Salt bag stacking robot and stacking method thereof

Abstract

The invention relates to the technical field of palletizing robots, and discloses a salt bag palletizing robot and a palletizing method thereof.The salt bag palletizing robot comprises a ground rail, a sliding frame is slidably arranged at the top of the ground rail, a mechanical arm is fixedly assembled at the top of the sliding frame, and a clamp is fixedly assembled at the end of the mechanical arm. When the two sets of arc-shaped plates rotating oppositely make contact with a salt bag on the conveying belt, the rotating shaft located at the bottom of the side, away from the arc-shaped plates, of the smoothing plate makes contact with the conveying belt, then friction force between the arc-shaped plates and the conveying belt is converted into rotating force, and therefore the arc-shaped plates are prevented from scratching the surface of the conveying belt; the ends of the arc-shaped plates are sleeved with smoothing plates, so that the ends, close to the smoothing plates, of the arc-shaped plates form a complete horizontal plane, the arc-shaped plates take the smoothing plates as first contact points and the salt bags, and the contact surfaces between the arc-shaped plates and the salt bags are increased through the smoothing plates; the problem that the salt bag is damaged due to the fact that the arc-shaped plate is inserted into the salt bag is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing robots, in particular to a salt bag palletizing robot and a palletizing method thereof. Background Art

[0002] At present, palletizing machine technology faces the following challenges. Palletizing robots that work with conveyor lines usually use fork-type mechanical claws for stacking; The design of this mechanical claw has certain defects: the claw is equipped with multiple claws at intervals to lift the goods from the bottom. However, when lifting soft or highly fluid bagged goods, grooves are easily formed on the bottom of the goods where the claw contacts, especially for goods with a certain degree of stickiness. After deformation, it is difficult to recover and needs to be smoothed manually. This not only affects the appearance of the product, but may also cause unstable stacking, which has an adverse effect on storage, transportation and product quality control. On the other hand, when the mechanical claw is clamping the goods on the conveyor line, friction occurs between the mechanical claw and the surface of the conveyor line, causing damage to the conveyor line and the mechanical claw. Summary of the invention

[0003] The present invention provides a salt bag palletizing robot and a palletizing method thereof, which solve the problems raised by the above-mentioned background technology.

[0004] The present invention provides the following technical solution: a salt bag palletizing robot, comprising a ground rail, a slide frame is slidably provided on the top of the ground rail, a manipulator is fixedly installed on the top of the slide frame, and a clamp is fixedly installed on the end of the manipulator.

[0005] As a preferred technical solution of the present invention: the floor rail includes a shell, both side outer walls of the shell are fixedly equipped with fixed platforms, both end outer walls of the shell are fixedly equipped with vertical plates, one side of the vertical plate close to the shell is fixedly equipped with a limited buffer seat, both side tops of the shell are fixedly equipped with slide rails, the outer walls of the slide rails are slidably sleeved with sliding blocks, the top inner wall of the shell is fixedly equipped with a rack, the top of the shell is provided with a face cover, and the end of the face cover is fixedly assembled with the vertical plate.

[0006] As a preferred technical solution of the present invention: the sliding frame includes a panel, a distance detector is fixedly mounted on the top of the panel, a floor is fixedly mounted on the bottom of the panel, a motor seat is fixedly mounted on the bottom of the floor, and a motor body is fixedly mounted on the outer wall of the motor seat; The output end of the motor body is fixedly equipped with a meshing wheel, the motor body is meshed with the rack through the meshing wheel, the bottom of the floor is fixedly assembled with the sliding block, and the surface cover is located between the panel and the floor.

[0007] As a preferred technical solution of the present invention: the manipulator includes a base, the top of the base is rotatably connected to a rotating seat, the top outer wall of the rotating seat is fixedly equipped with a first motor, the top outer wall of the rotating seat is rotatably connected to a first mechanical arm, the top outer wall of the rotating seat is fixedly equipped with a second motor, the outer wall of the first mechanical arm at one end away from the rotating seat is rotatably connected to the second mechanical arm, the outer wall of the second mechanical arm on a side close to the first mechanical arm is fixedly equipped with a third motor, the end of the second mechanical arm away from the first mechanical arm is rotatably connected to the third mechanical arm, the outer wall of the third mechanical arm is fixedly equipped with a fourth motor, the outer wall of the third mechanical arm on a side away from the output end of the fourth motor is rotatably connected to a third rod, the end of the third rod away from the third mechanical arm is rotatably connected to a rotating frame, the side of the rotating frame away from the third rod is rotatably connected to the second rod, the outer wall of the rotating seat is rotatably connected to the first rod, and the end of the first rod is rotatably connected to the second rod.

[0008] As a preferred technical solution of the present invention: the output end of the second motor is fixedly assembled with the first mechanical arm, the output end of the third motor is fixedly assembled with the first mechanical arm, the middle outer wall of the rotating frame and the end outer wall of the first mechanical arm are rotatably connected, the inner wall of the rotating seat is inlaid with a driving motor that drives the first pull rod to rotate, and the output end of the first motor is meshed with the inner wall of the base through a gear.

[0009] As a preferred technical solution of the present invention: the clamp includes a connecting plate, and the bottoms of both sides of the connecting plate are fixedly equipped with support rods; The bottoms of both ends of the support rod are fixedly equipped with clamping parts.

[0010] As a preferred technical solution of the present invention, the clamping part includes a mounting plate 1, a sliding groove is provided at the top of the mounting plate 1, and the inner wall of the mounting plate 1 on the top side away from the support rod is rotatably connected to a telescope 1, and the bottom inner wall of the mounting plate 1 is rotatably connected to a rotating shaft, and a rotating plate 1 is fixedly installed in the middle of the rotating shaft, and brackets are fixedly installed at both ends of the rotating shaft, and a plate body is fixedly installed on the outer wall of the bottom of the bracket, and a plurality of arc plates are fixedly installed on the outer wall of the plate body, and the end of the arc plate away from the plate body is sleeved with a caressing plate, and the inner walls of the upper and lower end surfaces of the caressing plate away from the side of the arc plate are rotatably connected to the rotating shaft, and the caressing plate close to the arc plate is provided with a mounting groove, and the inner wall of the mounting groove is fixedly installed with a connecting block, and the outer wall of the connecting block is fixedly installed with a rotating plate 2, the inner wall of one end of the support rod away from the caressing plate is rotatably connected to the connecting shaft, and the inner wall of the arc plate is fixedly installed with a limiting shaft; The outer walls of the opposite surfaces of the two sets of the mounting plates are fixedly equipped with abutment parts.

[0011] As a preferred technical solution of the present invention: the abutting portion includes a second mounting plate fixedly mounted on the outer wall of the first mounting plate close to one side of the support rod, the outer wall of the second mounting plate is fixedly mounted with a second retractor, the bottom retractable end of the second retractor is fixedly mounted with a pressing plate, and the inner wall of the pressing plate is inlaid with a plurality of vibration motors; Several of the arc plates are fixedly assembled by connecting shafts and limiting shafts, the top of the limiting shaft fits with the bottom of the rotating plate 2, the bottom inner wall of the mounting groove fits with the bottom outer wall of the arc plate near one end of the caressing plate, a pressure sensor is fixedly assembled on the top outer wall of the arc plate near one end of the caressing plate, the rotating plate 2 is located between the two groups of arc plates, the rotating plate 1 is slidably sleeved on the inner wall of the slide groove, and the end of the rotating plate 1 is rotatably connected to the telescopic end of the telescope 1.

[0012] As a preferred technical solution of the present invention, the following steps are included: S1: When the motor body drives the meshing wheel to rotate by meshing the meshing wheel and the rack, the meshing wheel and the rack are meshed, so that the motor body drives the floor to move through the motor seat, and then the slide drives the manipulator to move; S2: The first pull rod is driven to rotate by a driving motor, and the first pull rod, the second pull rod, the rotating frame and the third pull rod are connected to each other by rotation, so that when the first pull rod rotates, the second pull rod, the rotating frame and the third pull rod can be driven to move, and the end of the third pull rod is connected to the third mechanical arm by rotation, so that the third pull rod drives the third mechanical arm to rotate at the connecting end of the third mechanical arm and the second mechanical arm, and the second motor is fixedly assembled with the rotating seat, and the output end of the second motor is fixedly assembled with the first mechanical arm, so that the second motor can drive the first mechanical arm to rotate, and the third motor and the second mechanical arm are fixedly assembled, and the output end of the third motor is fixedly assembled with the first mechanical arm, so that the third motor can drive the second mechanical arm to rotate, and the first motor and the rotating seat are fixedly assembled, and the output end of the first motor is meshed with the inner wall of the base, so that the first motor can drive the rotating seat to rotate, and the fourth motor is set, and the output end of the fourth motor is fixedly assembled with the clamp, so that the clamp can be driven by the fourth motor to rotate; S3: The rotating shaft is connected to the bottom of the mounting plate 1, and the rotating plate 1 is connected to the telescopic end of the telescope 1. When the telescope 1 drives the rotating plate 1 to extend and retract, the rotating plate 1 can drive the bracket, the plate body and the plurality of arc-shaped plates to rotate around the rotating shaft through the rotating shaft. By relatively arranging two sets of clamping parts, the salt bag can be clamped by the two sets of relatively rotating arc-shaped plates. S31: When the two sets of relatively rotating arc plates come into contact with the salt bag on the conveyor belt, the rotating shaft located at the bottom of the side of the caressing plate away from the arc plate comes into contact with the conveyor belt, thereby converting the friction between the arc plate and the conveyor belt into a rotational force, thereby preventing the arc plate from scratching the surface of the conveyor belt and increasing the service life of the arc plate and the conveyor belt. By sleeve-fitting the caressing plate at the ends of a plurality of arc plates, a complete horizontal plane is formed at one end of the plurality of arc plates close to the caressing plate, and the plurality of arc plates use the caressing plate as the first contact point with the salt bag. The caressing plate increases the contact surface between the arc plate and the salt bag, thereby avoiding the problem of the arc plate being inserted into the salt bag and causing the salt bag to be damaged. The rotating shaft located at the top of the side of the caressing plate away from the arc plate comes into contact with the salt bag, thereby applying a guiding force to the salt bag, thereby reducing the friction between the caressing plate and the salt bag. S32: On the other hand, after the two sets of arc plates clamp the salt bag, the mass of the salt bag is transmitted to the caressing plate, causing the caressing plate to move downward, thereby pressing the pressure sensor. By setting a plurality of pressure sensors, the control device can calculate and compare the mass data of a plurality of pressure sensors to determine that a certain end of the salt bag clamped by the clamp has a large mass problem. After the two groups of arc plates clamp the salt bag, the second telescopic device drives the pressure plate to move downward, so that the pressure plate squeezes the salt bag to fix the salt bag. When the control device calculates through a number of pressure sensors that there is a large mass problem at one end, the control device controls the vibration motor in the corresponding direction to run, and the vibration of the vibration motor drives the salt in the salt bag to move, thereby achieving mass adjustment of the salt bag.

[0013] The present invention has the following beneficial effects: 1. The salt bag palletizing robot and the palletizing method thereof, when two sets of relatively rotating arc plates come into contact with the salt bags on the conveyor belt, the rotating shaft located at the bottom of the side of the caressing plate away from the arc plate comes into contact with the conveyor belt, thereby converting the friction between the arc plate and the conveyor belt into a rotational force, thereby preventing the arc plate from scratching the surface of the conveyor belt and increasing the service life of the arc plate and the conveyor belt, and by sleeve-fitting the caressing plate at the ends of a plurality of arc plates, a complete horizontal plane is formed at one end of the plurality of arc plates close to the caressing plate, and the plurality of arc plates are arranged with the caressing plate as the first A contact point and a salt bag are formed, and the contact surface between the arc plate and the salt bag is increased by a smoothing plate, so that the problem of the arc plate being inserted into the salt bag and causing damage to the salt bag is avoided. The rotating shaft located at the top of the smoothing plate away from the arc plate is used to contact the salt bag, so that the rotating shaft applies a guiding force to the salt bag, thereby reducing the friction between the smoothing plate and the salt bag. At the same time, when the two groups of arc plates are unfolded, the smoothing plate can smooth the surface of the salt bag when the salt bag falls, thereby solving the problem of grooves being easily generated at the part where the bottom surface of the goods contacts the claws in traditional equipment.

[0014] 2. The salt bag palletizing robot and the palletizing method thereof, after the two groups of arc plates clamp the salt bag, the mass of the salt bag is transmitted to the smoothing plate, causing the smoothing plate to move downward, thereby pressing the pressure sensor, and by setting a plurality of pressure sensors, it can be determined that one end of the salt bag clamped by the clamp has a problem of large mass through the control device calculating and comparing the mass data of the plurality of pressure sensors; and after the two groups of arc plates clamp the salt bag, the telescopic device 2 drives the pressure plate to move downward, causing the pressure plate to squeeze the salt bag to fix the salt bag, and when the control device calculates that one end has a problem of large mass through the plurality of pressure sensors, the control device controls the vibration motor in the corresponding direction to operate, and the vibration of the vibration motor drives the salt in the salt bag to move, thereby realizing the mass adjustment of the salt bag, and solving the problem of unstable stacking caused by the mass of the salt bag being biased to one side. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the ground rail structure of the present invention; Figure 3 It is a schematic diagram of the structure of the robot of the present invention; Figure 4 It is a schematic diagram of the clamp structure of the present invention; Figure 5 This is a schematic diagram of the structure of the vibration motor of the present invention; Figure 6 This is a schematic diagram of the structure of the curved plate of the present invention; Figure 7 It is a schematic diagram of the structure of the pressure sensor of the present invention; Figure 8 It is a schematic diagram of the structure of the caressing plate of the present invention.

[0016] In the figure: 1. Ground rail; 2. Slide; 3. Manipulator; 4. Clamp; 101, housing; 102, fixed platform; 103, vertical plate; 104, limit buffer seat; 105, slide rail; 106, sliding block; 107, rack; 108, cover; 201, panel; 202, distance detector; 203, floor; 204, motor base; 205, motor body; 301, base; 302, rotating base; 303, first motor; 304, first mechanical arm; 305, second motor; 306, second mechanical arm; 307, third motor; 308, third mechanical arm; 309, fourth motor; 310, first pull rod; 311, second pull rod; 312, rotating frame; 313, third pull rod; 401, connecting plate; 402, supporting rod; 403, mounting plate 1; 404, sliding groove; 405, telescope 1; 406, mounting plate 2; 407, telescope 2; 408, pressing plate; 409, vibration motor; 410, rotating shaft; 411, rotating plate 1; 412, bracket; 413, plate body; 414, arc plate; 415, connecting shaft; 416, limiting shaft; 417, pressure sensor; 418, smoothing plate; 419, rotating shaft; 420, rotating plate 2; 421, mounting groove; 422, connecting block. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in 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.

[0018] See also Figure 1 - Figure 8 A salt bag palletizing robot comprises a ground rail 1, a slide 2 is slidably provided on the top of the ground rail 1, a manipulator 3 is fixedly installed on the top of the slide 2, and a clamp 4 is fixedly installed on the end of the manipulator 3.

[0019] In a preferred embodiment: the floor rail 1 includes a shell 101, both side outer walls of the shell 101 are fixedly equipped with fixed platforms 102, both end outer walls of the shell 101 are fixedly equipped with vertical plates 103, the side of the vertical plate 103 close to the shell 101 is fixedly equipped with a limited buffer seat 104, both side tops of the shell 101 are fixedly equipped with slide rails 105, the outer wall of the slide rail 105 is slidably sleeved with a slide block 106, the top inner wall of the shell 101 is fixedly equipped with a rack 107, the top of the shell 101 is provided with a face cover 108, and the end of the face cover 108 is fixedly assembled with the vertical plate 103.

[0020] In the above structure, the ground rail 1 is fixedly assembled by the fixing platform 102 and the ground, and the limiting buffer seat 104 is provided so that when the slide 2 is located on the top of the ground rail 1 and moves, it can be limited by the limiting buffer seat 104.

[0021] In a preferred embodiment, the carriage 2 includes a panel 201, a distance detector 202 is fixedly mounted on the top of the panel 201, a floor 203 is fixedly mounted on the bottom of the panel 201, a motor base 204 is fixedly mounted on the bottom of the floor 203, and a motor body 205 is fixedly mounted on the outer wall of the motor base 204; The output end of the motor body 205 is fixedly equipped with a meshing wheel, and the motor body 205 is meshed with the rack 107 through the meshing wheel. The bottom of the floor 203 and the sliding block 106 are fixedly assembled, and the cover 108 is located between the panel 201 and the floor 203.

[0022] In the above structure, the top of the shell 101 is covered by the face cover 108, so that the structures such as the rack 107 and the slide rail 105 will not be exposed, thereby increasing the safety of the equipment. The sliding block 106 is used to realize the sliding connection between the panel 201 and the slide rail 105, so that the slide 2 can be moved along the slide rail 105. When the motor body 205 is engaged with the meshing wheel and the rack 107, the motor body 205 drives the meshing wheel to rotate, and the meshing wheel and the rack 107 are engaged, so that the motor body 205 drives the floor 203 to move through the motor seat 204, and then the slide 2 drives the manipulator 3 to move, so that the manipulator 3 grabs the salt bag through the clamp 4, and the slide 2 is moved along the ground rail 1, so that the products of the two production lines are merged into one conveyor line through the equipment, thereby realizing the merging of products from different production lines.

[0023] In a preferred embodiment, the manipulator 3 includes a base 301, the top of the base 301 is rotatably connected to a rotating seat 302, the top outer wall of the rotating seat 302 is fixedly equipped with a first motor 303, the top outer wall of the rotating seat 302 is rotatably connected to a first mechanical arm 304, the top outer wall of the rotating seat 302 is fixedly equipped with a second motor 305, the outer wall of one end of the first mechanical arm 304 away from the rotating seat 302 is rotatably connected to a second mechanical arm 306, the outer wall of the second mechanical arm 306 close to the first mechanical arm 304 is fixedly equipped with a third motor 307, and the second mechanical arm One end of 306 away from the first robotic arm 304 is rotatably connected to the third robotic arm 308, the outer wall of the third robotic arm 308 is fixedly equipped with a fourth motor 309, the outer wall of the third robotic arm 308 on one side away from the output end of the fourth motor 309 is rotatably connected to the third pull rod 313, the third pull rod 313 is rotatably connected to the end away from the third robotic arm 308 with a rotating frame 312, the side of the rotating frame 312 away from the third pull rod 313 is rotatably connected to the second pull rod 311, the outer wall of the rotating seat 302 is rotatably connected to the first pull rod 310, and the end of the first pull rod 310 is rotatably connected to the second pull rod 311.

[0024] In a preferred embodiment: the output end of the second motor 305 is fixedly assembled with the first robotic arm 304, the output end of the third motor 307 is fixedly assembled with the first robotic arm 304, the middle outer wall of the rotating frame 312 and the end outer wall of the first robotic arm 304 are rotatably connected, the inner wall of the rotating seat 302 is inlaid with a driving motor that drives the first pull rod 310 to rotate, and the output end of the first motor 303 is meshed with the inner wall of the base 301 through a gear.

[0025] In the above structure, the first pull rod 310 is driven to rotate by a driving motor, and the first pull rod 310, the second pull rod 311, the rotating frame 312, and the third pull rod 313 are rotatably connected to each other, so that when the first pull rod 310 is rotated, the second pull rod 311, the rotating frame 312, and the third pull rod 313 can be driven to move, and the end of the third pull rod 313 is rotatably connected to the third mechanical arm 308, so that the third pull rod 313 drives the third mechanical arm 308 to rotate at the connection end of the third mechanical arm 308 and the second mechanical arm 306, and the second motor 305 and the rotating seat 302 are fixedly assembled, and the output end of the second motor 305 is fixed to the first mechanical arm 304 The second motor 305 is assembled so that the first robot arm 304 can be driven to rotate by the third motor 307 and the second robot arm 306, and the output end of the third motor 307 is fixedly assembled with the first robot arm 304, so that the third motor 307 can drive the second robot arm 306 to rotate, and the first motor 303 and the rotating seat 302 are fixedly assembled, and the output end of the first motor 303 is engaged with the inner wall of the base 301, so that the first motor 303 can drive the rotating seat 302 to rotate, and the fourth motor 309 is set, and the output end of the fourth motor 309 is fixedly assembled with the clamp 4, so that the clamp 4 can be driven by the fourth motor 309 to rotate.

[0026] In a preferred embodiment: the clamp 4 includes a connecting plate 401, and the bottoms of both sides of the connecting plate 401 are fixedly mounted with support rods 402; The bottoms of both ends of the support rod 402 are fixedly equipped with clamping parts.

[0027] In a preferred embodiment, the clamping portion includes a mounting plate 403, a slide groove 404 is provided on the top of the mounting plate 403, a retractor 405 is rotatably connected to the inner wall of the top side of the mounting plate 403 away from the support rod 402, a rotating shaft 410 is rotatably connected to the bottom inner wall of the mounting plate 403, a rotating plate 411 is fixedly installed in the middle of the rotating shaft 410, brackets 412 are fixedly installed at both ends of the rotating shaft 410, a plate body 413 is fixedly installed on the bottom outer wall of the bracket 412, and a plurality of arc-shaped plates 414 are fixedly installed on the outer wall of the plate body 413 The end of the arc plate 414 away from the plate body 413 is sleeved with a caressing plate 418, and the inner walls of the upper and lower end surfaces of the caressing plate 418 away from the arc plate 414 are rotatably connected with a rotating shaft 419. The caressing plate 418 is provided with a mounting groove 421 on the side close to the arc plate 414, and the inner wall of the mounting groove 421 is fixedly equipped with a connecting block 422, and the outer wall of the connecting block 422 is fixedly equipped with a rotating plate 420. The inner wall of the end of the support rod 402 away from the caressing plate 418 is rotatably connected with a connecting shaft 415, and the inner wall of the arc plate 414 is fixedly equipped with a limiting shaft 416; The outer walls of the opposite surfaces of the two sets of mounting plates 403 are fixedly mounted with abutment portions.

[0028] In a preferred embodiment: the abutting portion includes a second mounting plate 406 fixedly mounted on the outer wall of the first mounting plate 403 close to the support rod 402, the outer wall of the second mounting plate 406 is fixedly mounted with a second retractor 407, the bottom retractable end of the second retractor 407 is fixedly mounted with a pressing plate 408, and the inner wall of the pressing plate 408 is inlaid with a plurality of vibration motors 409; A plurality of arc plates 414 are fixedly assembled by connecting shafts 415 and limiting shafts 416, the top of limiting shaft 416 fits with the bottom of rotating plate 2 420, the bottom inner wall of mounting groove 421 fits with the bottom outer wall of arc plate 414 near one end of caressing plate 418, the top outer wall of arc plate 414 near one end of caressing plate 418 is fixedly assembled with pressure sensor 417, rotating plate 2 420 is located between two groups of arc plates 414, rotating plate 1 411 is slidably sleeved on the inner wall of sliding groove 404, and the end of rotating plate 1 411 is rotatably connected with the telescopic end of telescope 1 405.

[0029] In the above structure, the rotating shaft 410 is rotatably connected to the bottom of the mounting plate 403, and the rotating plate 411 is rotatably connected to the telescopic end of the telescope 405, so that when the telescope 405 drives the rotating plate 411 to telescope, the rotating plate 411 can drive the bracket 412, the plate body 413 and the plurality of arc-shaped plates 414 through the rotating shaft 410 to realize the rotation with the rotating shaft 410 as the axis, and by relatively arranging two groups of clamping parts, the salt bag can be clamped by the two groups of relatively rotating arc-shaped plates 414; When the two sets of relatively rotating arc plates 414 come into contact with the salt bags on the conveyor belt, the rotating shaft 419 located at the bottom of the side of the smoothing plate 418 away from the arc plates 414 comes into contact with the conveyor belt, thereby converting the friction between the arc plates 414 and the conveyor belt into a rotational force, thereby preventing the arc plates 414 from scratching the surface of the conveyor belt and increasing the service life of the arc plates 414 and the conveyor belt. By sleeve-fitting the smoothing plates 418 at the ends of several arc plates 414, a complete horizontal plane is formed at one end of the several arc plates 414 close to the smoothing plates 418, and the several arc plates 414 use the smoothing plates 418 as the first contact point. and salt bags, the contact surface between the arc plate 414 and the salt bag is increased by the smoothing plate 418, thereby avoiding the problem that the arc plate 414 is inserted into the salt bag and causes damage to the salt bag, and the rotating shaft 419 located at the top of the smoothing plate 418 away from the arc plate 414 is used to contact the salt bag, so that the rotating shaft 419 applies a guiding force to the salt bag, thereby reducing the friction between the smoothing plate 418 and the salt bag, and at the same time, when the two groups of arc plates 414 are unfolded, the smoothing plate 418 can smooth the surface of the salt bag when the salt bag falls, thereby solving the problem that the bottom surface of the goods in the traditional equipment that contacts the claws is prone to grooves; On the other hand, after the two sets of arc plates 414 clamp the salt bag, the mass of the salt bag is transmitted to the caressing plate 418, so that the caressing plate 418 moves downward, thereby pressing the pressure sensor 417. By setting a plurality of pressure sensors 417, the control device can calculate and compare the mass data of the plurality of pressure sensors 417 to determine that one end of the salt bag clamped by the clamp 4 has a large mass problem. After the two groups of arc plates 414 clamp the salt bag, the telescopic device 407 drives the pressure plate 408 to move downward, so that the pressure plate 408 squeezes the salt bag to fix the salt bag. When the control device calculates that there is a problem of large mass at one end through a plurality of pressure sensors 417, the control device controls the vibration motor 409 in the corresponding direction to run, and the vibration of the vibration motor 409 drives the salt in the salt bag to move, thereby realizing the mass adjustment of the salt bag.

[0030] In a preferred embodiment, the steps include: S1: When the motor body 205 drives the meshing wheel to rotate by meshing the meshing wheel and the rack 107, the meshing wheel and the rack 107 are meshed, so that the motor body 205 drives the floor 203 to move through the motor base 204, and then the slide 2 drives the manipulator 3 to move; S2: The first pull rod 310 is driven to rotate by a driving motor, and the first pull rod 310, the second pull rod 311, the rotating frame 312, and the third pull rod 313 are mutually rotatably connected, so that when the first pull rod 310 is rotated, the second pull rod 311, the rotating frame 312, and the third pull rod 313 can be driven to move, and the end of the third pull rod 313 is rotatably connected to the third mechanical arm 308, so that the third pull rod 313 drives the third mechanical arm 308 to rotate at the connection end of the third mechanical arm 308 and the second mechanical arm 306, and the second motor 305 is fixedly assembled with the rotating seat 302, and the output end of the second motor 305 is fixedly assembled with the first mechanical arm 304 , so that the second motor 305 can drive the first mechanical arm 304 to rotate, and the third motor 307 and the second mechanical arm 306 are fixedly assembled, and the output end of the third motor 307 is fixedly assembled with the first mechanical arm 304, so that the third motor 307 can drive the second mechanical arm 306 to rotate, and the first motor 303 and the rotating seat 302 are fixedly assembled, and the output end of the first motor 303 is engaged with the inner wall of the base 301, so that the first motor 303 can drive the rotating seat 302 to rotate, and by providing a fourth motor 309, the output end of the fourth motor 309 is fixedly assembled with the clamp 4, so that the clamp 4 can be driven by the fourth motor 309 to rotate; S3: The rotating shaft 410 is rotatably connected to the bottom of the mounting plate 403, and the rotating plate 411 is rotatably connected to the telescopic end of the telescope 405, so that when the telescope 405 drives the rotating plate 411 to telescope, the rotating plate 411 can drive the bracket 412, the plate body 413 and the plurality of arc-shaped plates 414 through the rotating shaft 410 to realize the rotation with the rotating shaft 410 as the axis. By relatively arranging two groups of clamping parts, the salt bag can be clamped by the two groups of relatively rotating arc-shaped plates 414; S31: When the two sets of relatively rotating curved plates 414 come into contact with the salt bags on the conveyor belt, the rotating shaft 419 at the bottom of the smoothing plate 418 away from the curved plate 414 comes into contact with the conveyor belt, thereby converting the friction between the curved plate 414 and the conveyor belt into a rotational force, thereby preventing the curved plate 414 from scratching the conveyor belt surface and increasing the service life of the curved plate 414 and the conveyor belt. By sleeve-fitting the smoothing plate 418 at the ends of several curved plates 414, several curved plates 414 are close to the smoothing plate 418. One end of the plate 418 forms a complete horizontal surface, and the plurality of arc-shaped plates 414 use the caressing plate 418 as the first contact point with the salt bag. The caressing plate 418 increases the contact surface between the arc-shaped plates 414 and the salt bag, thereby avoiding the problem of the arc-shaped plates 414 being inserted into the salt bag and causing damage to the salt bag. The rotating shaft 419 located at the top of the caressing plate 418 away from the arc-shaped plates 414 is used to contact the salt bag, so that the rotating shaft 419 applies a guiding force to the salt bag, thereby reducing the friction between the caressing plate 418 and the salt bag. S32: On the other hand, after the two sets of arc plates 414 clamp the salt bag, the mass of the salt bag is transmitted to the caressing plate 418, so that the caressing plate 418 moves downward, thereby pressing the pressure sensor 417. By setting a plurality of pressure sensors 417, the control device can calculate and compare the mass data of the plurality of pressure sensors 417 to determine that one end of the salt bag clamped by the clamp 4 has a problem of large mass. After the two groups of arc plates 414 clamp the salt bag, the telescopic device 407 drives the pressure plate 408 to move downward, so that the pressure plate 408 squeezes the salt bag to fix the salt bag. When the control device calculates that there is a problem of large mass at one end through a plurality of pressure sensors 417, the control device controls the vibration motor 409 in the corresponding direction to run, and the vibration of the vibration motor 409 drives the salt in the salt bag to move, thereby realizing the mass adjustment of the salt bag.

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A salt bag palletizing robot, comprising a ground rail (1), characterized in that: A slide frame (2) is slidably provided on the top of the floor rail (1), a manipulator (3) is fixedly mounted on the top of the slide frame (2), and a clamp (4) is fixedly mounted on the end of the manipulator (3).

2. The salt bag palletizing robot according to claim 1, characterized in that: The floor rail (1) comprises a shell (101), both sides of the outer wall of the shell (101) are fixedly equipped with a fixing platform (102), both ends of the outer wall of the shell (101) are fixedly equipped with a vertical plate (103), a side of the vertical plate (103) close to the shell (101) is fixedly equipped with a limited buffer seat (104), both sides of the top of the shell (101) are fixedly equipped with a slide rail (105), the outer wall of the slide rail (105) is slidably sleeved with a slide block (106), the top inner wall of the shell (101) is fixedly equipped with a rack (107), and the top of the shell (101) is provided with a surface cover (108), and the end of the surface cover (108) is fixedly assembled with the vertical plate (103).

3. The salt bag palletizing robot according to claim 2, characterized in that: The slide frame (2) comprises a panel (201), a distance detector (202) is fixedly mounted on the top of the panel (201), a floor (203) is fixedly mounted on the bottom of the panel (201), a motor seat (204) is fixedly mounted on the bottom of the floor (203), and a motor body (205) is fixedly mounted on the outer wall of the motor seat (204); The output end of the motor body (205) is fixedly equipped with a meshing wheel, the motor body (205) is meshed with a rack (107) via the meshing wheel, the bottom of the floor (203) is fixedly equipped with a sliding block (106), and the surface cover (108) is located between the panel (201) and the floor (203).

4. The salt bag palletizing robot according to claim 1, characterized in that: The robot (3) comprises a base (301), the top of the base (301) is rotatably connected to a rotating seat (302), the top outer wall of the rotating seat (302) is fixedly equipped with a first motor (303), the top outer wall of the rotating seat (302) is rotatably connected to a first robot arm (304), the top outer wall of the rotating seat (302) is fixedly equipped with a second motor (305), the outer wall of one end of the first robot arm (304) away from the rotating seat (302) is rotatably connected to a second robot arm (306), the outer wall of the second robot arm (306) on one side close to the first robot arm (304) is fixedly equipped with a third motor (307), and the outer wall of the second robot arm (306) away from the rotating seat (302) is fixedly equipped with a third motor (307). A third mechanical arm (308) is rotatably connected to one end away from the first mechanical arm (304); a fourth motor (309) is fixedly mounted on the outer wall of the third mechanical arm (308); a third pull rod (313) is rotatably connected to the outer wall of the third mechanical arm (308) on a side away from the output end of the fourth motor (309); an end of the third pull rod (313) away from the third mechanical arm (308) is rotatably connected to a rotating frame (312); a side of the rotating frame (312) away from the third pull rod (313) is rotatably connected to a second pull rod (311); an outer wall of the rotating seat (302) is rotatably connected to a first pull rod (310); and an end of the first pull rod (310) is rotatably connected to the second pull rod (311).

5. The salt bag palletizing robot according to claim 4, characterized in that: The output end of the second motor (305) is fixedly assembled with the first mechanical arm (304), the output end of the third motor (307) is fixedly assembled with the first mechanical arm (304), the middle outer wall of the rotating frame (312) and the end outer wall of the first mechanical arm (304) are rotatably connected, the inner wall of the rotating seat (302) is embedded with a driving motor for driving the first pull rod (310) to rotate, and the output end of the first motor (303) is meshed with the inner wall of the base (301) through a gear.

6. The salt bag palletizing robot according to claim 1, characterized in that: The clamp (4) comprises a connecting plate (401), and the bottoms of both sides of the connecting plate (401) are fixedly mounted with support rods (402); The bottoms of both ends of the support rod (402) are fixedly equipped with clamping parts.

7. The salt bag palletizing robot according to claim 6, characterized in that: The clamping portion comprises a mounting plate (403), a sliding groove (404) is provided on the top of the mounting plate (403), a telescopic device (405) is rotatably connected to the inner wall of the mounting plate (403) on the side away from the top of the support rod (402), a rotating shaft (410) is rotatably connected to the bottom inner wall of the mounting plate (403), a rotating plate (411) is fixedly mounted on the middle of the rotating shaft (410), brackets (412) are fixedly mounted on both ends of the rotating shaft (410), a plate body (413) is fixedly mounted on the bottom outer wall of the bracket (412), a plurality of arc-shaped plates (414) are fixedly mounted on the outer wall of the plate body (413), and the arc-shaped plates (411) are fixedly mounted on the bottom outer wall of the bracket (412). 14) A caressing plate (418) is sleeved on the end away from the plate body (413); the inner walls of the upper and lower end surfaces of the caressing plate (418) away from the arc plate (414) are both rotatably connected to a rotating shaft (419); a mounting groove (421) is provided on the side of the caressing plate (418) close to the arc plate (414); a connecting block (422) is fixedly mounted on the inner wall of the mounting groove (421); a rotating plate 2 (420) is fixedly mounted on the outer wall of the connecting block (422); the inner wall of one end of the support rod (402) away from the caressing plate (418) is rotatably connected to a connecting shaft (415); and a limiting shaft (416) is fixedly mounted on the inner wall of the arc plate (414); The outer walls of the opposite surfaces of the two sets of mounting plates 1 (403) are fixedly equipped with abutment portions.

8. The salt bag palletizing robot according to claim 7, characterized in that: The abutting portion comprises a second mounting plate (406) fixedly mounted on the outer wall of the first mounting plate (403) close to the support rod (402), a second retractor (407) fixedly mounted on the outer wall of the second mounting plate (406), a pressing plate (408) fixedly mounted on the bottom retractable end of the second retractor (407), and a plurality of vibration motors (409) embedded on the inner wall of the pressing plate (408); A plurality of the arc-shaped plates (414) are fixedly assembled via a connecting shaft (415) and a limiting shaft (416); the top of the limiting shaft (416) fits with the bottom of the second rotating plate (420); the bottom inner wall of the mounting groove (421) fits with the bottom outer wall of the arc-shaped plate (414) at one end close to the caressing plate (418); a pressure sensor (417) is fixedly assembled on the top outer wall of the arc-shaped plate (414) at one end close to the caressing plate (418); the second rotating plate (420) is located between the two groups of arc-shaped plates (414); the first rotating plate (411) is slidably sleeved on the inner wall of the slide groove (404); and the end of the first rotating plate (411) is rotatably connected to the telescopic end of the first telescope (405).

9. The palletizing method of a salt bag palletizing robot according to claim 8, characterized in that: The following steps are involved: S1: The motor body (205) is meshed with the meshing wheel and the rack (107) to make the motor body (205) drive the meshing wheel to rotate, and the meshing wheel and the rack (107) are meshed to make the motor body (205) drive the floor (203) to move through the motor seat (204), thereby making the slide (2) drive the manipulator (3) to move; S2: The first pull rod (310) is driven to rotate by a driving motor, and the first pull rod (310), the second pull rod (311), the rotating frame (312), and the third pull rod (313) are connected to each other in rotation, so that when the first pull rod (310) is rotated, the second pull rod (311), the rotating frame (312), and the third pull rod (313) can be driven to move, and the end of the third pull rod (313) and the third mechanical arm (308) are connected in rotation, so that the third pull rod (313) drives the third mechanical arm (308) to rotate at the connection end of the third mechanical arm (308) and the second mechanical arm (306), and the second motor (305) and the rotating seat (302) are fixedly assembled, and the output end of the second motor (305) and the first mechanical arm (304) are fixedly assembled. , so that the second motor (305) can drive the first mechanical arm (304) to rotate, and the third motor (307) and the second mechanical arm (306) are fixedly assembled, and the output end of the third motor (307) and the first mechanical arm (304) are fixedly assembled, so that the third motor (307) can drive the second mechanical arm (306) to rotate, and the first motor (303) and the rotating seat (302) are fixedly assembled, and the output end of the first motor (303) and the inner wall of the base (301) are meshed, so that the first motor (303) can drive the rotating seat (302) to rotate, and the fourth motor (309) is provided, and the output end of the fourth motor (309) and the fixture (4) are fixedly assembled, so that the fixture (4) can be driven by the fourth motor (309) to rotate; S3: The rotating shaft (410) and the bottom of the mounting plate (403) are rotatably connected, and the rotating plate (411) and the telescopic end of the telescope (405) are rotatably connected, so that when the telescope (405) drives the rotating plate (411) to be telescoped, the rotating plate (411) can drive the bracket (412), the plate body (413) and the plurality of arc-shaped plates (414) through the rotating shaft (410) to realize rotation with the rotating shaft (410) as the axis, and by relatively arranging two groups of clamping parts, the salt bag can be clamped by the two groups of relatively rotating arc-shaped plates (414); S31: When the two sets of relatively rotating curved plates (414) come into contact with the salt bags on the conveyor belt, the rotating shaft (419) located at the bottom of the smoothing plate (418) away from the curved plate (414) comes into contact with the conveyor belt, thereby converting the friction between the curved plate (414) and the conveyor belt into a rotational force, thereby preventing the curved plate (414) from scratching the surface of the conveyor belt and increasing the service life of the curved plate (414) and the conveyor belt. By sleeve-fitting the smoothing plate (418) at the ends of a plurality of curved plates (414), the plurality of curved plates (414) are brought close to the smoothing plate. One end of the (418) forms a complete horizontal surface, and the plurality of arc-shaped plates (414) use the smoothing plate (418) as the first contact point with the salt bag. The smoothing plate (418) increases the contact surface between the arc-shaped plates (414) and the salt bag, thereby avoiding the problem of the arc-shaped plates (414) being inserted into the salt bag and causing damage to the salt bag. The rotating shaft (419) located at the top of the smoothing plate (418) away from the curved plate (414) is used to contact the salt bag, so that the rotating shaft (419) applies a guiding force to the salt bag, thereby reducing the friction between the smoothing plate (418) and the salt bag. S32: On the other hand, after the two sets of arc plates (414) clamp the salt bag, the mass of the salt bag is transmitted to the smoothing plate (418), causing the smoothing plate (418) to move downward, thereby pressing the pressure sensor (417). By providing a plurality of pressure sensors (417), the control device can calculate and compare the mass data of the plurality of pressure sensors (417) to determine that a certain end of the salt bag clamped by the clamp (4) has a problem of greater mass. After the two sets of arc plates (414) clamp the salt bag, the second telescopic device (407) drives the pressing plate (408) to move downward, so that the pressing plate (408) squeezes the salt bag to fix the salt bag. When the control device calculates that there is a problem of large mass at one end through a plurality of pressure sensors (417), the control device controls the vibration motor (409) in the corresponding direction to operate, and the vibration of the vibration motor (409) drives the salt in the salt bag to move, thereby achieving mass adjustment of the salt bag.

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