Distributing and stacking robot for warehouse logistics
By designing a clamping assembly including circular plates, arc-shaped slide chutes, sliders, movable frames, sliders and clamping bins, the problem of poor clamping effect during palletization of box goods in the prior art is solved, and the rapid centering clamping and stable stacking of goods are achieved, and the efficiency and stability of warehousing and logistics are improved.
Patent Information
- Application Number
- CN202510387061.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2025-06-06
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing warehousing and logistics palletizing robots have poor clamping effect when palletizing box cargo, which can easily lead to cargo crashes and shell damage, and it is difficult to quickly adjust the clamping position to adapt to cargo of different sizes, affecting efficiency and stability.
A clamping assembly including circular plates, arc-shaped slide chutes, sliders, movable frames, sliders and clamping piece chambers is designed. Through the cooperation of hydraulic chambers, telescopic connecting pipes and piston plates, the rapid centering clamping and stable stacking of box cargo is achieved.
It effectively improves the clamping stability and palletizing efficiency of box cargo, reduces the situation of untidy stacking of goods, and can quickly adapt to cargo of different sizes, reducing the risk of excessive or too small clamping force.
Smart Images
Figure CN120097083A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field related to warehousing and logistics, and more specifically, particularly relates to a sorting and stacking robot for warehousing and logistics. Background Art
[0002] In the field of warehousing and logistics, handling robots using handling racks are widely used. When sorting and palletizing goods on the conveying mechanism, palletizing robots are commonly used. They are placed on both sides of the warehousing and logistics conveying mechanism to automatically palletize and transfer goods passing through or transported to the export. However, the warehousing and logistics in the prior art have the following defects:
[0003] 1. In the prior art, when the sorting and palletizing robots for warehousing and logistics sort and palletize the box goods on the conveying mechanism, they usually squeeze and clamp the opposite sides of the box goods, resulting in limited clamping effect of the clamping components on the box goods. When conveying heavy box goods, the box goods are prone to crashing and the outer shell of the box goods is damaged, which affects the use of the sorting and palletizing robots for warehousing and logistics.
[0004] 2. In the prior art, the clamping components in the distribution and palletizing robots for storage and logistics usually clamp the four sides of the box goods in order to improve the clamping, distribution and palletizing of heavier box goods. However, when distributing and palletizing box goods of different sizes, it is difficult for the clamping components to quickly adjust the positions of the four clamps according to the size of the box goods. It is easy for two relative clamps to clamp the box goods too strongly, causing damage to the outer shell of the box goods, and the other two relative clamps to clamp the box goods too weakly, so that the four sides of the box goods cannot be clamped quickly, thereby affecting the efficiency of distributing and palletizing box goods of different sizes.
[0005] 3. In the prior art, the clamping components in the storage logistics distribution and palletizing robot are not convenient for centering the box goods when clamping the box goods, which can easily lead to uneven stacking of the box goods when placing the box goods, thereby affecting the stability of the stacked box goods and causing them to collapse easily.
[0006] Therefore, in view of this, the existing structure and defects are studied and improved, and a distribution and stacking robot for warehousing logistics is provided, in order to achieve a more practical and valuable purpose. Summary of the invention
[0007] The present invention provides a sorting and stacking robot for warehousing logistics, which is used to overcome the above-mentioned defects in the prior art.
[0008] The purpose and effect of the distribution and stacking robot for warehousing logistics of the present invention are achieved by the following specific technical means:
[0009] A distribution and palletizing robot for storage logistics comprises a frame and a conveying mechanism, wherein the conveying mechanism is located at one side of the interior of the frame, a horizontal moving mechanism is installed on the upper side of the frame, a movable seat is provided on the horizontal moving mechanism, a lifting mechanism is installed on one side of the movable seat, and a clamping assembly is provided at the lower end of the lifting mechanism; the clamping assembly comprises a shell, the shell is fixed at the lower end of the lifting mechanism, a movable frame is slidably provided on the four side walls of the shell, a slide plate is slidably provided inside each of the movable frames, a piston plate is fixedly provided at one end of each of the slide plates, a clamping part bin is provided at the lower side of the other end of each of the slide plates, a hydraulic chamber and an air chamber are separated by the piston plate inside each of the movable frames, a cylinder is provided at the lower side of the interior of the shell, a telescopic connecting pipe is provided inside the cylinder, and a plurality of fixed frames are provided inside each of the fixed frames, a top block is slidably provided inside each of the fixed frames, two rotating plates are symmetrically rotated at one end of each of the top blocks, a first spring is provided at the other end of each of the top blocks connected to the interior of the fixed frame, and a rubber plate is provided at one side of the two rotating plates close to each other.
[0010] According to a further technical solution, a plurality of pairs of push rods are slidably provided on one side of the interior of the clamping bin, one end of each pair of the push rods is respectively in contact with one side of the two rotating plates, and the other end of each pair of the push rods is respectively connected to one side of the interior of the clamping bin with a second spring, each pair of the push rods is located on the upper and lower sides of the fixed frame, the interior of the cylinder is filled with solution, and each of the hydraulic chambers is filled with solution.
[0011] According to a further technical solution, a plurality of push rods are slidably provided on one side of the interior of the clamping bin, a clamping plate is fixedly provided on one end of the push rod, and a connecting plate is connected between the other end of the push rod and one side of the push rod.
[0012] According to a further technical solution, a rotating shaft is provided in the middle of the connecting plate, and both ends of the rotating shaft are respectively rotatably connected to the two ends of the clamping member bin, one end of the connecting plate is rotatably connected to one side of the push rod, and the other end of the connecting plate is rotatably connected to one side of the push rod.
[0013] According to a further technical solution, a third spring is connected between one side of the piston plate and one side of the air cavity, and one side of the air cavity is provided with an air release port.
[0014] According to a further technical solution, several of the top blocks are located on the same clamping part bin and are grouped at the same height, several groups of the top blocks are vertically spaced apart on the clamping part bin, and an annular elastic member is connected between four groups of the top blocks at the same height on four clamping part bins.
[0015] According to a further technical solution, four rubber members are arranged in an inner circumferential array of the annular elastic member.
[0016] According to a further technical solution, a frame is provided on one side of the interior of the clamping part bin, the frame is filled with a solution, the interiors of several fixed frames are respectively connected to the interior of the clamping part bin and a connecting port is provided, and the interior of each fixed frame is filled with a solution.
[0017] According to a further technical solution, a stepper motor is installed on the upper inner side of the shell, a circular plate is provided at the output end of the stepper motor, four arc-shaped slide grooves are provided in a circular array on the circular plate, a slider is fixed on the upper side of the movable frame, and the slider slides in an arc shape in the arc-shaped slide groove.
[0018] According to a further technical solution, a scanner is installed on one side of the conveying mechanism, a placement plate is provided on one inner side of the frame, and two positioning blocks are symmetrically provided on one end of the conveying mechanism.
[0019] Compared with the prior art, the present invention has the following beneficial effects:
[0020] The present invention provides a sorting and stacking robot for warehousing logistics. The circular plate, arc-shaped chute, slider, movable frame, slide plate, and clamping bin are arranged. The slider is guided by the arc-shaped chute to cooperate with the movable frame to slide radially inwardly in the shell, so that the four movable frames move radially inwardly. The radial inward movement of the four movable frames drives the four slide plates and the clamping bin to move radially inwardly. The radial inward movement of the four clamping bins can align the box goods in the center and clamp and fix them, thereby reducing the uneven stacking of the box goods and improving the stability of the stacking of the box goods.
[0021] The present invention is a sorting and stacking robot for storage logistics. Through the arrangement of hydraulic chamber, telescopic connecting pipe, cylinder and piston plate, the radial inner movement of four movable frames drives the radial inner movement of four slide plates and clamping part warehouse. Since the distance between the two opposite sides of the rectangular box goods is greater than the distance between the other two opposite sides, the radial inner movement of the two opposite clamping part warehouses is respectively in contact with the two opposite sides of the box goods. At this time, the other two opposite clamping part warehouses continue to move radially inward, and the four movable frames continue to move radially inward, and the two opposite clamping part warehouses and slide plates are resisted by the box goods, so that the two opposite piston plates slide in the two opposite movable frames respectively, and the sliding of the two opposite piston plates squeezes the solution in the two opposite hydraulic chambers into the cylinder through the two opposite telescopic connecting pipes. The solution in the cylinder enters the other two hydraulic chambers through the other two telescopic connecting pipes, thereby increasing the speed of the radial inner movement of the piston plate and the slide plate on the other two sides, thereby accelerating the clamping effect of the other two clamping parts warehouses on the other two sides of the box goods, so as to facilitate the fast centering clamping and fixing of box goods of different sizes, which is conducive to improving the efficiency of sorting and stacking of box goods of different sizes. Then, through the setting of the frame, the connection port, the fixed frame, and the top block, the radial inner movement of the clamping parts warehouse drives several groups of fixed frames and top blocks to move radially inward, and one end of a group of top blocks on the upper side contacts the upper part of the box goods, and one end of the top blocks of other groups does not contact the lower part of the box goods. The clamping parts warehouse continues to move radially inward, and one end of the top block of the upper side group is resisted by the upper part of the box goods, so that the other end of the top block of the upper side group slides in the fixed frame, so that the solution in the upper group of fixed frames enters the frame through the connection port. The solution in the frame enters other groups of fixed frames through several connecting ports, thereby pushing the top blocks of other groups to quickly slide out to the lower part of the box goods, so as to quickly clamp the box goods with different upper and lower sizes.
[0022] The present invention provides a sorting and stacking robot for storage logistics. Through the arrangement of a rotating plate, a rubber plate, a push rod, and a second spring, the clamping part warehouse moves radially inward to drive the fixed frame and the top block to move radially inward. The radial inward movement of the top block drives the two rotating plates and the rubber plate to move radially inward, so that the two rubber plates are in contact with the box goods. One end of the two rotating plates is pressed against the box goods to cooperate with the top block to continue to move radially inward, so that the two rotating plates rotate away from each other, so that the rubber plate and the box goods are constantly fitted, and the two rotating plates rotate away from each other to push the two push rods to slide respectively. The sliding of the two push rods compresses the two second springs to generate elastic force. The elastic force of the second spring acts on the push rod, so that one end of the push rod supports one side of the rotating plate. Therefore, under the joint action of several pairs of rotating plates, rubber plates, push rods, and second springs on multiple groups of top blocks, the box goods can be clamped and fixed quickly and stably. Then, through the arrangement of the rotating shaft, the connecting plate, the push rod, and the clamping plate, each pair of push rods moves radially outward to drive a connecting plate to rotate around the rotating shaft, and the connecting plate rotates to push the push rod and the clamping plate to move radially inward, and the clamping plate moves radially inward to contact the box cargo, thereby increasing the contact area between the clamping assembly and the box cargo, so as to increase the friction between the clamping assembly and the box cargo, which is conducive to smoothly driving the box cargo for palletizing. Finally, through the top block, the rubber piece, and the elastic force generated by the stretching of the annular elastic piece, the four rubber pieces are pressed on the four corners of the box cargo. The rubber piece is elastic, which can make the rubber piece fit and contact according to the shape of the box cargo, further increasing the contact area between the clamping assembly and the box cargo, so as to increase the friction between the clamping assembly and the box cargo, which is conducive to smoothly driving the box cargo for palletizing. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.
[0025] Figure 1 It is a first isometric structural schematic diagram of the present invention;
[0026] Figure 2 It is a second isometric structural schematic diagram of the present invention;
[0027] Figure 3 It is an isometric structural schematic diagram of the horizontal moving mechanism in the present invention;
[0028] Figure 4It is a first isometric structural schematic diagram of the lifting mechanism in the present invention;
[0029] Figure 5 It is a second isometric structural schematic diagram of the lifting mechanism in the present invention;
[0030] Figure 6 It is a first isometric structural schematic diagram of the clamping assembly in the present invention;
[0031] Figure 7 It is a second isometric structural schematic diagram of the clamping assembly in the present invention;
[0032] Figure 8 It is a third isometric structural schematic diagram of the clamping assembly in the present invention;
[0033] Fig. 9 It is a schematic diagram of the top view of the clamping assembly in the present invention;
[0034] Fig.10 for Fig. 9 Schematic diagram of the cross-sectional structure at AA in the middle;
[0035] Fig.11 for Fig.10 A schematic diagram of the local enlarged structure at D in the middle;
[0036] Fig.12 for Fig.10 A schematic diagram of the local enlarged structure at E in the middle;
[0037] Fig.13 It is a front view structural schematic diagram of the clamping assembly in the present invention;
[0038] Fig.14 for Fig.13 Schematic diagram of the cross-sectional structure at the middle BB;
[0039] Fig.15 for Fig.14 A schematic diagram of the local enlarged structure at F in the middle;
[0040] Fig.16 for Fig.13 Schematic diagram of the cross-sectional structure at CC in the middle.
[0041] Description of reference numerals:
[0042] Frame 10, conveying mechanism 11, horizontal moving mechanism 12, movable seat 13, lifting mechanism 14, shell 15, movable frame 16, slide plate 17, clamping part warehouse 18, stepping motor 19, circular plate 20, arc-shaped slide groove 21, slider 22, annular elastic member 23, rubber member 24, piston plate 25, hydraulic chamber 26, air chamber 27, cylinder 28, telescopic connecting pipe 29, third spring 30, air release port 31, fixed frame 32, top block 33, rotating plate 34, rubber plate 35, first spring 36, second spring 37, frame body 38, connecting port 39, push rod 40, push rod 41, clamp plate 42, connecting plate 43, rotating shaft 44, scanner 45, placement plate 46, positioning block 47. DETAILED DESCRIPTION
[0043] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0044] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0046] As attached Figure 1 To Attachment Fig.16 As shown:
[0047] The invention provides a sorting and palletizing robot for warehousing logistics.
[0048] See attached Figure 1 To Attachment Fig.16, including a frame 10 and a conveying mechanism 11, the conveying mechanism 11 is located on one side of the inner part of the frame 10, a horizontal moving mechanism 12 is installed on the upper side of the frame 10, a movable seat 13 is provided on the horizontal moving mechanism 12, a lifting mechanism 14 is installed on one side of the movable seat 13, and a clamping assembly is provided at the lower end of the lifting mechanism 14; the clamping assembly includes a shell 15, the shell 15 is fixed to the lower end of the lifting mechanism 14, a movable frame 16 is slidably provided on the four side walls of the shell 15, a slide plate 17 is slidably provided inside each movable frame 16, a piston plate 25 is fixed at one end of each slide plate 17, and a clamping assembly is provided at the lower side of the other end of each slide plate 17 The holding bin 18, the interior of each movable frame 16 is separated by a piston plate 25 to form a hydraulic chamber 26 and an air chamber 27, the lower side of the inner part of the outer shell 15 is provided with a cylinder 28, the interior of the cylinder 28 is respectively connected to the four hydraulic chambers 26 and a telescopic connecting pipe 29 is provided, and the interior of each clamping bin 18 is provided with a plurality of fixed frames 32, and the interior of each fixed frame 32 is slidably provided with a top block 33, one end of each top block 33 is symmetrically rotated with two rotating plates 34, the other end of each top block 33 is connected to the interior of the fixed frame 32 and is provided with a first spring 36, and one end of the two rotating plates 34 is respectively provided with a rubber plate 35 on the side close to each other.
[0049] Preferably, see Attachment Fig.10 To Attachment Fig.12 , Attachment Fig.16 A plurality of pairs of push rods 40 are slidably provided on one side of the interior of the clamping bin 18, one end of each pair of push rods 40 is respectively in contact with one side of the two rotating plates 34, and a second spring 37 is provided between the other end of each pair of push rods 40 and one side of the interior of the clamping bin 18, each pair of push rods 40 is located on the upper and lower sides of the fixed frame 32, the interior of the cylinder 28 is filled with solution, and each hydraulic chamber 26 is filled with solution.
[0050] Preferably, see Attachment Fig.10 To Attachment Fig.12 A plurality of push rods 41 are slidably provided on one side of the inner portion of the clamping bin 18 , a clamping plate 42 is fixedly provided on one end of the push rod 41 , and a connecting plate 43 is connected between the other end of the push rod 41 and one side of the push rod 40 .
[0051] Preferably, see Attachment Fig.12 A rotating shaft 44 is rotatably provided in the middle of the connecting plate 43, and the two ends of the rotating shaft 44 are rotatably connected to the two ends of the clamping bin 18 respectively. One end of the connecting plate 43 is rotatably connected to one side of the push rod 41, and the other end of the connecting plate 43 is rotatably connected to one side of the push rod 40.
[0052] Preferably, see Attachment Fig.11 A third spring 30 is connected between one side of the piston plate 25 and one side of the air cavity 27 , and an air release port 31 is provided on one side of the air cavity 27 .
[0053] Preferably, see Attachment Figure 6 To Attachment Figure 8 , Attachment Fig.13 To Attachment Fig.15 Several top blocks 33 are located on the same clamping part bin 18 and are grouped at the same height. Several groups of top blocks 33 are vertically spaced apart on the clamping part bin 18 . An annular elastic member 23 is connected between four groups of top blocks 33 at the same height on four clamping part bins 18 .
[0054] Preferably, see Attachment Figure 6 To Attachment Figure 8 Four rubber members 24 are arranged in an inner circumferential array around the annular elastic member 23 .
[0055] Preferably, see Attachment Fig.12 , Attachment Fig.15 A frame 38 is provided on one side of the interior of the clamping part bin 18, and the frame 38 is filled with solution. The interiors of several fixed frames 32 are respectively connected to the interior of the clamping part bin 18 and are provided with a connecting port 39, and the interior of each fixed frame 32 is filled with solution.
[0056] Preferably, see Attachment Figure 6 To Attachment Figure 8 A stepper motor 19 is installed on the upper side of the inner part of the housing 15 , a circular plate 20 is provided at the output end of the stepper motor 19 , four arc-shaped slide grooves 21 are provided in a circular array on the circular plate 20 , a slider 22 is fixedly provided on the upper side of the movable frame 16 , and the slider 22 slides in an arc shape in the arc-shaped slide groove 21 .
[0057] Preferably, see Attachment Figure 1 To Attachment Figure 2 A scanner 45 is installed on one side of the conveying mechanism 11 , a placement plate 46 is provided on one side of the inner side of the frame 10 , and two positioning blocks 47 are symmetrically provided at one end of the conveying mechanism 11 .
[0058] In the initial state, the conveying mechanism 11 is used to convey the box goods into the frame 10, the horizontal moving mechanism 12 is used to drive the movable seat 13 to move horizontally, and the lifting mechanism 14 is used to drive the clamping assembly to move up and down. The horizontal moving mechanism 12 and the lifting mechanism 14 can drive the clamping assembly to move horizontally and vertically. The annular elastic member 23 is in a state of stretching to generate elastic force. Among them, the conveying mechanism 11, the lifting mechanism 14, and the horizontal moving mechanism 12 are prior arts and are not described in detail.
[0059] Specific use of the present invention:
[0060] First, the conveying mechanism 11 conveys the box cargo into the frame 10, and uses the scanner 45 to scan the box cargo moving on the conveying mechanism 11, and performs sorting and stacking according to the information scanned by the scanner 45. The movement of the box cargo is limited by two positioning blocks 47. At this time, the control system controls the horizontal moving mechanism 12 to start, and the horizontal moving mechanism 12 starts to drive the movable seat 13, the lifting mechanism 14, and the clamping assembly to move horizontally, so that the clamping assembly moves above the box cargo. The control system controls the lifting mechanism 14 to start, and the lifting mechanism 14 starts to drive the clamping assembly to move downward, and the outer shell 15 moves downward to drive the four movable frames 16, the slide plate 17, and the clamping bin 18 to move downward, and the outer shell 15 moves downward to contact the upper side of the box cargo, and the lifting mechanism 14 stops.
[0061] Secondly, the control system controls the stepper motor 19 to start, and the stepper motor 19 starts to drive the circular plate 20 to rotate. The circular plate 20 rotates to make the slider 22 slide in the arc shape in the arc groove 21. The slider 22 is guided by the arc groove 21 to cooperate with the movable frame 16 to slide radially with the side wall of the shell 15, so that the four movable frames 16 move radially inward. The radial inward movement of the four movable frames 16 drives the four slide plates 17 and the clamping bins 18 to move radially inward. The radial inward movement of the four clamping bins 18 can align the box goods in the center and clamp and fix them, reduce the uneven stacking of the box goods, and help improve the stability of the stacking of the box goods.
[0062] When the rectangular box cargo is sorted and stacked, the four movable frames 16 move radially inwards to drive the four slide plates 17 and the clamping member bin 18 to move radially inwards. Since the distance between the two opposite sides of the rectangular box cargo is greater than the distance between the other two opposite sides, the two opposite clamping member bins 18 move radially inwards and contact the two opposite sides of the box cargo respectively. At this time, the other two opposite clamping member bins 18 continue to move radially inwards, and the four movable frames 16 continue to move radially inwards. The two opposite clamping member bins 18 and the slide plates 17 are resisted by the box cargo, so that the two opposite piston plates 25 slide in the two opposite movable frames 16 respectively. The sliding of the two opposite piston plates 25 squeezes the solution in the two opposite hydraulic chambers 26 into the cylinder 28 through the two opposite telescopic connecting pipes 29. The solution in the cylinder 28 enters the other two relative hydraulic chambers 26 through the other two relative telescopic connecting pipes 29, thereby increasing the speed of the piston plates 25 and the slide plates 17 on the other two relative sides to move radially inward, thereby accelerating the clamping action of the other two relative clamping parts 18 on the other two relative sides of the box goods, so as to enable the box goods of different sizes to be clamped and fixed quickly in the center, which is beneficial to improve the efficiency of sorting and stacking of box goods of different sizes. Among them, the two relative piston plates 25 move radially outward in the two movable frames 16 respectively, thereby stretching the two third springs 30 to generate elastic force, and the elastic force of the two third springs 30 can be used to move and reset the two relative piston plates 25. The other two relative piston plates 25 are respectively on the radial inner side of the two movable frames 16, thereby compressing the two third springs 30 to generate elastic force, so that under the action of the elastic force of the two third springs 30, the other two relative piston plates 25 are moved and reset.
[0063] Then, the radial inward movement of the four clamping bins 18 drives the plurality of top blocks 33 to move radially inward, and the two rotating plates 34 on one end of each top block 33 are in a slightly open state. The radial inward movement of the clamping bins 18 drives the fixed frame 32 and the top block 33 to move radially inward, and the radial inward movement of the top block 33 drives the two rotating plates 34 and the rubber plate 35 to move radially inward, so that the two rubber plates 35 are in contact with the cargo in the box. One end of the two rotating plates 34 is pressed against the matching top block 33 by the cargo in the box and continues to move radially inward, so that the two rotating plates 34 rotate away from each other, so that the rubber plate 35 and the cargo in the box are continuously fitted, and the two rotating plates 34 rotate away from each other and respectively push the two top rods 40 to slide. The sliding of the two top rods 40 compresses the two second springs 37 to generate elastic force, and the elastic force of the second spring 37 acts on the top rod 40, so that one end of the top rod 40 and one side of the rotating plate 34 are supported. Therefore, under the joint action of several pairs of rotating plates 34, rubber plates 35, top rods 40 and second springs 37 on multiple groups of top blocks 33, the cargo in the box can be clamped and fixed quickly and stably.
[0064] Then, each pair of push rods 40 moves radially outward to drive a connecting plate 43 to rotate around the rotating shaft 44. The rotation of the connecting plate 43 pushes the push rod 41 and the clamping plate 42 to move radially inward. The clamping plate 42 moves radially inward to contact the box cargo, thereby increasing the contact area between the clamping assembly and the box cargo, so as to improve the friction between the clamping assembly and the box cargo, which is conducive to smoothly driving the box cargo for stacking.
[0065] At the same time, when the four clamping member bins 18 are in contact with the four sides of the box cargo respectively, the annular elastic member 23 is in a stretching effect. The elastic force generated by the stretching of the annular elastic member 23 acts on the four rubber members 24, so that the four rubber members 24 are pressed on the four corners of the box cargo. The rubber members 24 are elastic, so that the rubber members 24 can fit the shape of the box cargo, further increasing the contact area between the clamping assembly and the box cargo, so as to increase the friction between the clamping assembly and the box cargo, which is conducive to smoothly driving the box cargo for palletizing.
[0066] When sorting and stacking box goods with different upper and lower sizes, the upper size of the box goods is larger than the lower size of the box goods because the upper ends of some box goods are covered with box covers. The radial inward movement of the clamping bin 18 drives several groups of fixed frames 32 and top blocks 33 to move radially inward. One end of a group of top blocks 33 on the upper side contacts the upper part of the box goods, and one end of the other group of top blocks 33 does not contact the lower part of the box goods. The clamping bin 18 continues to move radially inward, and one end of the upper group of top blocks 33 is resisted by the upper part of the box goods, so that the other end of the upper group of top blocks 33 slides in the fixed frame 32, so that the solution in the upper group of fixed frames 32 enters the frame 38 through the connection port 39. The solution in the frame 38 enters other groups of fixing frames 32 through several connecting ports 39, thereby pushing other groups of top blocks 33 to slide out quickly to clamp and fix the lower part of the box cargo, so as to quickly clamp the box cargo with different upper and lower sizes.
[0067] Finally, after the clamping assembly clamps and fixes the box cargo, the lifting mechanism 14 starts to drive the clamping assembly and the box cargo to move upward, so that the box cargo is separated from the conveying mechanism 11. The horizontal moving mechanism 12 starts to drive the clamping assembly and the box cargo to move above the placement plate 46, and the lifting mechanism 14 drives the clamping assembly and the box cargo to move downward, so that the box cargo moves to the upper side of the placement plate 46. In this way, the box cargo on the conveying mechanism 11 is moved to the placement plate 46 in sequence, so that the box cargo is stacked on the placement plate 46.
[0068] The present invention provides a distribution and palletizing robot for storage logistics. The circular plate 20, the arc-shaped chute 21, the slider 22, the movable frame 16, the slide plate 17, and the clamping part bin 18 are arranged. The slider 22 is guided by the arc-shaped chute 21 to cooperate with the movable frame 16 to slide radially in the housing 15, so that the four movable frames 16 move radially inward. The radial inward movement of the four movable frames 16 drives the four slide plates 17 and the clamping part bin 18 to move radially inward. The radial inward movement of the four clamping part bins 18 can align the box goods in the center and then clamp and fix them, thereby reducing the uneven stacking of the box goods and improving the stability of the stacking of the box goods.
[0069] The present invention is a sorting and stacking robot for storage logistics. Through the arrangement of the hydraulic chamber 26, the telescopic connecting tube 29, the cylinder 28, and the piston plate 25, the four movable frames 16 move radially inward to drive the four slide plates 17 and the clamping part warehouse 18 to move radially inward. Since the distance between the two opposite sides of the rectangular box cargo is greater than the distance between the other two opposite sides, the two opposite clamping part warehouses 18 move radially inward to contact the two opposite sides of the box cargo respectively. At this time, the other two opposite clamping part warehouses 18 continue to move radially inward, and the four movable frames 16 continue to move radially inward. The two opposite clamping part warehouses 18 and the slide plates 17 are resisted by the box cargo, so that the two opposite piston plates 25 slide in the two opposite movable frames 16 respectively. The sliding of the two opposite piston plates 25 squeezes the solution in the two opposite hydraulic chambers 26 into the cylinder 28 through the two opposite telescopic connecting tubes 29. The solution in the cylinder 28 enters the other two hydraulic chambers 26 through the other two telescopic connecting pipes 29, thereby increasing the speed of the radial inner movement of the piston plates 25 and the slide plates 17 on the other two sides, thereby accelerating the clamping action of the other two clamping parts warehouses 18 on the other two sides of the box goods, so as to enable the box goods of different sizes to be clamped and fixed quickly in the center, which is conducive to improving the efficiency of sorting and stacking of box goods of different sizes. Then, through the arrangement of the frame 38, the connection port 39, the fixed frame 32, and the top block 33, the radial inner movement of the clamping parts warehouse 18 drives several groups of fixed frames 32 and top blocks 33 to move radially inward, and one end of a group of top blocks 33 located on the upper side contacts the upper part of the box goods, and one end of the top blocks 33 of other groups do not contact the lower part of the box goods. The clamping member bin 18 continues to move radially inward, and one end of the upper group of top blocks 33 is resisted by the upper part of the box cargo, so that the other end of the upper group of top blocks 33 slides in the fixed frame 32, so that the solution in the upper group of fixed frames 32 enters the frame 38 through the connection port 39. The solution in the frame 38 enters other groups of fixed frames 32 through the connection ports 39, so as to push other groups of top blocks 33 to quickly slide out to the lower part of the box cargo, so as to quickly clamp the box cargo with different upper and lower sizes.
[0070] A distribution and stacking robot for warehousing logistics of the present invention, through the arrangement of a rotating plate 34, a rubber plate 35, a push rod 40, and a second spring 37, the radial inner movement of the clamping bin 18 drives the fixed frame 32 and the push block 33 to move radially inwardly, and the radial inner movement of the push block 33 drives the two rotating plates 34 and the rubber plates 35 to move radially inwardly, so that the two rubber plates 35 are in contact with the goods in the box. One end of the two rotating plates 34 is pressed against the matching top block 33 by the cargo in the box and continues to move radially inward, so that the two rotating plates 34 rotate away from each other, so that the rubber plate 35 and the cargo in the box are continuously fitted, and the two rotating plates 34 rotate away from each other and respectively push the two top rods 40 to slide. The sliding of the two top rods 40 compresses the two second springs 37 to generate elastic force, and the elastic force of the second spring 37 acts on the top rod 40, so that one end of the top rod 40 and one side of the rotating plate 34 are supported. Therefore, under the joint action of several pairs of rotating plates 34, rubber plates 35, top rods 40 and second springs 37 on multiple groups of top blocks 33, the cargo in the box can be clamped and fixed quickly and stably. Then, through the arrangement of the rotating shaft 44, the connecting plate 43, the push rod 41, and the clamping plate 42, each pair of push rods 40 moves radially outward to drive a connecting plate 43 to rotate around the rotating shaft 44, and the connecting plate 43 rotates to push the push rod 41 and the clamping plate 42 to move radially inward, and the clamping plate 42 moves radially inward to contact the box goods, thereby increasing the contact area between the clamping assembly and the box goods, so as to increase the friction between the clamping assembly and the box goods, which is conducive to smoothly driving the box goods to be stacked. Finally, through the top block 33 and the rubber member 24, the elastic force generated by the stretching of the annular elastic member 23 acts on the four rubber members 24, so that the four rubber members 24 are pressed on the four corners of the box goods. And the rubber member 24 is elastic, which can make the rubber member 24 fit and contact according to the shape of the box goods, further increasing the contact area between the clamping assembly and the box goods, so as to increase the friction between the clamping assembly and the box goods, which is conducive to smoothly driving the box goods to be stacked.
[0071] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.
Claims
1. A sorting and palletizing robot for warehousing logistics, characterized by: The invention comprises a frame (10) and a conveying mechanism (11), wherein the conveying mechanism (11) is located on one side of the interior of the frame (10), a horizontal moving mechanism (12) is installed on the upper side of the frame (10), a movable seat (13) is provided on the horizontal moving mechanism (12), a lifting mechanism (14) is installed on one side of the movable seat (13), and a clamping assembly is provided at the lower end of the lifting mechanism (14); The clamping assembly comprises a shell (15), wherein the shell (15) is fixed to the lower end of the lifting mechanism (14), and a movable frame (16) is slidably provided on the four side walls of the shell (15), and a slide plate (17) is slidably provided inside each of the movable frames (16), and a piston plate (25) is fixedly provided at one end of each of the slide plates (17), and a clamping member bin (18) is provided at the lower side of the other end of each of the slide plates (17), and a hydraulic chamber (26) and an air chamber (27) are separated inside each of the movable frames (16) by the piston plate (25), and a piston plate (25) is provided at the lower side of the inner part of the shell (15). A cylinder (28) is provided, the interior of the cylinder (28) is respectively connected with the four hydraulic chambers (26) and is provided with a telescopic connecting pipe (29), a plurality of fixed frames (32) are provided inside each of the clamping member bins (18), a top block (33) is slidably provided inside each of the fixed frames (32), one end of each of the top blocks (33) is symmetrically rotatably provided with two rotating plates (34), the other end of each of the top blocks (33) is connected with the interior of the fixed frame (32) and is provided with a first spring (36), and one end of the two rotating plates (34) is respectively provided with a rubber plate (35) on the side close to each other.
2. A distribution and palletizing robot for warehousing logistics according to claim 1, characterized in that: A plurality of pairs of push rods (40) are slidably provided on one side of the interior of the clamping part bin (18), one end of each pair of push rods (40) is respectively in contact with one side of the two rotating plates (34), and a second spring (37) is provided between the other end of each pair of push rods (40) and one side of the interior of the clamping part bin (18), each pair of push rods (40) is located on the upper and lower sides of the fixed frame (32), the interior of the cylinder (28) is filled with a solution, and each of the hydraulic chambers (26) is filled with a solution.
3. A distribution and palletizing robot for warehousing logistics according to claim 2, characterized in that: A plurality of push rods (41) are slidably disposed on one side of the interior of the clamping member bin (18), a clamping plate (42) is fixedly disposed on one end of the push rod (41), and a connecting plate (43) is connected between the other end of the push rod (41) and one side of the push rod (40).
4. A distribution and palletizing robot for warehousing logistics according to claim 3, characterized in that: A rotating shaft (44) is rotatably provided in the middle of the connecting plate (43), and two ends of the rotating shaft (44) are rotatably connected to two ends of the clamping member bin (18) respectively. One end of the connecting plate (43) is rotatably connected to one side of the push rod (41), and the other end of the connecting plate (43) is rotatably connected to one side of the push rod (40).
5. A distribution and palletizing robot for warehousing logistics according to claim 1, characterized in that: A third spring (30) is connected between one side of the piston plate (25) and one side of the air cavity (27), and one side of the air cavity (27) is provided with an air release port (31).
6. A distribution and palletizing robot for warehousing logistics according to claim 1, characterized in that: A plurality of the top blocks (33) are located on the same clamping piece bin (18) and are grouped at the same height; a plurality of groups of the top blocks (33) are vertically spaced apart on the clamping piece bin (18); and an annular elastic member (23) is connected between four groups of the top blocks (33) at the same height on four clamping piece bins (18).
7. A distribution and palletizing robot for warehousing logistics according to claim 6, characterized in that: Four rubber pieces (24) are arranged in an array on the inner circumference of the annular elastic piece (23).
8. The distribution and palletizing robot for warehousing logistics according to claim 1, characterized in that: A frame (38) is provided on one side of the interior of the clamping part bin (18), and the frame (38) is filled with a solution. The interiors of a plurality of the fixing frames (32) are respectively connected to the interior of the clamping part bin (18) and are provided with a connecting port (39), and the interior of each of the fixing frames (32) is filled with a solution.
9. A distribution and palletizing robot for warehousing logistics according to claim 1, characterized in that: A stepper motor (19) is installed on the upper inner side of the housing (15); a circular plate (20) is provided at the output end of the stepper motor (19); four arc-shaped slide grooves (21) are provided in a circular array on the circular plate (20); a slider (22) is fixedly provided on the upper side of the movable frame (16); and the slider (22) slides in an arc shape in the arc-shaped slide groove (21).
10. The distribution and palletizing robot for warehousing logistics according to claim 1, characterized in that: A scanner (45) is installed on one side of the conveying mechanism (11), a placement plate (46) is provided on one side of the interior of the frame (10), and two positioning blocks (47) are symmetrically provided on one end of the conveying mechanism (11).