Packaging box stacking machine and manipulator thereof

Abstract

The invention relates to the technical field of manipulators, in particular to a packing box stacker crane and a manipulator thereof.The packing box stacker crane comprises a supporting beam, the lower end of the supporting beam is movably connected with a first T-shaped rod and a second T-shaped rod, the outer side of the first T-shaped rod is movably connected with a first connecting plate, and the lower end of the second T-shaped rod is fixedly connected with a second connecting plate; a first limiting mechanism is arranged at the lower end of the supporting beam, the moving distance of the first T-shaped rod is limited through the first limiting mechanism, a lifting mechanism is arranged in the upper end of the first connecting plate, and the upper end of the lifting mechanism is connected with the first T-shaped rod; by adjusting the first limiting mechanism arranged at the lower end of the supporting beam, the opening distance and the clamping distance between the first connecting plate and the second connecting plate can be adjusted, and the problems that the clamping time of the packaging box is too long, and meanwhile the two clamping plates cannot clamp the packaging box possibly due to the stroke are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to a packaging box palletizer and a manipulator thereof. Background Art

[0002] For example, the Chinese patent with announcement number CN110422618B discloses a packaging box palletizing robot, including a horizontally arranged main beam plate, with a left clamping plate and a right clamping plate hinged at the left and right ends of the main beam plate respectively, an angle limit block is arranged on the main beam plate, and a hinge cylinder A and a hinge cylinder B are hinged, the hinge cylinder A is hinged to the upper end of the left clamping plate, the hinge cylinder B is hinged to the upper end of the right clamping plate, a fixed clamping plate is arranged at the lower end of the right clamping plate, and the lower end of the left clamping plate is opposite to the fixed clamping plate.

[0003] However, the above scheme has the following shortcomings: in the above patent, the left and right clamping plates with unequal forces cause the clamped box to tilt. The tilt of the box allows the manipulator to use a smaller clamping force to ensure that the box does not slip, thereby reducing the damage to the goods in the box caused by the clamping force. However, when the size of the box changes, the operator cannot flexibly adjust the distance between the two clamping plates according to the usage. For example, for smaller boxes, since the distance between the clamps cannot be adjusted, this results in a too long clamping time for the box. At the same time, due to the travel reason, the two clamps may not be able to clamp the box. For this reason, we have introduced a box palletizer and a manipulator thereof. Summary of the invention

[0004] The object of the present invention is to provide a packaging box palletizer and a manipulator thereof to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A manipulator comprises a support beam, wherein the lower end of the support beam is movably connected to a first T-shaped rod and a second T-shaped rod respectively, a first connecting plate is movably connected to the outer side of the first T-shaped rod, and the lower end of the second T-shaped rod is fixedly connected to the second connecting plate, a first limiting mechanism is provided at the lower end of the support beam, and the moving distance of the first T-shaped rod is limited by the first limiting mechanism, a lifting mechanism is provided in the upper end of the first connecting plate, and the upper end of the lifting mechanism is connected to the first T-shaped rod, and the first connecting plate is driven to move by the lifting mechanism;

[0007] A connecting motor is fixedly installed in the support beam, and the output end of the connecting motor is fixedly connected to the connecting column. Two take-up wheels are movably sleeved on the outer side of the connecting column. Two limiting holes are provided on the inner side of the take-up wheel, and a second limiting mechanism is clamped in the limiting hole. The second limiting mechanism is arranged in the connecting column. Several second limiting mechanisms are connected to the pulling mechanism. The pulling mechanism is arranged in the connecting column. When the pulling mechanism pulls the second limiting mechanism on the left side, the second limiting mechanism on the right side is clamped in the limiting hole on the right side. A traction rope is provided on the outer side of the two take-up wheels, and the ends of the two traction ropes away from the take-up wheels are respectively fixedly connected to the first T-bar and the second T-bar;

[0008] The first connecting plate and the second connecting plate have corrugated plates fixedly connected to their opposite surfaces, and the second connecting plate has a T-shaped plate provided on one side close to the first connecting plate, the T-shaped plate is slidably connected in the T-shaped sliding cavity, the T-shaped sliding cavity is opened in the second connecting plate, a first push switch is fixedly connected in the T-shaped sliding cavity, a reset spring is fixedly connected in the T-shaped sliding cavity, and the other end of the reset spring is fixedly connected to the T-shaped plate.

[0009] Preferably, the upper ends of the first T-rod and the second T-rod are movably connected in the T-guide groove, the two T-guide grooves are both opened at the lower end of the support beam, the length of the left T-guide groove is greater than the length of the right T-guide groove, and one side of the first T-rod and the second T-rod is fixedly connected with a first support spring, and the other end of the first support spring is fixedly connected to the T-guide groove.

[0010] Preferably, the limiting mechanism includes a first limiting block and a second limiting block, the upper ends of the first limiting block and the second limiting block both extend into the T-shaped guide groove on the left, and the first limiting block and the second limiting block are each provided with a mounting screw, which is screwed into the mounting screw hole through the mounting screw, so that the first limiting block and the second limiting block are movably connected to the lower end of the support beam, and a plurality of mounting screw holes are provided at the lower end of the support beam, and a second push switch is fixedly installed in the second limiting block near one end of the first T-shaped rod.

[0011] Preferably, a sliding groove is provided on one side of the first connecting plate close to the first T-bar, the first T-bar is slidably connected in the sliding groove, third limit blocks are fixedly connected at both ends of the first T-bar, the third limit block is slidably connected in the limit groove, and the limit groove is provided in the sliding groove.

[0012] Preferably, the lifting mechanism includes a tooth plate, the tooth plate is slidably connected in a through hole, the through hole is opened in the first connecting plate, a transmission gear is provided in the first connecting plate, the transmission gear is fixedly connected to the output end of the transmission motor, the transmission motor is fixedly installed in the first connecting plate, the transmission gear is meshed with the tooth plate, the upper end of the tooth plate is fixedly connected to the first T-bar, a second support spring is sleeved on the outer side of the tooth plate, the upper end of the second support spring is fixedly connected to the first T-bar, and the lower end is fixedly connected to the upper end of the first connecting plate.

[0013] Preferably, the limiting mechanism includes a T-shaped limiting block, which is slidably connected in a limiting cavity, the limiting cavity is opened in a connecting column, the upper end of the T-shaped limiting block is clamped in a limiting hole, a connecting spring is fixedly connected in the limiting cavity, and the other end of the connecting spring is fixedly connected to the T-shaped limiting block.

[0014] Preferably, the pulling mechanism comprises a telescopic cylinder, a pull rope is fixedly connected to the lower end of the T-shaped limit block, and the other end of the pull rope is fixedly connected to the T-shaped limit block.

[0015] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a packaging box palletizer, including the above-mentioned robot.

[0016] Compared with the prior art, the beneficial effect of the present invention is that the present invention can adjust the opening distance and the clamping distance between the first connecting plate and the second connecting plate by adjusting the first limiting mechanism arranged at the lower end of the support beam, thereby avoiding the situation where the two clamps cannot clamp the packaging box due to too long clamping time of the packaging box or due to travel reasons. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the cross-sectional structure of the present invention;

[0018] Figure 2 This is a cross-sectional structural diagram of the connection relationship between the connecting motor and the connecting column of the present invention;

[0019] Figure 3 This is a schematic diagram of the cross-sectional structure of the connecting column of the present invention;

[0020] Figure 4 This is a schematic diagram of the cross-sectional structure of the position of the limit groove of the present invention;

[0021] Figure 5 This is a three-dimensional structural schematic diagram of the installation state of the take-up wheel of the present invention;

[0022] Figure 6 It is a three-dimensional cross-sectional structural schematic diagram of the take-up wheel and the connecting column in a separated state of the present invention;

[0023] Figure 7It is a schematic diagram of the main structure of the present invention;

[0024] Figure 8 It is a schematic diagram of the main structure of the clamping state of the present invention.

[0025] In the figure: 1. support beam; 2. second T-bar; 3. T-guide groove; 4. limit groove; 5. mounting screw hole; 6. traction rope; 7. pull rope; 8. second limit block; 9. second push switch; 10. first support spring; 11. second support spring; 12. tooth plate; 13. telescopic cylinder; 14. transmission gear; 15. through hole; 16. connecting spring; 17. first connecting plate; 18. slide groove; 19. third limit block; 20. first T-bar; 21. mounting screw; 22. first limit block; 23. connecting motor; 24. take-up wheel; 25. first push switch; 26. reset spring; 27. T-sliding cavity; 28. second connecting plate; 29. ​​T-plate; 30. corrugated plate; 31. limit cavity; 32. T-limit block; 33. connecting column; 34. limit hole. DETAILED DESCRIPTION

[0026] 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.

[0027] See also Figure 1-8 , the present invention provides a technical solution:

[0028] Embodiment 1:

[0029] A manipulator comprises a support beam 1, wherein the lower end of the support beam 1 is respectively movably connected with a first T-shaped rod 20 and a second T-shaped rod 2, a first connecting plate 17 is movably connected to the outer side of the first T-shaped rod 20, and the lower end of the second T-shaped rod 2 is fixedly connected to the second connecting plate 28, a first limiting mechanism is provided at the lower end of the support beam 1, and the moving distance of the first T-shaped rod 20 is limited by the first limiting mechanism, a lifting mechanism is provided at the upper end of the first connecting plate 17, and the upper end of the lifting mechanism is connected to the first T-shaped rod 20, and the first connecting plate 17 is driven to move by the lifting mechanism, a connecting motor 23 is fixedly installed in the support beam 1, and the connecting motor 23 can be selected in a suitable model and size in actual use, and the output end of the connecting motor 23 is fixedly connected to the connecting column 33;

[0030] The two take-up wheels 24 are movably sleeved on the outer side of the connecting column 33, and two limiting holes 34 are provided on the inner side of the take-up wheel 24, and a second limiting mechanism is clamped in the limiting hole 34, and the second limiting mechanism is arranged in the connecting column 33. The connecting motor 23 will drive the connecting column 33 to start rotating, and the rotation of the connecting column 33 drives the take-up wheel 24 on the left to start rotating. The take-up wheel 24 on the left rotates to reel in the traction rope 6 connected to the outer side thereof. At this time, the first T-shaped bar 20 will be pulled inward by the traction rope 6. The pulling mechanism is arranged in the connecting column 33. When the pulling mechanism pulls the second limiting mechanism on the left, the second limiting mechanism on the right is clamped in the limiting hole 34 on the right. The two take-up wheels 24 are provided with traction ropes 6 on the outer sides, and the two traction ropes 6 are fixedly connected to the first T-shaped bar 20 and the second T-shaped bar 2 at one end away from the take-up wheel 24 respectively;

[0031] The first connecting plate 17 and the second connecting plate 28 are both fixedly connected to the opposite surfaces with corrugated plates 30. The corrugated plates 30 are arranged so that the packaging box will not fall off easily after being clamped. The second connecting plate 28 is provided with a T-shaped plate 29 on the side close to the first connecting plate 17. The T-shaped plate 29 is slidably connected in the T-shaped sliding cavity 27. The T-shaped sliding cavity 27 is opened in the second connecting plate 28. The first pressing switch 25 is fixedly connected in the T-shaped sliding cavity 27. The reset spring 26 is fixedly connected in the T-shaped sliding cavity 27. The other end of the reset spring 26 It is fixedly connected to the T-plate 29. When the T-plate 29 contacts the upper end of the packaging box, as the support beam 1 continues to move downward, the T-plate 29 will be driven to move upward, and the T-plate 29 moves along the T-shaped sliding cavity 27 to compress the reset spring 26. When the T-plate 29 contacts the first push switch 25, the first push switch 25 is pressed, and the support beam 1 stops moving downward. When the clamping of the packaging box is cancelled, the T-plate 29 will return to its initial position under the elastic force of the reset spring 26.

[0032] Embodiment 2:

[0033] On the basis of Example 1, in order to make the packaging boxes fit together after stacking, the upper ends of the first T-bar 20 and the second T-bar 2 are movably connected to the T-guide groove 3, and the two T-guide grooves 3 are both opened at the lower end of the support beam 1. The length of the left T-guide groove 3 is greater than the length of the right T-guide groove 3. The first T-bar 20 and the second T-bar 2 are fixedly connected to one side with a first support spring 10, and the other end of the first support spring 10 is fixedly connected to the T-guide groove 3. The connecting motor 23 will drive the connecting column 33 to start rotating, and the rotation of the connecting column 33 drives the left take-up wheel 24 to start rotating, and the left take-up wheel 24 rotates to reel in the traction rope 6 connected to its outer side. At this time, the first T-bar 20 will be pulled by the traction rope 6 to move inward along the T-guide groove 3, and the movement of the first T-bar 20 drives the first connecting plate 17 to move;

[0034] The first limiting mechanism includes a first limiting block 22 and a second limiting block 8. The upper ends of the first limiting block 22 and the second limiting block 8 are both extended into the T-shaped guide groove 3 on the left. The first limiting block 22 and the second limiting block 8 are both provided with mounting screws 21. The mounting screws 21 are screwed into the mounting screw holes 5, so that the first limiting block 22 and the second limiting block 8 are movably connected to the lower end of the support beam 1. The lower end of the support beam 1 is provided with a plurality of mounting screw holes 5. The second limiting block 8 is fixedly installed with a second pressing opening in one end close to the first T-shaped rod 20. Close 9, unscrew the installation screw 21, and when the width of the packaging box is small, the first limit block 22 can be pushed inward, and the first limit block 22 drives the first T-shaped rod 20 to move when moving, and the movement of the first T-shaped rod 20 drives the first connecting plate 17 to move. When the first connecting plate 17 moves to a suitable position, the installation screw 21 can be screwed back into the installation screw hole 5, so that the first limit block 22 is limited and fixed, and the position of the second limit block 8 is adjusted to limit the clamping movement distance of the first connecting plate 17;

[0035] The first connecting plate 17 is provided with a slide groove 18 on one side close to the first T-shaped rod 20, and the first T-shaped rod 20 is slidably connected in the slide groove 18. The first T-shaped rod 20 is fixedly connected with a third limit block 19 at both ends, and the third limit block 19 is slidably connected in the limit groove 4. The limit groove 4 is provided in the slide groove 18. The third limit block 19 is slidably connected in the limit groove 4, so that the first connecting plate 17 will not fall off the surface of the first T-shaped rod 20. The lifting mechanism includes a tooth plate 12, which is slidably connected in the through hole 15. The through hole 15 It is opened in the first connecting plate 17, and a transmission gear 14 is arranged in the first connecting plate 17. The transmission gear 14 is fixedly connected to the output end of the transmission motor. The transmission motor (not shown in the figure) is fixedly installed in the first connecting plate 17. The transmission gear 14 is meshed with the tooth plate 12. The upper end of the tooth plate 12 is fixedly connected to the first T-shaped rod 20. The outer side of the tooth plate 12 is sleeved with a second support spring 11. The upper end of the second support spring 11 is fixedly connected to the first T-shaped rod 20, and the lower end is fixedly connected to the upper end of the first connecting plate 17.

[0036] The second limiting mechanism includes a T-shaped limiting block 32, which is slidably connected to the limiting cavity 31, and the limiting cavity 31 is opened in the connecting column 33. The upper end of the T-shaped limiting block 32 is clamped in the limiting hole 34. A connecting spring 16 is fixedly connected in the limiting cavity 31, and the other end of the connecting spring 16 is fixedly connected to the T-shaped limiting block 32. The pulling mechanism includes a telescopic cylinder 13, and the lower end of the T-shaped limiting block 32 is fixedly connected to a pull rope 7, and the other end of the pull rope 7 is fixedly connected to the T-shaped limiting block 32.

[0037] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a packaging box palletizer, including the above-mentioned robot.

[0038] Working principle: when in use, the positions of the first limit block 22 and the second limit block 8 are adjusted according to the width of the packaging box. Specifically, the mounting screw 21 is screwed down. When the width of the packaging box is small, the first limit block 22 can be pushed inward. When the first limit block 22 moves, it drives the first T-bar 20 to move. The movement of the first T-bar 20 drives the first connecting plate 17 to move. When the first connecting plate 17 moves to a suitable position, the mounting screw 21 can be screwed back into the mounting screw hole 5, so that the first limit block 22 is fixed in position, and the position of the second limit block 8 is adjusted to limit the clamping movement distance of the first connecting plate 17.

[0039] By moving the support beam 1 downward, the packaging box is located between the first connecting plate 17 and the second connecting plate 28. When the T-shaped plate 29 contacts the upper end of the packaging box, as the support beam 1 continues to move downward, the T-shaped plate 29 will be driven to move upward, and the T-shaped plate 29 moves along the T-shaped sliding cavity 27 to compress the return spring 26. When the T-shaped plate 29 contacts the first push switch 25, the first push switch 25 is pressed, and the support beam 1 stops moving downward. At the same time, the connecting motor 23 drives the connecting column 33 to start rotating, and the rotation of the connecting column 33 drives the left side take-up wheel 24 to start rotating. The left side take-up wheel 24 rotates to reel in the traction rope 6 connected to its outer side. At this time, the first T-shaped rod 20 will be pulled by the traction rope 6. As the first T-shaped guide groove 3 moves inward, the first T-shaped rod 20 moves and drives the first connecting plate 17 to move. When the first T-shaped rod 20 contacts the second limit block 8 and presses the second push switch 9, the connecting motor 23 will rotate in the opposite direction for a certain distance and then enter the self-locking state, so that the corrugated plate 30 connected to the first connecting plate 17 is separated from the surface of the packaging box. At the same time, the transmission motor will start and drive the transmission gear 14 to start rotating. Since the transmission gear 14 is meshed with the toothed plate 12, the first connecting plate 17 will move upward during the rotation of the transmission gear 14. When the upper end of the first connecting plate 17 contacts the first T-shaped rod 20, the transmission motor is in a self-locking state, and the telescopic cylinder 13 will start to retract its output end.

[0040] The output end of the telescopic cylinder 13 moves to pull the two pull ropes 7 on the left, and at the same time cancels the pulling of the two pull ropes 7 on the right. At this time, the T-shaped limit block 32 on the left is pulled into the limit cavity 31, so that its clamping end is disengaged from the limit hole 34. At the same time, the T-shaped limit block 32 on the right will be clamped into the limit hole 34 in the right wire take-up wheel 24 under the elastic force of the connecting spring 16. After the T-shaped limit block 32 on the left is disengaged from the limit hole 34, under the elastic force of the first supporting spring 10, the first T-shaped rod 20 will return to its initial position. At this time, the connecting motor 23 can be rotated again to make the traction rope 6 on the right pull the second T-shaped rod 2 to move to the left. The packaging box is relative to other packaging boxes under the push of the second connecting plate 28, and the support beam 1 moves upward to clamp the packaging box again.

[0041] 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 robot, comprising a support beam, characterized in that: The lower ends of the support beams are movably connected to a first T-shaped rod and a second T-shaped rod, respectively; a first connecting plate is movably connected to the outer side of the first T-shaped rod; the lower end of the second T-shaped rod is fixedly connected to the second connecting plate; a first limiting mechanism is provided at the lower end of the support beam, and the moving distance of the first T-shaped rod is limited by the first limiting mechanism; a lifting mechanism is provided in the upper end of the first connecting plate, and the upper end of the lifting mechanism is connected to the first T-shaped rod, and the first connecting plate is driven to move by the lifting mechanism; A connecting motor is fixedly installed in the support beam, and the output end of the connecting motor is fixedly connected to the connecting column. Two take-up wheels are movably sleeved on the outer side of the connecting column. Two limiting holes are provided on the inner side of the take-up wheel, and a second limiting mechanism is clamped in the limiting hole. The second limiting mechanism is arranged in the connecting column. Several second limiting mechanisms are connected to the pulling mechanism. The pulling mechanism is arranged in the connecting column. When the pulling mechanism pulls the second limiting mechanism on the left side, the second limiting mechanism on the right side is clamped in the limiting hole on the right side. A traction rope is provided on the outer side of the two take-up wheels, and the ends of the two traction ropes away from the take-up wheels are respectively fixedly connected to the first T-bar and the second T-bar; The first connecting plate and the second connecting plate have corrugated plates fixedly connected to their opposite surfaces, and the second connecting plate has a T-shaped plate provided on one side close to the first connecting plate, the T-shaped plate is slidably connected in the T-shaped sliding cavity, the T-shaped sliding cavity is opened in the second connecting plate, a first push switch is fixedly connected in the T-shaped sliding cavity, a reset spring is fixedly connected in the T-shaped sliding cavity, and the other end of the reset spring is fixedly connected to the T-shaped plate.

2. A robot according to claim 1, characterized in that: The upper ends of the first T-shaped rod and the second T-shaped rod are movably connected in the T-shaped guide groove, and the two T-shaped guide grooves are both opened at the lower end of the support beam. The length of the left T-shaped guide groove is greater than that of the right T-shaped guide groove. One side of the first T-shaped rod and the second T-shaped rod is fixedly connected with a first support spring, and the other end of the first support spring is fixedly connected to the T-shaped guide groove.

3. A robot according to claim 2, characterized in that: The first limiting mechanism includes a first limiting block and a second limiting block, the upper ends of the first limiting block and the second limiting block are both extended into the T-shaped guide groove on the left, and the first limiting block and the second limiting block are both provided with mounting screws, which are screwed into the mounting screw holes through the mounting screws, so that the first limiting block and the second limiting block are movably connected to the lower end of the support beam, and a plurality of mounting screw holes are opened at the lower end of the support beam, and a second push switch is fixedly installed in the second limiting block near one end of the first T-shaped rod.

4. A robot according to claim 1, characterized in that: A sliding groove is provided on the first connecting plate near the first T-bar, the first T-bar is slidably connected in the sliding groove, and third limit blocks are fixedly connected at both ends of the first T-bar, the third limit block is slidably connected in the limit groove, and the limit groove is provided in the sliding groove.

5. A robot according to claim 1, characterized in that: The lifting mechanism includes a tooth plate, which is slidably connected to a through hole, and the through hole is opened in the first connecting plate. A transmission gear is provided in the first connecting plate, and the transmission gear is fixedly connected to the output end of the transmission motor. The transmission motor is fixedly installed in the first connecting plate, and the transmission gear is meshed with the tooth plate. The upper end of the tooth plate is fixedly connected to the first T-bar, and a second supporting spring is sleeved on the outer side of the tooth plate. The upper end of the second supporting spring is fixedly connected to the first T-bar, and the lower end is fixedly connected to the upper end of the first connecting plate.

6. A robot according to claim 1, characterized in that: The second limiting mechanism includes a T-shaped limiting block, which is slidably connected in a limiting cavity. The limiting cavity is opened in a connecting column. The upper end of the T-shaped limiting block is clamped in a limiting hole. A connecting spring is fixedly connected in the limiting cavity. The other end of the connecting spring is fixedly connected to the T-shaped limiting block.

7. A robot according to claim 6, characterized in that: The pulling mechanism comprises a telescopic cylinder, a pull rope is fixedly connected to the lower end of the T-shaped limit block, and the other end of the pull rope is fixedly connected to the T-shaped limit block.

8. A packaging box palletizer, characterized in that: A robot comprising the manipulator described in any one of claims 1 to 7.

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