod 35, the two second sliders 384 at the bottom of the blocking rod 35 and the two second sliders 384 on the slide rail 334 are synchronously retracted, that is, the scissors support assembly 38 is gradually opened as the blocking rod 35 rises, so as to protect the packaging box.

[0047] See also Figure 2 , Figure 3 and Figure 8 The pressing assembly 39 includes a pressing plate 391, and second rotating shafts 392 are fixed on both sides of the top of the pressing plate 391. The second rotating shafts 392 are rotatably connected to the bracket 31 and a torsion spring 393 is clamped at the connection. The pressing plate 391 is in contact with the paddle 371 under the elastic force of the torsion spring 393. A second pressing rod 394 is fixed to the bottom surface of the pressing plate 391. Under the squeezing action of the lower swing arm 323, the paddle 371 pushes the pressing plate 391 from the bottom, so that the pressing plate 391 can overcome the elastic force of the torsion spring 393 and rotate counterclockwise to press on the top of the packaging box, that is, the pressing assembly 39 is pushed by the traction assembly 37 to press the top of the packaging box on the other side.

[0048] Based on the above embodiment, the present invention further proposes a method for using a palletizing robot, comprising the following steps:

[0049] Step 1: The packaging box is continuously transported by the conveyor belt 1, and when passing through the multi-axis machine 2, the multi-axis machine 2 drives the mechanical claw 3 to work;

[0050] Step 2: The bracket 31 is driven by the multi-axis machine 2 to make the bottom of the fixed clamp 33 close to the conveyor belt 1;

[0051] Step 3: The electric telescopic rod 34 drives the movable clamping claw 32 to start clamping the packaging box;

[0052] Step 4: The turning and pressing assembly 36 is driven by the movable clamping claw 32 to push the packaging box from the top side in advance. Since the other side of the bottom of the packaging box is resisted by the blocking rod 35 on the fixed clamping claw 33, the bottom of the packaging box near the movable clamping claw 32 is tilted upward;

[0053] Step 5: The movable clamping claw 32 is driven by the electric telescopic rod 34 to continue clamping the packaging box until the bottom of the movable clamping claw 32 extends to the bottom of the packaging box, and the turning and pressing assembly 36 releases the packaging box and presses the top of the packaging box on one side;

[0054] Step 6: The movable clamp 32 clamps the packaging box and drives the traction assembly 37 to pull the blocking rod 35, so that the blocking rod 35 is raised from a low position. During this process, the scissor support assembly 38 gradually opens as the blocking rod 35 rises to protect the packaging box;

[0055] Step 7: The top pressing component 39 is pushed by the traction component 37 to press the top of the packaging box on the other side;

[0056] Step eight, driven by the multi-axis machine platform 2, the mechanical claw 3 stacks the clamped packaging box at the designated position and then releases it, returning to the initial position to wait for the arrival of the next packaging box.

[0057] The working principle and use process of the present invention are as follows: the bracket 31 is driven by the multi-axis machine 2 to make the bottom of the fixed clamping claw 33 close to the conveyor belt 1, and then the electric telescopic rod 34 works to push the first shaft rod 324, so that the movable claw rod 321 rotates counterclockwise with the first synchronous wheel 326 as the rotation center, that is, the movable clamping claw 32 starts to clamp the packaging box, and when the second shaft rod 325 rotates, it can drive the first synchronous wheels 326 at both ends to rotate, and under the transmission action of the synchronous belt, it can drive the second synchronous wheels 326 at both ends to rotate. The step wheel 365 rotates synchronously, thereby driving the fan-shaped piece 363 to rotate synchronously counterclockwise with the first rotating shaft 364 as the rotation center. Since the side guard rod 362 abuts against the stop rod 369, the first pressing rod 361 can push the top corner of one side of the packaging box, that is, the turning and pressing assembly 36 is driven by the movable clamping claw 32 to push the packaging box from the top side in advance, and since the other side of the bottom of the packaging box is abutted by the blocking rod 35 on the fixed clamping claw 33, the bottom of the packaging box close to the movable clamping claw 32 can be tilted upward;

[0058] When the movable clamping claw 32 is driven by the electric telescopic rod 34 to continue to clamp the packaging box until the bottom of the movable clamping claw 32 extends to the bottom of the packaging box, the first pressure rod 361 also just separates from the packaging box, so that the packaging box falls on the movable clamping claw 32 under the action of gravity, and the side protection rod 362 is automatically pulled back by the elastic force of the first tension spring 368 to press the packaging box, that is, the overturning component 36 releases the packaging box and presses the top of the packaging box on one side, and the side protection rods 362 at both ends of the first pressure rod 361 protect the packaging box on both sides of the length direction of the first pressure rod 361 to prevent the packaging box from overturning;

[0059] When the movable clamp 32 clamps the packaging box, the lower swing arm 323 can push the paddle 371, and the first slider 372 can slide on the bracket 31 to limit the paddle 371 to pull the traction belt 373, and then the traction belt 373 pulls the blocking rod 35 to raise the blocking rod 35 from a low position. In this process, due to the increase in the height of the blocking rod 35, the two second sliders 384 at the bottom of the blocking rod 35 and the two second sliders 384 on the slide rail 334 are synchronously retracted, that is, the scissor support assembly 38 is gradually opened as the blocking rod 35 rises, so as to protect the packaging box.

[0060] Under the squeezing action of the lower swing arm 323, the bottom of the paddle 371 pushes the pressure plate 391, so that the pressure plate 391 can overcome the elastic force of the torsion spring 393 and rotate counterclockwise to press on the top of the packaging box. That is, the pressing component 39 is pushed by the traction component 37 to press the top of the packaging box on the other side, thereby increasing the stability of the packaging box during the grasping process.

[0061] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A palletizing robot that is easy to adjust, comprising a conveyor belt (1), a multi-axis machine platform (2) arranged on one side of the conveyor belt (1), and a mechanical claw (3) driven by the multi-axis machine platform (2) to palletize packaging boxes transported on the conveyor belt (1), characterized in that: The mechanical claw (3) comprises a bracket (31), a movable clamping claw (32) is movably provided on one side of the bottom of the bracket (31), a fixed clamping claw (33) is fixedly provided on the other side of the bottom of the bracket (31), an electric telescopic rod (34) for driving the movable clamping claw (32) to open and close is provided between the movable clamping claw (32) and the fixed clamping claw (33), a stopper (35) capable of sliding up and down is provided on the fixed clamping claw (33), and a side of the bracket (31) close to the movable clamping claw (32) is provided with a stopper (35) for making one side of the bottom of the packaging box tilt up and down in cooperation with the stopper (35) before the movable clamping claw (32) clamps the packaging box The bracket (31) is provided with a lifting and pressing component (36) on one side of the bracket (31) close to the fixed clamp (33) for pulling the stop bar (35) upward after the movable clamp (32) clamps the packaging box; the fixed clamp (33) is provided with a scissor support component (38) which is automatically opened when the stop bar (35) is pulled upward; the lifting and pressing component (36) can press the top of the packaging box on one side after the movable clamp (32) clamps the packaging box; and the bottom of the bracket (31) is provided with a pressing component (39) which presses the top of the packaging box on the other side under the push of the pulling component (37).

2. The easily adjustable palletizing robot according to claim 1, characterized in that: The movable clamping claw (32) comprises a movable claw rod (321), an upper swing arm (322) is fixed to the top of the movable claw rod (321), a lower swing arm (323) is fixed to the bottom of the upper swing arm (322), a first shaft rod (324) is fixed to the upper end of the upper swing arm (322), a second shaft rod (325) is fixed to the lower end of the upper swing arm (322), the second shaft rod (325) is rotatably connected to the bracket (31), and both ends of the second shaft rod (325) pass through the bracket (31) and are fixed with a first synchronous wheel (326).

3. The easily adjustable palletizing robot according to claim 2, characterized in that: The fixed clamping claw (33) comprises a second cross bar (331), the second cross bar (331) is fixed on the bracket (31), fixed claw rods (332) are fixed at both ends of the second cross bar (331), guide grooves (333) are provided on both sides of the fixed claw rod (332), the two ends of the blocking rod (35) are fixed with guide rods (351) limitedly located in the guide grooves (333), and the bottom of the fixed claw rod (332) is fixed with a slide rail (334).

4. The easily adjustable palletizing robot according to claim 3, characterized in that: One end of the electric telescopic rod (34) is hinged to the first shaft rod (324), and the other end of the electric telescopic rod (34) is hinged to the second cross rod (331).

5. The easily adjustable palletizing robot according to claim 1, characterized in that: The overturning assembly (36) comprises a first pressure rod (361), two ends of which are fixed with side guard rods (362), the top end of which is hinged with a fan-shaped piece (363), a first rotating shaft (364) rotatably connected to the bracket (31) is fixed at the center of the fan-shaped piece (363), a second synchronous wheel (365) is fixed on the first rotating shaft (364), and the second synchronous wheel (365) is synchronously rotated to rotate The belt is transmission-connected to the first synchronous wheel (326); a first spring rod (366) and a stop rod (369) are fixed to the side of the sector piece (363); a second spring rod (367) is fixed to the side of the side guard rod (362); the first spring rod (366) and the second spring rod (367) are elastically connected via a first tension spring (368); the side guard rod (362) contacts the stop rod (369) under the elastic force of the first tension spring (368).

6. The easily adjustable palletizing robot according to claim 2, characterized in that: The traction assembly (37) comprises a paddle (371), the paddle (371) is located on the rotation path of the lower swing arm (323), a first slider (372) slidably connected to the bracket (31) is fixed on one side of the paddle (371), and a traction belt (373) is fixed on one side of the top of the paddle (371).

7. The easily adjustable palletizing robot according to claim 6, characterized in that: A first cross bar (311) is threadedly mounted on the inner side of the bottom of the bracket (31), the traction belt (373) passes through the first cross bar (311) and the second cross bar (331) and is fixed to the blocking rod (35), and a plurality of adjustment holes (312) arranged opposite to each other are opened laterally on the bottom of the bracket (31), and the plurality of adjustment holes (312) are threadably matched with the first cross bar (311).

8. The easily adjustable palletizing robot according to claim 3, characterized in that: The scissors support assembly (38) includes a first support rod (381) and a second support rod (382), the first support rod (381) and the second support rod (382) are cross-arranged and elastically connected by a second tension spring (383), the first support rod (381) and the second support rod (382) are hinged at both ends with a second slider (384), the second sliders (384) at the bottom ends of the first support rod (381) and the second support rod (382) are slidably set on the slide rail (334), and the second sliders (384) at the top ends of the first support rod (381) and the second support rod (382) are slidably set at the bottom of the blocking rod (35).

9. The easily adjustable palletizing robot according to claim 6, characterized in that: The top pressure assembly (39) includes a pressure plate (391), and second rotating shafts (392) are fixed on both sides of the top of the pressure plate (391). The second rotating shaft (392) is rotatably connected to the bracket (31) and a torsion spring (393) is clamped at the connection. The pressure plate (391) is in contact with the paddle (371) under the elastic force of the torsion spring (393), and a second pressure rod (394) is fixed to the bottom surface of the pressure plate (391).

10. A method for using a palletizing robot, according to the easily adjustable palletizing robot of claim 1, characterized in that: The following steps are involved: Step 1: The packaging box is continuously transported by the conveyor belt (1), and when passing through the multi-axis machine (2), the multi-axis machine (2) drives the mechanical claw (3) to work; Step 2: The support (31) is driven by the multi-axis machine (2) to bring the bottom of the fixed clamp (33) close to the conveyor belt (1); Step 3: The electric telescopic rod (34) drives the movable clamping claw (32) to start clamping the packaging box; Step 4: The turning and pressing assembly (36) is driven by the movable clamp (32) to push the packaging box from the top side in advance. Since the other side of the bottom of the packaging box is resisted by the stopper (35) on the fixed clamp (33), the bottom of the packaging box close to the movable clamp (32) is tilted upward; Step 5: The movable clamp (32) is driven by the electric telescopic rod (34) to continue clamping the packaging box until the bottom of the movable clamp (32) extends to the bottom of the packaging box, and the turning and pressing assembly (36) releases the packaging box and presses the top of the packaging box on one side; Step 6: The movable clamp (32) clamps the packaging box and drives the traction assembly (37) to pull the blocking rod (35), so that the blocking rod (35) rises from a low position. During this process, the scissor support assembly (38) gradually opens as the blocking rod (35) rises to protect the packaging box; Step 7: the top pressing component (39) is pushed by the traction component (37) to press the top of the packaging box on the other side; Step eight, driven by the multi-axis machine (2), the mechanical claw (3) stacks the clamped packaging box at a designated position and then releases it, returning to the initial position to wait for the arrival of the next packaging box.

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