Stacking robot based on material transportation

Abstract

The invention discloses a stacking robot based on material transportation, and relates to the technical field of material stacking. The device comprises a mounting frame, a transverse plate is slidably connected to the inner side of the top of the mounting frame in a limiting mode, a hydraulic rod is fixedly mounted in the middle of the top of the mounting frame, the bottom end of the hydraulic rod is fixedly mounted to the center of the top end of the transverse plate, and first rotating shafts are rotatably connected to the interior of the transverse plate in a front-back symmetrical limiting mode; and gears are fixedly mounted on the peripheries of the middle parts of the front and rear rotating shafts. According to the stacking device, materials can be elastically clamped, the clamping force can be mastered more easily, the materials can be effectively clamped under the condition that the materials are not damaged, the materials clamped between the clamping plates can be horizontally moved up and down, the stacking stability and precision are improved, the clamping friction force between the stacking device and the materials can be adjusted according to the distribution of the weight of the materials, and the stacking efficiency is improved. Inclined movement of the materials due to uneven weight distribution is avoided, and normal proceeding of subsequent material clamping and stacking is facilitated.

Description

Technical Field

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

[0002] In material transportation, in order to facilitate the centralized management and transfer of materials, and in warehousing, in order to be able to place them in an orderly manner in a limited space, make rational use of space, and facilitate subsequent transfer, materials need to be palletized. With the advancement of technology, the height of palletizing continues to increase, and the palletizing of materials has also become performed by palletizing robots.

[0003] However, the existing palletizing robots based on material transportation still have the following defects during use:

[0004] 1. When existing palletizing robots clamp materials, they clamp the materials rigidly, so it is difficult to control the clamping force. It is easy for insufficient clamping to cause the materials to fall or excessive clamping to cause damage to the materials, which reduces the clamping effect.

[0005] 2. After the existing palletizing robots complete the material gripping, they use the operation of the mechanical arm to drive the material to move up and down, thereby completing the grasping and stacking. However, the operation of the mechanical arm is difficult, so the stability and accuracy of the palletizing need to be improved.

[0006] 3. When the existing palletizing robots clamp materials, the clamping friction between the clamping plates and the materials is evenly distributed. However, when the weight of the clamped materials is unevenly distributed, the materials are prone to tilt and move between the clamping plates, thereby affecting the normal clamping and palletizing. Summary of the invention

[0007] The purpose of the present invention is to solve the above-mentioned problems that the clamping force is difficult to control for rigid clamping of materials, which reduces the clamping effect, and the clamping and stacking method that drives the materials to move up and down by operation of the mechanical arm is difficult to operate, and the stability and accuracy need to be improved. In addition, when clamping materials with uneven weight distribution, the materials are prone to tilt and move between the clamping plates, thereby affecting the normal clamping and stacking. The present invention provides a palletizing robot based on material transportation.

[0008] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0009] The top of the gear train is fixedly mounted on the drive means, and the gear train is connected to the drive means by the control button, and the control button is pressed downwards to stop the gear from being disengaged from the drive means, and the gear train is connected to the drive means by the control button.

[0010] Furthermore, a connector is fixedly installed at the center of the top of the hydraulic rod, and the connector is used to connect to the hydraulic oil pipeline, thereby realizing the telescopic control of the hydraulic rod.

[0011] Furthermore, a motor is fixedly mounted on the left end of the horizontal plate, and the motor is transmission-connected to any one of the front and rear rotating shafts 1, so that the motor can drive any one of the rotating shafts 1 to rotate.

[0012] Furthermore, the middle limit rolling connections at the upper and lower ends of the slider are connected with balls, thereby reducing the friction between the slider and the slide groove, which is beneficial to the normal sliding of the slider.

[0013] Furthermore, the lifting and placing assembly includes a second rotating shaft, and the upper and lower sides of the splint are both connected to the second rotating shaft in a limited rotation manner, and lower pulleys are symmetrically fixedly installed on the periphery of the left and right sides of the upper rotating shaft, and a limiting groove is provided on the periphery of the middle area of ​​the second rotating shaft, and the periphery of the second rotating shaft is limitedly slidably connected to a rotating wheel through the limiting groove, and a friction transmission belt is connected between the upper and lower rotating wheels.

[0014] Furthermore, belts are connected between the upper pulleys and the lower pulleys on the front and rear sides, so that when the upper pulley rotates, the lower pulley can be driven to rotate by the belt.

[0015] Furthermore, the friction transmission belt is located on the outside of the splint, and the thickness of the friction transmission belt is greater than the limiting depth of the wheel, so that the outer edge of the friction transmission belt extends to the outside of the edge of the wheel. Therefore, when the splint contracts, the outer edge of the friction transmission belt can contact the surface of the material.

[0016] Furthermore, installation grooves are symmetrically provided on the left and right sides of the top of the installation frame, and the installation grooves are used to be assembled with the grabbing mechanical arm of the palletizing robot through the flange, and then the installation frame is driven to move through the mechanical arm.

[0017] The beneficial effects of the present invention are as follows:

[0018] 1. The present invention, through the action of the belt between the transverse plate and the clamping plate, can shrink the clamping plate by moving the transverse plate upward, thereby making the clamping plate clamp the material. Since the belt itself has elasticity, the clamping of the material can be elastic, which makes it easier to control the clamping force and is conducive to effectively clamping the material without damaging the material.

[0019] 2. The present invention, through the design of the lifting and placing components, cooperates with the rotation of the first rotating shaft in the horizontal plate to drive the rotation of the second rotating shaft, so that the friction transmission belts on the outer sides of the clamping plates on both sides can rotate in the opposite direction, and then the materials clamped between the clamping plates can be translated up and down, which is beneficial to the stable grasping and stacking, and improves the stability and accuracy of palletizing.

[0020] 3. The present invention adopts the design that the rotating wheel in the lifting and placing assembly slides at limited positions on the two outer peripheries of the rotating shaft. When grabbing materials with uneven weight distribution, the friction between the friction transmission belt and the surface of the material with heavier weight area can be increased by adjusting the distribution of the friction transmission belt, thereby achieving more stable grabbing of the material, avoiding the tilting movement of the material due to uneven weight distribution, and facilitating the normal subsequent material clamping and stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0022] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0023] Figure 3 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 1 ;

[0024] Figure 4 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 2 ;

[0025] Figure 5 It is a schematic diagram of a partial cross-sectional three-dimensional structure of the horizontal plate of the present invention;

[0026] Figure 6 It is a schematic diagram of the local three-dimensional structure of the present invention Figure 3 ;

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the splint and the lifting and placing assembly of the present invention;

[0028] Figure 8 It is a schematic diagram of the three-dimensional structure of a single-side splint and a lifting and placing assembly of the present invention;

[0029] Fig. 9 The present invention Figure 8 A magnified view of the structure in the middle.

[0030] Figure numerals: 1. mounting frame; 2. cross plate; 3. hydraulic rod; 31. connector; 4. rotating shaft 1; 5. gear; 6. groove; 7. upper pulley; 8. slide groove; 9. slider; 10. spring; 11. clamp; 12. lifting and lowering assembly; 121. rotating shaft 2; 122. lower pulley; 123. limiting groove; 124. rotating wheel; 125. friction transmission belt; 13. belt; 14. motor; 15. mounting groove. DETAILED DESCRIPTION

[0031] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] A palletizing robot based on material transportation according to a preferred embodiment of the present invention will be described in detail below. Figure 1-Figure 6 As shown, a palletizing robot based on material transportation includes a mounting frame 1, the inner side of the top of the mounting frame 1 is slidingly connected with a cross plate 2, a hydraulic rod 3 is fixedly installed in the middle of the top of the mounting frame 1, the bottom end of the hydraulic rod 3 is fixedly installed with the center of the top of the cross plate 2, and a connector 31 is fixedly installed in the center of the top of the hydraulic rod 3. The connector 31 is used for connection with a hydraulic oil pipeline, thereby realizing the telescopic control of the hydraulic rod 3.

[0033] The interior of the horizontal plate 2 is symmetrically limited and rotatably connected with a rotating shaft 4, and a motor 14 is fixedly installed on the left end of the horizontal plate 2. The motor 14 is transmission-connected to any one of the front and rear rotating shafts 4, so that the motor 14 can drive any one of the rotating shafts 4 to rotate.

[0034] Gears 5 are fixedly mounted on the periphery of the middle part of the front and rear rotating shafts 4, and the gears 5 are meshed with each other, so that the two rotating shafts 4 can rotate in opposite directions.

[0035] Grooves 6 are symmetrically provided at the bottom of the left and right sides of the transverse plate 2, and upper pulleys 7 are fixedly installed on the peripheries of the left and right sides of the front and rear rotating shafts 4. The upper pulleys 7 are located at the grooves 6, and slide grooves 8 are provided on the adjacent sides of the left and right sides of the bottom of the mounting frame 1. The interior of the slide grooves 8 is symmetrically limited and slidably connected with sliders 9, and the middle limit rolling connections of the upper and lower ends of the slider 9 are connected with balls, thereby reducing the friction between the slider 9 and the slide groove 8, which is conducive to the normal sliding of the slider 9.

[0036] A spring 10 is fixedly connected between the front and rear sliders 9 , a clamping plate 11 is fixedly installed between the left and right sliders 9 , and a lifting and lowering assembly 12 is arranged between the clamping plate 11 and the cross plate 2 .

[0037] The left and right sides of the top of the mounting frame 1 are symmetrically provided with mounting grooves 15 , which are used to be assembled with the grabbing mechanical arm of the palletizing robot through the flange, and then the mounting frame 1 is driven to move through the mechanical arm.

[0038] Furthermore, if Figure 6-Figure 9 As shown, the lifting and placing assembly 12 includes a rotating shaft 121, and the upper and lower sides of the splint 11 are both connected to the rotating shaft 121 for limited rotation, and the peripheries of the left and right sides of the upper rotating shaft 121 are symmetrically fixed with lower pulleys 122, and the periphery of the middle area of ​​the rotating shaft 121 is provided with a limiting groove 123, and the periphery of the rotating shaft 121 is limitedly slidably connected to a rotating wheel 124 through the limiting groove 123, and a friction transmission belt 125 is connected between the upper and lower rotating wheels 124 for transmission.

[0039] Belts 13 are connected between the upper pulleys 7 and the lower pulleys 122 on the front and rear sides, so that when the upper pulley 7 rotates, the lower pulley 122 can be driven to rotate through the belts 13.

[0040] The friction transmission belt 125 is located on the outside of the splint 11, and the thickness of the friction transmission belt 125 is greater than the limiting depth of the rotating wheel 124, so that the outer edge of the friction transmission belt 125 extends to the outside of the edge of the rotating wheel 124. Therefore, when the splint 11 contracts, the outer edge of the friction transmission belt 125 can contact the surface of the material.

[0041] The working principle of the present invention is:

[0042] When palletizing is required, the mounting frame 1 is assembled on the mechanical arm of a palletizing robot through the design of the mounting groove 15 at the top of the mounting frame 1, and the mounting frame 1 is driven to move by the robot and the mechanical arm.

[0043] When clamping the material, the mechanical arm drives the movement of the mounting frame 1 to move the clamping plate 11 at the bottom of the mounting frame 1 to the two sides of the clamped material, and then the hydraulic rod 3 is used to drive the cross plate 2 to move upward. In the process of the cross plate 2 moving upward, the belt 13 between the upper pulley 7 on the outer periphery of the rotating shaft 1 4 inside the cross plate 2 and the lower pulley 122 on the outer periphery of the rotating shaft 2 121 at the top of the clamping plate 11 can pull the rotating shaft 2 121 and the clamping plate 11 to move toward the middle, so that the clamping plate 11 clamps the material. The elasticity of the belt 13 itself can make the clamping of the material by the clamping plate 11 elastic, which is beneficial to effectively clamp the material without damaging the material.

[0044] After the clamping is completed, the motor 14 drives the rotating shaft 4 to rotate, and the design of the outer gears 5 in the middle of the two rotating shafts 4 meshing with each other can make the two rotating shafts 4 rotate in opposite directions, and then under the action of the belt 13, the rotating shaft 2 121 on the top of the two side clamps 11 can be driven to rotate in opposite directions. In the process of the rotation of the rotating shaft 2 121, the design of the friction transmission belt 125 connected between the outer rotating wheels 124 of the rotating shaft 2 121 on the upper and lower sides of the clamp 11 can make the friction transmission belt 125 on the outer side of the clamp 11 on both sides rotate in the opposite direction synchronously, and then when the clamp 11 contracts and the friction transmission belt 125 contacts the surface of the material, the friction transmission belt 125 can lift the material upward, which is conducive to the upward translation of the material from the original stacking position.

[0045] After the materials are transferred to the new stacking location, the friction belt 125 is used to transport the materials downward by reversing the driving motor 14, which is beneficial to the stable and accurate stacking of the materials.

[0046] After the stacking is completed, the hydraulic rod 3 drives the cross plate 2 to move downward, and the sliders 9 on both sides of the bottom of the mounting frame 1 will move to both sides under the action of the restoring force of the spring 10, thereby driving the clamping plate 11 to reopen to facilitate the next clamping.

[0047] When the weight of the stacked material is unevenly distributed, the design of the rotating wheel 124 sliding in a limited position outside the rotating shaft 121 can adjust the distribution of the friction transmission belt 125 on the periphery of the clamping plate 11, and increase the number of friction transmission belts 125 at the contact point between the friction transmission belt 125 and the surface of the material with heavier weight, thereby increasing the friction force between the friction transmission belt 125 and the material surface at that point, so as to clamp the material more smoothly, avoid the material from tilting due to uneven weight distribution, and facilitate the normal subsequent material clamping and stacking.

[0048] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A palletizing robot based on material transportation, comprising a mounting frame (1), characterized in that: The inner side of the top of the mounting frame (1) is limitedly slidably connected to a transverse plate (2), a hydraulic rod (3) is fixedly installed in the middle of the top of the mounting frame (1), the bottom end of the hydraulic rod (3) is fixedly installed in the center of the top of the transverse plate (2), the interior of the transverse plate (2) is symmetrically limitedly rotatably connected to a rotating shaft (4), the outer periphery of the middle of the front and rear rotating shafts (4) are fixedly installed with gears (5), and the gears (5) are meshed with each other, the bottom of the left and right sides of the transverse plate (2) are symmetrically provided with grooves (6), and the front and rear rotating shafts are connected to the rotating shafts (4). An upper pulley (7) is fixedly installed on the periphery of the left and right sides of the one (4), and the upper pulley (7) is located in the groove (6). A slide groove (8) is opened on the adjacent sides of the left and right sides of the bottom of the mounting frame (1). The inside of the slide groove (8) is symmetrically connected to a slider (9) in a limited sliding manner in the front and rear directions. A spring (10) is fixedly connected between the front and rear sliders (9). A clamping plate (11) is fixedly installed between the sliders (9) on the left and right sides, and a lifting and lowering component (12) is arranged between the clamping plate (11) and the cross plate (2).

2. The material transport-based palletizing robot according to claim 1, characterized in that: A connecting head (31) is fixedly installed at the center of the top of the hydraulic rod (3), and the connecting head (31) is used for connecting to a hydraulic oil pipeline.

3. The material transport-based palletizing robot according to claim 1, characterized in that: A motor (14) is fixedly mounted on the left end of the transverse plate (2), and the motor (14) is drivingly connected to any one of the front and rear rotating shafts (4).

4. The material transport-based palletizing robot according to claim 1, characterized in that: The middle parts of the upper and lower ends of the slider (9) are limitedly and rollingly connected with balls.

5. The material transport-based palletizing robot according to claim 1, characterized in that: The lifting and placing assembly (12) comprises: A second rotating shaft (121), the upper and lower sides of the clamping plate (11) are both connected to the second rotating shaft (121) in a limited rotation manner; A lower pulley (122) is symmetrically fixedly mounted on the periphery of the left and right sides of the second rotating shaft (121) on the upper side; Limiting grooves (123), the periphery of the middle area of ​​the second rotating shaft (121) is provided with limiting grooves (123); A rotating wheel (124), the outer periphery of the second rotating shaft (121) is connected to the rotating wheel (124) in a limited sliding manner via a limiting groove (123); A friction transmission belt (125) is provided between the upper and lower rotating wheels (124) for transmission connection.

6. The material transport-based palletizing robot according to claim 5, characterized in that: Belts (13) are connected in transmission between the upper belt pulley (7) and the lower belt pulley (122) on the front and rear sides.

7. The material transport-based palletizing robot according to claim 5, characterized in that: The friction transmission belt (125) is located on the outside of the clamping plate (11), and the thickness of the friction transmission belt (125) is greater than the limiting depth of the rotating wheel (124), so that the outer side of the friction transmission belt (125) extends to the outside of the edge of the rotating wheel (124).

8. The material transport-based palletizing robot according to any one of claims 1 to 7, characterized in that: The left and right sides of the top of the mounting frame (1) are symmetrically provided with mounting grooves (15), and the mounting grooves (15) are used for assembly with a grabbing mechanical arm of a palletizing robot through a flange.

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