A packing box palletizer and its manipulator

Abstract

The present invention relates to the technical field of manipulators, and specifically relates to a packing box palletizer and its manipulator, including a support beam. The lower end of the support beam is respectively 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. The lower end of the second T-shaped rod is fixedly connected with a second connecting plate. A first limiting mechanism is provided at the lower end of the support beam to limit the moving distance of the first T-shaped rod through the first limiting mechanism. A lifting mechanism is arranged inside 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 support beam, the opening distance and the clamping distance between the first connecting plate and the second connecting plate can be adjusted, solving the problem of too long clamping time of the packing box, and at the same time, there may also be a situation where the two clamping plates cannot clamp the packing box due to the reason of the stroke.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly to a packing box palletizing machine and its manipulator. Background Art

[0002] As disclosed in a Chinese patent with the publication number CN110422618B, it discloses a packing box palletizing manipulator, which includes a horizontally arranged main beam plate. A left clamping plate and a right clamping plate are respectively hinged at the left and right ends of the main beam plate. Angle limit blocks are arranged on the main beam plate. A hinge cylinder A and a hinge cylinder B are also hinged. The hinge cylinder A is hinged to the upper end of the left clamping plate, and 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 is at a position opposite to the lower end of the left clamping plate.

[0003] However, the above solution has the following deficiencies: In the above patent, through the unequal-force left clamping plate and right clamping plate, the packed boxes to be clamped are tilted. The tilting of the packed boxes enables this manipulator to ensure that the packed boxes do not slip off with a smaller clamping force, thereby reducing the damage to the goods inside the packed boxes caused by the clamping force. However, when the size of the packed boxes changes, the operator cannot flexibly adjust the distance between the two clamping plates according to the usage situation. For example, for smaller packed boxes, since the distance between the clamping plates cannot be adjusted, this leads to an overly long clamping time for the packed boxes. At the same time, due to the reason of the stroke, it is also possible that the two clamping plates cannot clamp the packed boxes. Therefore, we introduce a packing box palletizing machine and its manipulator. Summary of the Invention

[0004] The purpose of the present invention is to provide a packing box palletizing machine and its manipulator to solve the problems raised in the above background art.

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

[0006] A manipulator includes a support beam. The lower end of the support beam is respectively movably connected with a first T-shaped rod and a second T-shaped rod. The outside of the first T-shaped rod is movably connected with a first connecting plate. 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 support beam to limit the moving distance of the first T-shaped rod through the first limiting mechanism. An elevating mechanism is arranged inside the upper end of the first connecting plate, and the upper end of the elevating mechanism is connected with the first T-shaped rod to drive the first connecting plate to move through the elevating mechanism;

[0007] A connecting motor is fixedly installed inside the support beam. The output end of the connecting motor is fixedly connected to a connecting column. Two wire reels are movably sleeved outside the connecting column. Two limiting holes are opened inside the wire reels. A second limiting mechanism is clamped inside the limiting holes. The second limiting mechanism is arranged inside the connecting column. A plurality of the second limiting mechanisms are connected to a pulling mechanism. The pulling mechanism is arranged inside 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 inside the limiting hole on the right side. Traction ropes are arranged outside both of the two wire reels. One ends of the two traction ropes far away from the wire reels are respectively fixedly connected to a first T-shaped rod and a second T-shaped rod;

[0008] Wave plates are fixedly connected to the opposite surfaces of the first connecting plate and the second connecting plate. A T-shaped plate is arranged on one side of the second connecting plate close to the first connecting plate. The T-shaped plate is slidably connected inside a T-shaped sliding cavity. The T-shaped sliding cavity is opened inside the second connecting plate. A first pressing switch is fixedly connected inside the T-shaped sliding cavity. A return spring is fixedly connected inside the T-shaped sliding cavity. The other end of the return spring is fixedly connected to the T-shaped plate.

[0009] Preferably, the upper ends of the first T-shaped rod and the second T-shaped rod are both movably connected inside a T-shaped guiding groove. The two T-shaped guiding grooves are both opened at the lower end of the support beam. The length of the T-shaped guiding groove on the left side is greater than that of the T-shaped guiding groove on the right side. A first supporting spring is fixedly connected to one side of both the first T-shaped rod and the second T-shaped rod. The other end of the first supporting spring is fixedly connected to the T-shaped guiding 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 guiding groove on the left side. Mounting screws are arranged inside both the first limiting block and the second limiting block. By screwing the mounting screws into mounting screw holes, the first limiting block and the second limiting block are movably connected to the lower end of the support beam. A plurality of mounting screw holes are opened at the lower end of the support beam. A second pressing switch is fixedly installed inside one end of the second limiting block close to the first T-shaped rod.

[0011] Preferably, a sliding groove is opened on one side of the first connecting plate close to the first T-shaped rod. The first T-shaped rod is slidably connected inside the sliding groove. Third limiting blocks are fixedly connected to both ends of the first T-shaped rod. The third limiting blocks are slidably connected inside a limiting groove. The limiting groove is opened inside the sliding groove.

[0012] Preferably, the lifting mechanism includes a toothed plate which is slidably connected in a through hole. The through hole is formed in the first connecting plate. A transmission gear is arranged in the first connecting plate and is fixedly connected to the output end of a transmission motor. The transmission motor is fixedly installed in the first connecting plate. The transmission gear meshes with the toothed plate. The upper end of the toothed plate is fixedly connected to a first T-shaped rod. A second support spring is sleeved outside the toothed plate. The upper end of the second support spring is fixedly connected to the first T-shaped rod, 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 formed in the 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 includes a telescopic cylinder. A pull rope is fixedly connected to the lower end of the T-shaped limiting block, and the other end of the pull rope is fixedly connected to the T-shaped limiting block.

[0015] In addition, to achieve the above object, the present invention also provides a packing box palletizer, including the above-mentioned manipulator.

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

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

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

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

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

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

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

[0023] Figure 7Schematic front view structure diagram of the present invention;

[0024] Figure 8 Schematic front view structure diagram of the clamping state of the present invention.

[0025] In the figure: 1, support beam; 2, second T-shaped rod; 3, T-shaped 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, toothed plate; 13, telescopic cylinder; 14, transmission gear; 15, through hole; 16, connecting spring; 17, first connecting plate; 18, chute; 19, third limit block; 20, first T-shaped rod; 21, mounting screw; 22, first limit block; 23, connecting motor; 24, wire reel; 25, first push switch; 26, return spring; 27, T-shaped sliding cavity; 28, second connecting plate; 29, T-shaped plate; 30, corrugated plate; 31, limit cavity; 32, T-shaped limit block; 33, connecting column; 34, limit hole. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Please refer to Figure 1-8 , the present invention provides a technical solution:

[0028] Embodiment 1:

[0029] A manipulator includes a support beam 1. The lower ends of the support beam 1 are respectively movably connected with a first T-shaped rod 20 and a second T-shaped rod 2. The outside of the first T-shaped rod 20 is movably connected with a first connecting plate 17. The lower end of the second T-shaped rod 2 is fixedly connected with a second connecting plate 28. A first limiting mechanism is provided at the lower end of the support beam 1 to limit the moving distance of the first T-shaped rod 20 through the first limiting mechanism. A lifting mechanism is arranged inside the upper end of the first connecting plate 17, and the upper end of the lifting mechanism is connected with the first T-shaped rod 20. The first connecting plate 17 is driven to move through the lifting mechanism. A connecting motor 23 is fixedly installed inside the support beam 1. The connecting motor 23 can be selected with a suitable model and size during actual use. The output end of the connecting motor 23 is fixedly connected with a connecting column 33;

[0030] There are two wire reels 24 movably sleeved outside the connecting column 33. Two limiting holes 34 are opened inside the wire reels 24, and a second limiting mechanism is clamped in the limiting holes 34. The second limiting mechanism is arranged inside the connecting column 33. The connecting motor 23 will drive the connecting column 33 to start rotating. The rotation of the connecting column 33 drives the left wire reel 24 to start rotating. The rotation of the left wire reel 24 winds up the traction rope 6 connected to its outside. At this time, the first T-shaped rod 20 will be pulled inward by the traction rope 6. A number of second limiting mechanisms are connected to the pulling mechanism. The pulling mechanism is arranged inside 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. Traction ropes 6 are provided on the outside of both wire reels 24. One ends of the two traction ropes 6 away from the wire reels 24 are fixedly connected to the first T-shaped rod 20 and the second T-shaped rod 2 respectively;

[0031] Wave plates 30 are fixedly connected to the opposite surfaces of the first connecting plate 17 and the second connecting plate 28. Through the setting of the wave plates 30, the packing box will not fall off easily after being clamped. A T-shaped plate 29 is provided on the side of the second connecting plate 28 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. A first push switch 25 is fixedly connected in the T-shaped sliding cavity 27. A return spring 26 is fixedly connected in the T-shaped sliding cavity 27. The other end of the return spring 26 is fixedly connected to the T-shaped plate 29. When the T-shaped plate 29 contacts the upper end of the packing box, at this time, as the support beam 1 continuously moves downward, the T-shaped plate 29 will be driven to move upward. 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, at this time, the first push switch 25 is pressed, and at this time, the support beam 1 stops moving downward. When the clamping of the packing box is cancelled, under the elastic force of the return spring 26, the T-shaped plate 29 will return to the initial position.

[0032] Embodiment 2:

[0033] On the basis of Embodiment 1, in order to enable the packaging boxes to fit together after being stacked, the upper ends of the first T-shaped rod 20 and the second T-shaped rod 2 are both movably connected to the T-shaped guide groove 3. The two T-shaped guide grooves 3 are both opened at the lower end of the support beam 1. The length of the left T-shaped guide groove 3 is greater than that of the right T-shaped guide groove 3. A first support spring 10 is fixedly connected to one side of the first T-shaped rod 20 and the second T-shaped rod 2. The other end of the first support spring 10 is fixedly connected to the T-shaped guide groove 3. The connecting motor 23 will drive the connecting column 33 to start rotating. The rotation of the connecting column 33 drives the left take-up reel 24 to start rotating. The rotation of the left take-up reel 24 winds up 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 and move inward along the T-shaped guide groove 3. The movement of the first T-shaped rod 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 both extend into the left T-shaped guide groove 3. Installation screws 21 are provided in both the first limiting block 22 and the second limiting block 8. By screwing the installation screws 21 into the installation screw holes 5, the first limiting block 22 and the second limiting block 8 are movably connected to the lower end of the support beam 1. A plurality of installation screw holes 5 are opened at the lower end of the support beam 1. A second pressing switch 9 is fixedly installed inside one end of the second limiting block 8 close to the first T-shaped rod 20. Unscrew the installation screw 21. When the width of the packaging box is small, the first limiting block 22 can be pushed inward. The movement of the first limiting block 22 drives the first T-shaped rod 20 to move. 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, at this time, the installation screw 21 can be screwed into the installation screw hole 5 again, so that the first limiting block 22 is limited and fixed, and the clamping movement distance of the first connecting plate 17 is limited by adjusting the position of the second limiting block 8;

[0035] A chute 18 is provided on one side of the first connecting plate 17 close to the first T-shaped rod 20. The first T-shaped rod 20 is slidably connected in the chute 18. Third limit blocks 19 are fixedly connected to both ends of the first T-shaped rod 20. The third limit blocks 19 are slidably connected in the limit groove 4. The limit groove 4 is provided in the chute 18. By sliding the third limit blocks 19 in the limit groove 4, the first connecting plate 17 is prevented from falling off the surface of the first T-shaped rod 20. The lifting mechanism includes a toothed plate 12. The toothed plate 12 is slidably connected in the through hole 15. The through hole 15 is provided in the first connecting plate 17. A transmission gear 14 is provided 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 meshes with the toothed plate 12. The upper end of the toothed plate 12 is fixedly connected to the first T-shaped rod 20. A second support spring 11 is sleeved outside the toothed plate 12. 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. The T-shaped limiting block 32 is slidably connected in the limiting cavity 31. The limiting cavity 31 is provided 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. 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. A pull rope 7 is fixedly connected to the lower end of the T-shaped limiting block 32. The other end of the pull rope 7 is fixedly connected to the T-shaped limiting block 32.

[0037] In addition, to achieve the above object, the present invention further provides a packing box palletizer, including the above-mentioned manipulator.

[0038] Working principle: During use, the positions of the first limit block 22 and the second limit block 8 are adjusted according to the width of the packing box. Specifically, the mounting screw 21 is unscrewed. When the width of the packing box is small, the first limit block 22 can be pushed inward. When the first limit block 22 moves, it drives the first T-shaped rod 20 to move. 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 mounting screw 21 can be screwed back into the mounting screw hole 5 at this time, 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;

[0039] Through the downward movement of the support beam 1, the packing 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 packing box, as the support beam 1 continues to move downward, the T-shaped plate 29 will be driven to move upward. 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 at this time, the support beam 1 stops moving downward. At the same time, the connecting motor 23 drives the connecting column 33 to start rotating. The rotation of the connecting column 33 drives the left take-up reel 24 to start rotating. The rotation of the left take-up reel 24 winds up the traction rope 6 connected to its outside. At this time, the first T-shaped rod 20 is pulled by the traction rope 6 to move inward along the T-shaped guide groove 3. The movement of the first T-shaped rod 20 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 rotates in the reverse direction by a certain distance and then enters the self-locking state, so that the corrugated plate 30 connected to the first connecting plate 17 is separated from the surface of the packing box. At the same time, the drive motor is started and drives the drive gear 14 to start rotating. Since the drive gear 14 meshes with the toothed plate 12, during the rotation of the drive gear 14, the first connecting plate 17 moves upward. When the upper end of the first connecting plate 17 contacts the first T-shaped rod 20, the drive motor is in the self-locking state, and at the same time, the telescopic cylinder 13 is started 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 side and at the same time cancels the pulling of the two pull ropes 7 on the right side. At this time, the left T-shaped limit block 32 is pulled into the limit cavity 31, and its clamping end is disengaged from the limit hole 34. At the same time, the right T-shaped limit block 32 is elastically forced by the connecting spring 16 and will be clamped into the limit hole 34 in the right take-up reel 24. After the left T-shaped limit block 32 is disengaged from the limit hole 34, under the elastic force of the first support spring 10, the first T-shaped rod 20 returns to its initial position. At this time, when the connecting motor 23 rotates again, the traction rope 6 on the right side can pull the second T-shaped rod 2 to move leftward. The packing box is pushed by the second connecting plate 28 to face other packing boxes. The support beam 1 moves upward to clamp the packing box again.

[0041] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator, comprising a support beam, characterized in that: The lower ends of the support beams are respectively movably connected to a first T-shaped rod and a second T-shaped rod. The outer side of the first T-shaped rod is movably connected to a first connecting plate. The lower end of the second T-shaped rod is fixedly connected to a second connecting plate. A first limiting mechanism is provided at the lower end of the support beam to limit the moving distance of the first T-shaped rod. An elevating mechanism is provided inside the upper end of the first connecting plate, and the upper end of the elevating mechanism is connected to the first T-shaped rod to drive the first connecting plate to move through the elevating mechanism; A connecting motor is fixedly installed inside the support beam. The output end of the connecting motor is fixedly connected to a connecting column. Two wire reels are movably sleeved outside the connecting column. Two limiting holes are opened inside the wire reels. A second limiting mechanism is clamped inside the limiting holes, and the second limiting mechanism is arranged inside the connecting column. A plurality of the second limiting mechanisms are connected to a pulling mechanism. Pulling ropes are provided on the outer sides of both wire reels. The ends of the two pulling ropes away from the wire reels are respectively fixedly connected to the first T-shaped rod and the second T-shaped rod. The pulling mechanism is arranged inside the connecting column. The connecting motor drives the connecting column to start rotating. The rotation of the connecting column drives the left wire reel to start rotating. The rotation of the left wire reel winds up the pulling rope connected to its outer side. At this time, the first T-shaped rod is pulled inward by the pulling rope. When the pulling mechanism pulls the second limiting mechanism on the left side, the second limiting mechanism on the right side is clamped inside the limiting hole on the right side; Wave plates are fixedly connected to the opposite surfaces of the first connecting plate and the second connecting plate. A T-shaped plate is provided on the side of the second connecting plate close to the first connecting plate. The T-shaped plate is slidably connected inside a T-shaped sliding cavity opened inside the second connecting plate. A first pressing switch is fixedly connected inside the T-shaped sliding cavity. A reset spring is fixedly connected inside the T-shaped sliding cavity, and the other end of the reset spring is fixedly connected to the T-shaped plate.

2. The manipulator according to claim 1, characterized in that: The upper ends of the first T-shaped rod and the second T-shaped rod are respectively movably connected inside T-shaped guiding grooves. The two T-shaped guiding grooves are both opened at the lower end of the support beam. The length of the left T-shaped guiding groove is greater than that of the right T-shaped guiding groove. First support springs are fixedly connected to one side of the first T-shaped rod and the second T-shaped rod respectively, and the other ends of the first support springs are fixedly connected to the T-shaped guiding grooves.

3. The manipulator according to claim 2, wherein: 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 both extend into the left T-shaped guiding groove. Mounting screws are provided inside the first limiting block and the second limiting block. By screwing the mounting screws into mounting screw holes, the first limiting block and the second limiting block are movably connected to the lower end of the support beam. A plurality of mounting screw holes are opened at the lower end of the support beam. A second pressing switch is fixedly installed inside the end of the second limiting block close to the first T-shaped rod.

4. A manipulator according to claim 1, characterized in that: A sliding groove is opened on the side of the first connecting plate close to the first T-shaped rod. The first T-shaped rod is slidably connected inside the sliding groove. Third limiting blocks are fixedly connected to both ends of the first T-shaped rod, and the third limiting blocks are slidably connected inside limiting grooves opened inside the sliding groove.

5. A manipulator according to claim 1, wherein: The lifting mechanism includes a toothed plate, the toothed plate is slidably connected in a through hole, the through hole is opened in the first connecting plate, a transmission gear is arranged in the first connecting plate, the transmission gear is fixedly connected to the output end of a transmission motor, the transmission motor is fixedly installed in the first connecting plate, the transmission gear meshes with the toothed plate, the upper end of the toothed plate is fixedly connected to a first T-shaped rod, a second support spring is sleeved outside the toothed plate, the upper end of the second support spring is fixedly connected to the first T-shaped rod, and the lower end is fixedly connected to the upper end of the first connecting plate.

6. The manipulator according to claim 1, wherein: The second limiting mechanism includes a T-shaped limiting block, the T-shaped limiting block 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.

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

8. A packing box palletizing machine, characterized in that, It includes the manipulator according to any one of claims 1-7 above.

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