Stacking robot and stacking method for wall cloth processing

Abstract

The invention discloses a stacking robot and a stacking method for wall cloth processing, and relates to the field of manipulators. When a clamping plate clamps and grabs an object, the auxiliary supporting claw can be supported on the bottom face of the object so that the object can be supported in an auxiliary mode, and therefore the stability of the palletizing robot during object grabbing and conveying is improved, and the object is prevented from falling off in the grabbing and conveying process; the auxiliary supporting claw is initially folded and installed on the outer side face of the lower portion of the clamping plate through the lifting rotating assembly, the clamping plate cannot be hindered when clamping objects, and therefore a suspension position does not need to be reserved at the bottom of the objects when the clamping plate clamps the objects, the object clamping process is more convenient, and the applicability of the palletizing robot is improved; and when the articles are grabbed and conveyed to the stacking position, the lifting rotating assembly can drive the auxiliary supporting claws to reset and be folded on the outer side faces of the lower ends of the clamping plates in advance, so that the occupied space of the auxiliary supporting claws is reduced, and dense stacking of the articles is facilitated.

Description

Technical Field

[0001] The invention belongs to the field of manipulators, and in particular relates to a palletizing robot and a palletizing method for wall cloth processing. Background Art

[0002] Palletizing is the process of placing items neatly and regularly into pallets. The emergence of palletizing robots makes the palletizing process more convenient and faster.

[0003] Chinese patent CN102729242B discloses a palletizing robot gripper, including a main frame mechanism mainly composed of a front side plate, a rear side plate, a left side plate, a right side plate and a top plate, and gripping teeth are arranged at the bottom ends of the front and rear side plates. When the front and rear side plates clamp and grasp objects, the gripping teeth can be supported on the bottom ends of the objects to improve the stability of the objects when grasping and prevent the objects from falling during the grasping and conveying process.

[0004] However, since the bottom surface of the side panel is provided with grabbing teeth, in order for the palletizing robot gripper to smoothly grab the items, a suspended portion needs to be left at the bottom of the items before grabbing, thereby limiting the use scope of the palletizing robot gripper and reducing the applicability of the equipment; on the other hand, when the above-mentioned palletizing robot gripper stacks the grabbed items, the side panel needs to be moved far enough away from the items to completely separate the grabbing teeth at the bottom of the side panel from the items, thereby requiring sufficient space to be left around the items during stacking, and thus the items cannot be densely stacked, reducing the space utilization rate during stacking. Summary of the invention

[0005] In view of the problems in the related art, the present invention proposes a palletizing robot and a palletizing method for wall cloth processing to overcome the above technical problems existing in the existing related art.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention is a palletizing robot, comprising a mechanical arm and a gripper mechanism installed at the action end of the mechanical arm, wherein the gripper mechanism comprises a top support plate which is transmission-connected to the action end of the mechanical arm, both ends of the top surface of the top support plate are installed with telescopic drive components, both ends of the bottom surface of the top support plate are installed with clamping plates which are transmission-connected to the telescopic drive components, and two groups of the telescopic drive components can drive the clamping plates at both ends of the bottom surface of the top support plate to move toward each other to close or move in the opposite direction to open; Auxiliary support mechanisms capable of supporting and positioning the clamped object are installed on the clamping plates at both ends of the bottom surface of the top support plate; The auxiliary support mechanism includes a lifting and rotating component and an auxiliary support claw. The auxiliary support claw is folded and installed on the outer side surface of the lower part of the splint through the lifting and rotating component, and the lifting and rotating component can drive the auxiliary support claw downward along the splint to move the auxiliary support claw to the bottom of the splint, and then drive the auxiliary support claw to rotate so that one end of the auxiliary support claw rotates and moves to the bottom of the inner side surface of the splint.

[0007] Further, the telescopic drive assembly includes a hydraulic telescopic shaft and a limiting guide groove, the hydraulic telescopic shaft is fixedly installed on the top surface of the top support plate, an upper slide is fixedly installed on the telescopic end outside the hydraulic telescopic shaft, and the upper slide is slidably installed in close contact with the top surface of the top support plate; The limiting guide groove is opened at the end of the top support plate, and a sliding connection block is installed inside the limiting guide groove. The top of the sliding connection block is fixedly connected to the bottom surface of the upper slide seat, and the bottom end of the sliding connection block is fixedly installed with a connecting support bar, and the connecting support bar is fixedly installed on the outer side surface of the splint.

[0008] Furthermore, a lower slide seat is slidably mounted on the bottom surface of the top support plate, the lower slide seat is fixedly mounted on the bottom end of the connecting support bar, and the connecting support bar is fixedly mounted on the bottom surface of the lower slide seat; A plurality of reinforcing strips are fixedly mounted on the outer side surface of the clamping plate.

[0009] Furthermore, the lifting and rotating assembly includes a limiting cylinder, which is fixedly mounted on the outer side of the reinforcing strip, and a guide sleeve is slidably mounted on the lower end of the limiting cylinder, and the auxiliary supporting claw arranged horizontally is mounted on one side of the lower end of the guide sleeve.

[0010] Furthermore, a lifting guide groove located in the inner ring of the guide sleeve is opened on the side wall of the lower end of the limit cylinder, and a rotating guide groove arranged along the circumferential direction of the limit cylinder is opened on one side of the bottom end of the lifting guide groove, and a guide connecting block that can slide along the lifting guide groove and the rotating guide groove is fixedly installed on the inner ring of the guide sleeve.

[0011] Furthermore, a rotating shaft is rotatably mounted on the inner ring of the limiting cylinder, an external thread is provided on the lower end of the rotating shaft, and a threaded sleeve is rotatably mounted on the lower end of the rotating shaft through the external thread, and an outer surface of the threaded sleeve is fixedly connected to the inner end of the guide connecting block.

[0012] Furthermore, the lifting and rotating assembly further comprises a motor and a transmission shaft, the motor is fixedly mounted on the bottom surface of the lower slide seat, and a driving gear is fixedly mounted on the output shaft of the motor; The transmission shaft is rotatably mounted on the bottom surface of the lower sliding seat and is located below the motor. A transmission gear and a transmission bevel gear are fixedly mounted on the transmission shaft. The transmission gear is meshed and transmission connected with the driving gear. The top end of the rotating shaft extends to the bottom of the transmission shaft, and a driven bevel gear meshed and transmission connected with the transmission bevel gear is fixedly mounted on the top end of the rotating shaft.

[0013] Further, the outer ring of the lower end of the guide sleeve is provided with an annular groove, the lower end of the annular groove is sleeved with a sliding sleeve, one end of the sliding sleeve is fixedly connected to the auxiliary support claw, the upper end of the annular groove is sleeved with a torsion spring, one end of the torsion spring is fixedly connected to the end wall of the annular groove, and the other end of the torsion spring is fixedly connected to the top surface of the sliding sleeve; A fixed stopper is fixedly mounted on the outer surface of the guide sleeve, and a movable stopper abutting against the outer end of the fixed stopper is fixedly mounted on the top surface of the auxiliary support claw.

[0014] Furthermore, the top surface of the auxiliary support claw is provided with a plurality of equally spaced lifting slots, a lifting seat is slidably installed inside the lifting slot, a support spring is abutted against the bottom end of the lifting seat, and a ball is movably mounted on the top end of the lifting seat.

[0015] The present invention also discloses a stacking method for wall cloth processing, and the specific steps are as follows: During palletizing, the mechanical arm first drives the clamping mechanism to move, so that the two clamping plates in the clamping mechanism are respectively located on the two sides of the wall cloth packaging box, and the bottom surface of the clamping plates is flush with the bottom surface of the wall cloth packaging box. Then, the telescopic driving components at both ends of the top support plate drive the two clamping plates to move toward each other and close together, so that the two clamping plates are respectively clamped on the two sides of the wall cloth packaging box. Then, the mechanical arm drives the clamping mechanism to move upward, so that the wall cloth packaging box is grabbed and transported upward through the two clamping plates. When the wall cloth packaging box is picked up, the auxiliary support claw is driven to move downward along the clamping plate through the lifting and rotating assembly, and the auxiliary support claw is moved to the bottom of the clamping plate. Then, the auxiliary support claw is driven to rotate through the lifting and rotating assembly, and one end of the auxiliary support claw is rotated and moved to the bottom of the inner side of the clamping plate. At this time, the auxiliary support claw is located on the bottom surface of the wall cloth packaging box to provide auxiliary support for the wall cloth packaging box. When the wall cloth packaging box is grabbed and transported to the top of the stacking position, the auxiliary support claws are first driven to rotate and reset through the lifting and rotating assembly, so that the auxiliary support claws are rotated and folded under the clamping plate, and then the auxiliary support claws are driven to rise and reset through the lifting and rotating assembly, so that the auxiliary support claws are moved to the outside of the clamping plate. Finally, the wall cloth packaging box is stacked at the stacking position, and the two clamping plates are driven to move in opposite directions and open through the telescopic driving assemblies at both ends of the top support plate, so that the two clamping plates relax their clamping on the wall cloth packaging box, completing the stacking process of the wall cloth packaging box.

[0016] The present invention has the following beneficial effects: 1. In the present invention, auxiliary support claws are provided on the bottom surface of the clamping plate. When the clamping plate clamps and grabs the article, the auxiliary support claws can be supported on the bottom surface of the article to provide auxiliary support for the article, thereby improving the stability of the palletizing robot when grabbing and conveying the article and preventing the article from falling during the grabbing and conveying process.

[0017] 2. The auxiliary support claw in the present invention is initially folded and installed on the outer side surface of the lower part of the clamping plate through the lifting and rotating assembly, which will not hinder the clamping of objects by the clamping plate, so that there is no need to leave a suspended position at the bottom of the object when the clamping plate clamps the object, thereby making the object clamping process more convenient and improving the applicability of the stacking robot; and after the clamping plate clamps the object, the auxiliary support claw can be driven to move downward along the clamping plate through the lifting and rotating assembly to move the auxiliary support claw to the bottom of the clamping plate, and then the auxiliary support claw can be driven to rotate to rotate one end of the auxiliary support claw to move to the bottom of the inner side surface of the clamping plate, so that the auxiliary support claw can be lifted and lowered. The driving of the rotating component enables the auxiliary supporting claws to move quickly to the bottom surface of the clamped items to provide auxiliary support for the items, making the supporting process of the items more convenient and quick; and when the items are grabbed and transported to the stacking position, the auxiliary supporting claws can be driven by the lifting and rotating component to first reset and fold on the outer side surface of the lower end of the clamping plate, thereby reducing the space occupied by the auxiliary supporting claws. After that, the clamping plate only needs to be slightly moved outward to release the clamping of the items, and the items can be put down to complete the stacking process, thereby reducing the space required to be reserved for the stacking position during stacking, which is conducive to densely stacking items and improving space utilization during stacking.

[0018] 3. In the present invention, the auxiliary support claw is rotatably installed on the guide sleeve through a torsion spring. When the guide sleeve rotates to drive the auxiliary support claw to rotate and support the bottom surface of the object, if the object slides down due to unstable clamping of the splint, causing the auxiliary support claw to rotate and abut against the side of the object, the auxiliary support claw can rotate in the opposite direction relative to the guide sleeve during the subsequent rotation of the guide sleeve, so that the auxiliary support claw abuts against the side of the object only under the torsional force of the torsion spring, and will not hard abut against the object due to the rotation of the guide sleeve, thereby preventing the auxiliary support claw from abutting against the object when the object is clamped and positioned inaccurately, causing damage to the object or the auxiliary support claw.

[0019] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, they can also obtain drawings based on these drawings without paying creative work.

[0021] Figure 1It is a schematic diagram of the three-dimensional structure of the palletizing robot of the present invention; Figure 2 This is one of the three-dimensional structural schematic diagrams of the gripper mechanism of the palletizing robot of the present invention; Figure 3 For the present invention Figure 2 A local enlarged structural schematic diagram; Figure 4 The second schematic diagram of the three-dimensional structure of the gripper mechanism of the palletizing robot of the present invention; Figure 5 The third schematic diagram of the three-dimensional structure of the gripper mechanism of the palletizing robot of the present invention; Figure 6 For the present invention Figure 5 A schematic diagram of the local enlarged structure at B; Figure 7 The fourth is a three-dimensional structural schematic diagram of the gripper mechanism of the palletizing robot of the present invention; Figure 8 For the present invention Figure 7 A schematic diagram of the local enlarged structure at C; Fig. 9 The fifth schematic diagram of the three-dimensional structure of the gripper mechanism of the palletizing robot of the present invention; Fig.10 For the present invention Fig. 9 A schematic diagram of the local enlarged structure at D; Fig.11 For the present invention Fig. 9 Schematic diagram of the local enlarged structure at E.

[0022] In the figure: 1. Mechanical arm; 2. Clamping mechanism; 21. Top support plate; 22. Hydraulic telescopic shaft; 23. Limiting guide groove; 24. Upper slide seat; 25. Sliding connection block; 26. Connecting support bar; 27. Clamping plate; 28. Lower slide seat; 29. ​​Reinforcement bar; 3. Auxiliary support mechanism; 31. Limiting cylinder; 32. Auxiliary support claw; 33. Guide sleeve; 34. Ring groove; 35. Sliding sleeve; 36. Torsion spring; 37. Fixed stop block; 38. Movable stopper; 39. Lifting seat; 310. Ball bearing; 311. Motor; 312. Driving gear; 313. Transmission shaft; 314. Transmission gear; 315. Transmission bevel gear; 316. Driven bevel gear; 317. Rotating shaft; 318. Guide connecting block; 319. Lifting guide groove; 320. Rotating guide groove; 321. External thread; 322. Threaded sleeve; 323. Lifting slide groove; 324. Support spring. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0024] In the description of the present invention, it is necessary to understand that the terms "opening", "upper", "lower", "top", "middle", "inside" and the like indicating orientation or positional relationship are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention.

[0025] Example 1: Please refer to Figure 1-Figure 4 As shown, the present invention is a palletizing robot, comprising a mechanical arm 1 and a clamping mechanism 2 installed at the action end of the mechanical arm 1, the clamping mechanism 2 comprises a top support plate 21 which is transmission-connected to the action end of the mechanical arm 1, both ends of the top surface of the top support plate 21 are installed with telescopic drive components, both ends of the bottom surface of the top support plate 21 are installed with clamping plates 27 which are transmission-connected to the telescopic drive components, and the two sets of telescopic drive components can drive the clamping plates 27 at both ends of the bottom surface of the top support plate 21 to move toward each other to close or move in the opposite direction to open; the clamping plates 27 at both ends of the bottom surface of the top support plate 21 are installed with auxiliary support mechanisms 3 which can support and position the clamped objects; the auxiliary support mechanism 3 comprises a lifting and rotating component and an auxiliary support claw 32, the auxiliary support claw 32 is folded and installed on the outer side surface of the lower part of the clamping plate 27 by the lifting and rotating component, and the lifting and rotating component can drive the auxiliary support claw 32 to move downward along the clamping plate 27, so that the auxiliary support claw 32 moves to the bottom of the clamping plate 27, and then drives the auxiliary support claw 32 to rotate, so that one end of the auxiliary support claw 32 rotates and moves to the bottom of the inner side surface of the clamping plate 27; Specifically, when the palletizing robot is working, the robot arm 1 first drives the clamping mechanism 2 to move, so that the two clamping plates 27 in the clamping mechanism 2 are respectively located on both sides of the article, and the bottom surface of the clamping plate 27 is flush with the bottom surface of the article, and then the telescopic driving components at both ends of the top support plate 21 drive the two clamping plates 27 to move toward each other and close together, so that the two clamping plates 27 are respectively clamped on both sides of the article, and then the robot arm 1 drives the clamping mechanism 2 to move upward, so that the article is grabbed and transported upward by the two clamping plates 27; while the article is being grabbed, the auxiliary support claw 32 is driven downward along the clamping plate 27 by the lifting and rotating component, and the auxiliary support claw 32 is moved to the bottom of the clamping plate 27, and then the auxiliary support claw is driven by the lifting and rotating component. The auxiliary support claw 32 rotates to rotate and move one end of the auxiliary support claw 32 to the lower side of the inner side of the clamping plate 27. At this time, the auxiliary support claw 32 is located on the bottom surface of the article to provide auxiliary support for the article. When the article is grabbed and transported to the top of the stacking position, the auxiliary support claw 32 is first driven to rotate and reset by the lifting and rotating assembly, so that the auxiliary support claw 32 is rotated and folded under the clamping plate 27, and then the auxiliary support claw 32 is driven to rise and reset by the lifting and rotating assembly, so that the auxiliary support claw 32 moves to the outside of the clamping plate 27. Finally, the article is stacked at the stacking position, and the two clamping plates 27 are driven to move in the opposite direction and open by the telescopic driving assemblies at both ends of the top support plate 21, so that the two clamping plates 27 relax the clamping of the article, and the stacking process of the article is completed. In this embodiment, when the clamping plate 27 clamps and grabs the article, the auxiliary support claw 32 can be supported on the bottom surface of the article to provide auxiliary support for the article, thereby improving the stability of the stacking robot when grabbing and conveying the article and preventing the article from falling during the grabbing and conveying process; and the auxiliary support claw 32 is initially folded and installed on the outer side surface of the lower part of the clamping plate 27 by the lifting and rotating assembly, which will not hinder the clamping of the article by the clamping plate 27, so that when the clamping plate 27 clamps the article, there is no need to leave a suspended position at the bottom of the article, thereby making the clamping process of the article more convenient and improving the applicability of the stacking robot; and when the article is grabbed and conveyed to the stacking position, the auxiliary support claw 32 can be driven by the lifting and rotating assembly to reset and fold on the outer side surface of the lower end of the clamping plate 27 in advance, thereby reducing the space occupied by the auxiliary support claw 32, and then the clamping plate 27 only needs to be slightly moved outward to release the clamping of the article by the clamping plate 27, and the article can be put down to complete the stacking process, thereby reducing the space required to be reserved for the stacking position during stacking, which is conducive to densely stacking the articles and improving the space utilization rate during stacking.

[0026] Example 2: Please refer to Figure 2 , Figure 4As shown, the difference between this embodiment and the above embodiment is that the telescopic drive assembly includes a hydraulic telescopic shaft 22 and a limiting guide groove 23, the hydraulic telescopic shaft 22 is fixedly installed on the top surface of the top support plate 21, and an upper slide 24 is fixedly installed on the telescopic end of the outer side of the hydraulic telescopic shaft 22, and the upper slide 24 is slidably and tightly installed on the top surface of the top support plate 21; the limiting guide groove 23 is opened at the end of the top support plate 21, and a sliding connection block 25 is installed inside the limiting guide groove 23, the top of the sliding connection block 25 is fixedly connected to the bottom surface of the upper slide 24, and the bottom end of the sliding connection block 25 is fixedly installed with a connecting support bar 26, and the connecting support bar 26 is fixedly installed on the outer side surface of the clamping plate 27; When clamping and grabbing objects, the two upper slides 24 at both ends of the top surface of the top support plate 21 are driven to move toward each other through the contraction of the hydraulic telescopic shaft 22, and at the same time, the upper slide 24 drives the lower clamping plate 27 to move synchronously through the sliding connection block 25 and the connecting support bar 26, so that the two clamping plates 27 at both ends of the lower side of the top support plate 21 move toward each other and clamp the objects; when the objects are released for stacking, the two upper slides 24 at both ends of the top surface of the top support plate 21 are driven to move away from each other through the extension of the hydraulic telescopic shaft 22, and at the same time, the upper slide 24 drives the lower clamping plate 27 to move synchronously through the sliding connection block 25 and the connecting support bar 26, so that the two clamping plates 27 at both ends of the lower side of the top support plate 21 move oppositely and open, thereby releasing the clamping of the objects.

[0027] Furthermore, a lower sliding seat 28 is slidably installed on the bottom surface of the top support plate 21, and the lower sliding seat 28 is fixedly installed on the bottom end of the connecting support bar 26, and the bottom surface of the lower sliding seat 28 is fixedly installed with the connecting support bar 26; a plurality of reinforcing strips 29 are fixedly installed on the outer side surface of the splint 27; through the cooperation between the lower sliding seat 28 and the upper sliding seat 24, the stability of the installation of the sliding connecting block 25 and the connecting support bar 26 can be improved, thereby improving the stability of the splint 27 during installation and clamping work, and by providing the reinforcing strips 29, the rigidity of the splint 27 can be improved to prevent the splint 27 from being abutted and deformed during the process of clamping and grasping objects, thereby improving the stability of the splint when clamping and grasping objects.

[0028] Example 3: Please refer to Figure 2 , Figure 3 , Figure 5-Figure 11As shown, the difference between this embodiment and the above-mentioned embodiment is that the lifting and rotating assembly includes a limiting cylinder 31, which is fixedly installed on the outer side of the reinforcing strip 29, and a guide sleeve 33 is slidably installed on the lower end of the limiting cylinder 31, and a horizontally arranged auxiliary support claw 32 is installed on one side of the lower end of the guide sleeve 33; a lifting guide groove 319 located on the inner circle of the guide sleeve 33 is provided on the side wall of the lower end of the limiting cylinder 31, and a rotating guide groove 320 arranged along the circumferential direction of the limiting cylinder 31 is provided on one side of the bottom end of the lifting guide groove 319, and a guide connecting block 318 that can slide along the lifting guide groove 319 and the rotating guide groove 320 is fixedly installed on the inner circle of the guide sleeve 33; a rotating shaft 317 is rotatably installed on the inner circle of the limiting cylinder 31, and an external thread 321 is provided on the lower end of the rotating shaft 317, and a threaded sleeve 322 is rotatably installed on the lower end of the rotating shaft 317 through the external thread 321, and the outer surface of the threaded sleeve 322 is fixedly connected to the inner side end of the guide connecting block 318; The lifting and rotating assembly also includes a motor 311 and a transmission shaft 313. The motor 311 is fixedly installed on the bottom surface of the lower sliding seat 28. A driving gear 312 is fixedly installed on the output shaft of the motor 311. The transmission shaft 313 is rotatably installed on the bottom surface of the lower sliding seat 28 and is located below the motor 311. A transmission gear 314 and a transmission bevel gear 315 are fixedly installed on the transmission shaft 313. The transmission gear 314 is meshed and transmission-connected with the driving gear 312. The top end of the rotating shaft 317 extends to the bottom of the transmission shaft 313, and a driven bevel gear 316 meshed and transmission-connected with the transmission bevel gear 315 is fixedly installed on the top end of the rotating shaft 317. After the clamping plate 27 clamps and grabs the object, the motor 311 drives the driving gear 312 to rotate, and the driving gear 312 meshes and drives the transmission gear 314 to rotate, so that the transmission gear 314 drives the transmission shaft 313 and the transmission bevel gear 315 to rotate, and the transmission bevel gear 315 meshes and drives the driven bevel gear 316 to rotate, thereby driving the rotating shaft 317 to rotate. When the rotating shaft 317 rotates, the outer thread 321 at the lower end drives the threaded sleeve 322 to move downward, and at this time, the threaded sleeve 322 drives the guide connecting block 318 to move downward along the lifting guide groove 319, and at the same time, the guide connecting block 318 drives the guide sleeve 33 and the auxiliary support The claw 32 moves downward, and when the guide connection block 318 moves downward and abuts against the bottom end of the lifting guide groove 319, the auxiliary support claw 32 moves to the bottom of the clamping plate 27. Then, as the rotating shaft 317 continues to rotate, the rotating shaft 317 drives the threaded sleeve 322 to rotate synchronously through the external thread 321. At this time, the threaded sleeve 322 drives the guide connection block 318 to make a circular motion along the rotating guide groove 320. At the same time, the guide connection block 318 drives the guide sleeve 33 and the auxiliary support claw 32 to rotate, so that one end of the auxiliary support claw 32 rotates and moves to the bottom of the inner side of the clamping plate 27 to provide auxiliary support for the items clamped and grasped by the clamping plate 27. When the articles are grabbed and transported to the stacking position and are about to be released for stacking, the motor 311 first drives the driving gear 312 to rotate in the opposite direction, thereby driving the rotating shaft 317 to rotate in the opposite direction through the transmission gear 314, the transmission shaft 313, the transmission bevel gear 315 and the driven bevel gear 316. At this time, the rotating shaft 317 first drives the threaded sleeve 322, the guide connecting block 318, the guide sleeve 33 and the auxiliary support claw 32 to rotate and reset synchronously in the opposite direction through the external thread 321. When the guide connecting block 318 rotates and abuts against the bottom end of the lifting guide groove 319, When the auxiliary support claw 32 is on the side wall, the auxiliary support claw 32 is just folded and stored on the outer side under the splint 27, and at this time the auxiliary support claw 32 no longer provides auxiliary support for the items. Then, as the rotating shaft 317 continues to rotate in the opposite direction, the rotating shaft 317 drives the threaded sleeve 322 to move upward and reset through the external thread 321. At the same time, the threaded sleeve 322 drives the guide connecting block 318, the guide sleeve 33 and the auxiliary support claw 32 to move upward and reset, so that the bottom end position of the auxiliary support claw 32 is higher than the bottom end position of the splint 27, so as to facilitate the subsequent opening of the splint 27 for stacking and re-clamping to grasp the object.

[0029] Furthermore, an outer ring at the lower end of the guide sleeve 33 is provided with an annular groove 34, a sliding sleeve 35 is sleeved on the lower end of the annular groove 34, one end of the sliding sleeve 35 is fixedly connected to the auxiliary support claw 32, a torsion spring 36 is sleeved on the upper end of the annular groove 34, one end of the torsion spring 36 is fixedly connected to the end wall of the annular groove 34, and the other end of the torsion spring 36 is fixedly connected to the top surface of the sliding sleeve 35; a fixed stopper 37 is fixedly installed on the outer surface of the guide sleeve 33, and a movable stopper 38 abutting against the outer end of the fixed stopper 37 is fixedly installed on the top surface of the auxiliary support claw 32; Among them, the auxiliary support claw 32 is initially stably installed on the lower end of the guide sleeve 33 under the torsional elastic force of the torsion spring 36 and the limiting action of the fixed stop block 37 and the movable stop block 38, so that when the guide sleeve 33 rotates, it can drive the auxiliary support claw 32 to rotate normally; and when the object slides down due to the unstable clamping of the clamping plate 27, causing the auxiliary support claw 32 to rotate and abut against the side of the object, the auxiliary support claw 32 can rotate in the opposite direction relative to the guide sleeve 33 during the subsequent rotation of the guide sleeve 33, so that the auxiliary support claw 32 only abuts against the side of the object under the torsional force of the torsion spring 36 and remains motionless, and will not hard abut against the object due to the rotation of the guide sleeve 33, thereby preventing the auxiliary support claw 32 from colliding with the object when the object clamping positioning is inaccurate, causing damage to the object or the auxiliary support claw 32.

[0030] Furthermore, the top surface of the auxiliary support claw 32 is provided with a plurality of equally spaced lifting grooves 323, and a lifting seat 39 is slidably installed inside the lifting groove 323, and a support spring 324 is installed at the bottom end of the lifting seat 39, and a ball 310 is movably installed at the top of the lifting seat 39. By arranging the rolling contact support between the ball 310 and the bottom surface of the object, the friction resistance of the auxiliary support claw 32 when rotating and supporting on the bottom surface of the object can be increased, making the auxiliary support claw 32 more labor-saving when rotating, and by arranging the support spring 324 and the lifting seat 39 to perform lifting and lowering buffering on the ball 310, the lifting and lowering support margin of the ball 310 can be increased, the fault tolerance of the auxiliary support claw 32 during support can be increased, and the stable support work of the auxiliary support claw 32 can be ensured.

[0031] Example 4: Please refer to Figure 1-Figure 11 As shown, this embodiment discloses a palletizing method for wall cloth processing. Taking the palletizing of packaging boxes loaded with wall cloth during the wall cloth processing as an example, the specific palletizing steps are as follows: First, the mechanical arm 1 drives the clamping mechanism 2 to move, so that the two clamping plates 27 in the clamping mechanism 2 are respectively located on the two sides of the wall cloth packaging box, and the bottom surface of the clamping plate 27 is flush with the bottom surface of the wall cloth packaging box, and then the telescopic driving components at both ends of the top support plate 21 drive the two clamping plates 27 to move toward each other and close, so that the two clamping plates 27 are respectively clamped on the two sides of the wall cloth packaging box, and then the mechanical arm 1 drives the clamping mechanism 2 to move upward, so that the wall cloth packaging box is grabbed and transported upward through the two clamping plates 27; When the wall cloth packaging box is picked up, the auxiliary support claw 32 is driven downward along the clamping plate 27 by the lifting and rotating assembly, and the auxiliary support claw 32 is moved to the bottom of the clamping plate 27. Then, the auxiliary support claw 32 is driven to rotate by the lifting and rotating assembly, and one end of the auxiliary support claw 32 is rotated and moved to the bottom of the inner side of the clamping plate 27. At this time, the auxiliary support claw 32 is located on the bottom surface of the wall cloth packaging box to provide auxiliary support for the wall cloth packaging box. When the wall cloth packaging box is grabbed and transported to the top of the stacking position, the auxiliary support claw 32 is first driven to rotate and reset through the lifting and rotating assembly, so that the auxiliary support claw 32 is rotated and folded under the clamp 27, and then the auxiliary support claw 32 is driven to rise and reset through the lifting and rotating assembly, so that the auxiliary support claw 32 moves to the outside of the clamp 27, and finally the wall cloth packaging box is stacked at the stacking position, and the two clamps 27 are driven to move in opposite directions and open through the telescopic driving assemblies at both ends of the top support plate 21, so that the two clamps 27 relax their clamping of the wall cloth packaging box, thereby completing the stacking process of the wall cloth packaging box.

[0032] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0033] The preferred embodiments of the invention disclosed above are only used to help explain the invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the invention, so that those skilled in the art can understand and use the invention well.

Claims

1. A palletizing robot, comprising a mechanical arm and a gripper mechanism installed at the action end of the mechanical arm, characterized in that: The clamping mechanism includes a top support plate that is transmission-connected to the action end of the robot arm, both ends of the top surface of the top support plate are equipped with telescopic drive components, and both ends of the bottom surface of the top support plate are equipped with clamping plates that are transmission-connected to the telescopic drive components. The two sets of telescopic drive components can drive the clamping plates at both ends of the bottom surface of the top support plate to move toward each other to close or move in the opposite direction to open; Auxiliary support mechanisms capable of supporting and positioning the clamped object are installed on the clamping plates at both ends of the bottom surface of the top support plate; The auxiliary support mechanism includes a lifting and rotating component and an auxiliary support claw. The auxiliary support claw is folded and installed on the outer side surface of the lower part of the splint through the lifting and rotating component, and the lifting and rotating component can drive the auxiliary support claw downward along the splint to move the auxiliary support claw to the bottom of the splint, and then drive the auxiliary support claw to rotate so that one end of the auxiliary support claw rotates and moves to the bottom of the inner side surface of the splint.

2. A palletizing robot according to claim 1, characterized in that: The telescopic drive assembly includes a hydraulic telescopic shaft and a limiting guide groove, the hydraulic telescopic shaft is fixedly installed on the top surface of the top support plate, an upper slide is fixedly installed on the telescopic end outside the hydraulic telescopic shaft, and the upper slide is slidably installed in close contact with the top surface of the top support plate; The limiting guide groove is opened at the end of the top support plate, and a sliding connection block is installed inside the limiting guide groove. The top of the sliding connection block is fixedly connected to the bottom surface of the upper slide seat, and the bottom end of the sliding connection block is fixedly installed with a connecting support bar, and the connecting support bar is fixedly installed on the outer side surface of the splint.

3. A palletizing robot according to claim 2, characterized in that: A lower slide seat is slidably mounted on the bottom surface of the top support plate, the lower slide seat is fixedly mounted on the bottom end of the connecting support bar, and the connecting support bar is fixedly mounted on the bottom surface of the lower slide seat; A plurality of reinforcing strips are fixedly mounted on the outer side surface of the clamping plate.

4. A palletizing robot according to claim 3, characterized in that: The lifting and rotating assembly includes a limiting cylinder, which is fixedly installed on the outer side of the reinforcing strip. A guide sleeve is slidably installed on the lower end of the limiting cylinder, and the auxiliary supporting claw arranged horizontally is installed on one side of the lower end of the guide sleeve.

5. A palletizing robot according to claim 4, characterized in that: A lifting guide groove located in the inner ring of the guide sleeve is provided on the side wall at the lower end of the limit cylinder, a rotating guide groove arranged along the circumferential direction of the limit cylinder is provided on one side of the bottom end of the lift guide groove, and a guide connecting block that can slide along the lift guide groove and the rotating guide groove is fixedly installed on the inner ring of the guide sleeve.

6. A palletizing robot according to claim 5, characterized in that: The inner ring of the limiting cylinder is rotatably mounted with a rotating shaft, the lower end of the rotating shaft is provided with an external thread, and the lower end of the rotating shaft is rotatably mounted with a threaded sleeve through the external thread, and the outer surface of the threaded sleeve is fixedly connected to the inner end of the guide connecting block.

7. A palletizing robot according to claim 6, characterized in that: The lifting and rotating assembly also includes a motor and a transmission shaft. The motor is fixedly mounted on the bottom surface of the lower sliding seat, and a driving gear is fixedly mounted on the output shaft of the motor. The transmission shaft is rotatably mounted on the bottom surface of the lower sliding seat and is located below the motor. A transmission gear and a transmission bevel gear are fixedly mounted on the transmission shaft. The transmission gear is meshed and transmission connected with the driving gear. The top end of the rotating shaft extends to the bottom of the transmission shaft, and a driven bevel gear meshed and transmission connected with the transmission bevel gear is fixedly mounted on the top end of the rotating shaft.

8. A palletizing robot according to claim 4, characterized in that: The outer ring of the lower end of the guide sleeve is provided with an annular groove, the lower end of the annular groove is sleeved with a sliding sleeve, one end of the sliding sleeve is fixedly connected to the auxiliary support claw, the upper end of the annular groove is sleeved with a torsion spring, one end of the torsion spring is fixedly connected to the end wall of the annular groove, and the other end of the torsion spring is fixedly connected to the top surface of the sliding sleeve; A fixed stopper is fixedly mounted on the outer surface of the guide sleeve, and a movable stopper abutting against the outer end of the fixed stopper is fixedly mounted on the top surface of the auxiliary support claw.

9. The palletizing robot according to claim 1, characterized in that: The top surface of the auxiliary support claw is provided with a plurality of lifting slots which are arranged equidistantly. A lifting seat is slidably installed inside the lifting slot. A supporting spring is abutted against the bottom end of the lifting seat. A ball bearing is movably mounted on the top end of the lifting seat.

10. A palletizing method for wall cloth processing, using the palletizing robot according to any one of claims 1 to 9, characterized in that: The specific steps are as follows: During palletizing, the mechanical arm first drives the clamping mechanism to move, so that the two clamping plates in the clamping mechanism are respectively located on the two sides of the wall cloth packaging box, and the bottom surface of the clamping plates is flush with the bottom surface of the wall cloth packaging box. Then, the telescopic driving components at both ends of the top support plate drive the two clamping plates to move toward each other and close together, so that the two clamping plates are respectively clamped on the two sides of the wall cloth packaging box. Then, the mechanical arm drives the clamping mechanism to move upward, so that the wall cloth packaging box is grabbed and transported upward through the two clamping plates. When the wall cloth packaging box is picked up, the auxiliary support claw is driven to move downward along the clamping plate through the lifting and rotating assembly, and the auxiliary support claw is moved to the bottom of the clamping plate. Then, the auxiliary support claw is driven to rotate through the lifting and rotating assembly, and one end of the auxiliary support claw is rotated and moved to the bottom of the inner side of the clamping plate. At this time, the auxiliary support claw is located on the bottom surface of the wall cloth packaging box to provide auxiliary support for the wall cloth packaging box. When the wall cloth packaging box is grabbed and transported to the top of the stacking position, the auxiliary support claws are first driven to rotate and reset through the lifting and rotating assembly, so that the auxiliary support claws are rotated and folded under the clamping plate, and then the auxiliary support claws are driven to rise and reset through the lifting and rotating assembly, so that the auxiliary support claws are moved to the outside of the clamping plate. Finally, the wall cloth packaging box is stacked at the stacking position, and the two clamping plates are driven to move in opposite directions and open through the telescopic driving assemblies at both ends of the top support plate, so that the two clamping plates relax their clamping on the wall cloth packaging box, completing the stacking process of the wall cloth packaging box.

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