Stacking robot

Abstract

The invention relates to the technical field of stacking, and discloses a stacking robot which comprises a walking vehicle body, a lead screw lifting mechanism is fixedly connected to the outer wall of the top of the walking vehicle body, a mounting groove is formed in the lead screw lifting mechanism, a distance adjusting mechanism is arranged in the mounting groove, and two clamping plates are symmetrically arranged on the distance adjusting mechanism; two hollow rotating cylinders are symmetrically and rotatably connected to the middle of the mounting groove, first gears are fixedly connected to the outer walls of the two hollow rotating cylinders, the two first gears are meshed with each other, a rotating mechanism is arranged on one of the hollow rotating cylinders, and two first notches are symmetrically formed in the inner walls of the two hollow rotating cylinders; and first convex plates are connected into the first notches in a sliding manner. When the two sides of a box body are clamped, the box body can be lifted from the bottom of the box body through the lifting plate, the box body is prevented from sliding off due to the fact that the box body is too heavy, and the stacking safety is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing, and particularly to a palletizing robot. Background Art

[0002] In the process of automated production, it is necessary to handle and palletize a large number of products and raw materials packed in boxes. Among them, using palletizing equipment to achieve automated handling of products can greatly save labor and expenses and improve production efficiency.

[0003] A Chinese patent with the patent announcement number CN113371471B discloses a palletizing device and a palletizing system for palletizing packaged boxes. The palletizing device includes a mounting frame and a clamping device. The clamping device includes two clamping mechanisms that can move relative to each other along the length direction of the mounting frame. A clamping space for clamping the packaged box is formed between the two clamping mechanisms; each clamping mechanism includes a moving seat, a clamping plate, a connecting rod, and a maintaining component. The moving seat is movably arranged on the mounting frame along the length direction of the mounting frame, and the clamping plate is used to abut against the packaged box; the first end of the connecting rod is hinged to the moving seat, and the second end of the connecting rod is hinged to the clamping plate; the maintaining component is used to drive the clamping plate to rotate towards the clamping space around the first end. In this way, in the event of a sudden power failure and / or air cut-off, the clamping plate can be driven by the maintaining component to clamp the packaged box, avoiding the occurrence of accidents where the packaged box falls. However, when clamping the box, it is clamped and fixed from both sides of the box by the clamps on both sides. When the object in the box is heavy, if the clamping is not tight, the box is likely to slip, and if the clamping is too tight, the surface of the box is likely to be damaged.

[0004] In view of this, the present invention proposes a palletizing robot to solve the problems existing in the above-mentioned prior art. Summary of the Invention

[0005] The object of the present invention is to propose a palletizing robot to solve the disadvantages existing in the prior art.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A palletizing robot includes a walking vehicle body. A screw rod lifting mechanism is fixedly connected to the outer wall of the top of the walking vehicle body, and an installation groove is provided on the screw rod lifting mechanism. A distance adjustment mechanism is arranged inside the installation groove, and two clamping plates are symmetrically arranged on the distance adjustment mechanism. Two hollow rotating cylinders are symmetrically and rotatably connected to the middle of the installation groove, and a first gear is fixedly connected to the outer wall of each of the two hollow rotating cylinders. The two first gears are meshed with each other. A rotating mechanism is arranged on one of the hollow rotating cylinders. Two first notches are symmetrically formed on the inner walls of the two hollow rotating cylinders, and a first convex plate is slidably connected to each of the first notches. Lifting columns are slidably connected to the inner walls of the hollow rotating cylinders. The first convex plate is fixedly connected to the corresponding lifting column, and a lifting plate is fixedly connected to the bottom of each lifting column. A slope is fixedly connected to the outer wall of each lifting plate facing the clamping plate. A lifting mechanism is arranged at the top ends of the two lifting columns.

[0007] Further, the distance adjustment mechanism includes a bidirectional threaded rod. The bidirectional threaded rod is rotatably connected inside the installation groove, and a second driving motor is arranged at one end of the bidirectional threaded rod. Threaded sliders are threadedly and slidably connected to the outer walls on both sides of the bidirectional threaded rod. The clamping plate is fixedly connected to the outer wall of the corresponding threaded slider.

[0008] Further, the lifting mechanism includes a U-shaped plate. The U-shaped plate is fixedly connected to the outer walls of the top ends of the two lifting columns, and two first electric push rods are arranged on the outer wall of the bottom of the U-shaped plate. The two first electric push rods are fixedly connected to the outer wall of the installation groove.

[0009] Further, the rotating mechanism includes a first driving motor. A transmission wheel is fixedly connected to the output shaft end of the first driving motor and the outer wall of one of the hollow rotating cylinders, and a transmission belt is sleeved on the outer walls of the two transmission wheels.

[0010] Further, receiving grooves are formed on the outer walls of the opposite sides of the two clamping plates, and a hollow rotating shaft is rotatably connected to each of the receiving grooves. A through hole is formed at one end of the hollow rotating shaft, and a plurality of second notches are equidistantly formed on the inner wall of the through hole. A second convex plate is slidably connected to each of the plurality of second notches.

[0011] Further, a telescopic column is slidably connected to the inner wall of the through hole, and a swing plate is fixedly connected to one end of the telescopic column. A lifting roller is arranged at one end of the swing plate. A limiting disc is fixedly connected to the other end of the telescopic column, and a connecting spring is fixedly connected between the limiting disc and the inner wall of the hollow rotating shaft. The second convex plates are fixedly connected to the telescopic column.

[0012] Further, a second gear is fixedly connected to the other end of the hollow rotating shaft, and a rack is meshed below the second gear. The rack is slidably connected to the outer wall of the clamping plate, and a second electric push rod is arranged on the outer wall of one side of the rack. The second electric push rod is fixedly connected to the outer wall of the clamping plate.

[0013] Furthermore, two fixing plates are fixedly connected to the outer walls of the clamping plates facing away from each other, and a winding column is rotatably connected between the two fixing plates. A driving motor three is arranged at one end of the winding column, and a guiding ring is arranged below the winding column. A steel cable is wound around the outer wall of the winding column, and one end of the steel cable passes through the guiding ring and is fixedly connected to one end of the corresponding lifting plate.

[0014] The beneficial effects of the present invention are as follows: When the two sides of the box body are clamped by the present invention, the box body can be lifted from the bottom by the lifting plate, avoiding the box body from slipping due to excessive weight, and greatly improving the safety of palletizing.

[0015] By means of the tilting roller, before clamping the two sides of the box body, the end of the box body close to the installation groove can be tilted, so that the lifting plate can be inserted into the bottom of the box body, and the box body can be lifted before clamping, avoiding damage to the box body caused by excessive clamping force on both sides.

[0016] The other end of the lifting plate can be pulled by the steel cable to share the load of the lifting plate and ensure the overall stability of the lifting plate. Description of the Drawings

[0017] Figure 1 Structural schematic diagram of a palletizing robot proposed in Embodiment 1; Figure 2 Structural schematic diagram of the installation groove of a palletizing robot proposed in Embodiment 1; Figure 3 Structural schematic diagram of the lifting column of a palletizing robot proposed in Embodiment 1; Figure 4 Structural schematic diagram of the hollow rotating cylinder of a palletizing robot proposed in Embodiment 1; Figure 5 Structural schematic diagram of the clamping plate of a palletizing robot proposed in Embodiment 2; Figure 6 Structural schematic diagram of the back of the clamping plate of a palletizing robot proposed in Embodiment 2; Figure 7 Structural schematic diagram of the internal structure of the hollow rotating shaft of a palletizing robot proposed in Embodiment 2; Figure 8 Structural schematic diagram of the hollow rotating shaft of a palletizing robot proposed in Embodiment 2; Figure 9 Side view structural schematic diagram of the installation groove of a palletizing robot proposed in Embodiment 3.

[0018] In the figure: 1, walking vehicle body; 2, mounting groove; 3, screw rod lifting mechanism; 4, clamping plate; 5, slope; 6, lifting plate; 7, first driving motor; 8, transmission wheel; 9, transmission belt; 10, first gear; 11, hollow rotating cylinder; 12, lifting column; 13, U-shaped plate; 14, first electric push rod; 15, second driving motor; 16, bidirectional threaded rod; 17, threaded slider; 18, first convex plate; 19, first notch; 20, accommodating groove; 21, swing plate; 22, warping roller; 23, rack; 24, hollow rotating shaft; 25, second gear; 26, second electric push rod; 27, connecting spring; 28, limiting disc; 29, second convex plate; 30, telescopic column; 31, second notch; 32, through hole; 33, guiding ring; 34, winding column; 35, steel cable; 36, fixing plate; 37, third driving motor. Specific embodiments

[0019] The technical solutions of the present invention will be further described in detail below in conjunction with specific embodiments.

[0020] Example 1, refer to Figures 1 - 4, A palletizing robot, comprising a walking vehicle body 1. A screw rod lifting mechanism 3 is fixedly connected to the outer wall of the top of the walking vehicle body 1. An installation groove 2 is provided on the screw rod lifting mechanism 3. A distance adjustment mechanism is arranged inside the installation groove 2. Two clamping plates 4 are symmetrically arranged on the distance adjustment mechanism. Two hollow rotating cylinders 11 are symmetrically and rotatably connected to the middle of the installation groove 2. A first gear 10 is fixedly connected to the outer walls of the two hollow rotating cylinders 11. The two first gears 10 are meshed with each other. A rotating mechanism is arranged on one of the hollow rotating cylinders 11. Two first notches 19 are symmetrically formed in the inner walls of the two hollow rotating cylinders 11. A first convex plate 18 is slidably connected in each of the first notches 19. Lifting columns 12 are slidably connected to the inner walls of the hollow rotating cylinders 11. The first convex plate 18 is fixedly connected to the corresponding lifting column 12. A supporting plate 6 is fixedly connected to the bottom of each lifting column 12. A slope 5 is fixedly connected to the outer wall of the supporting plate 6 facing the clamping plate 4. A lifting mechanism is arranged at the top ends of the two lifting columns 12. When it is necessary to palletize a heavier box, the height of the installation groove 2 is adjusted by the screw rod lifting mechanism 3. At the same time, with the cooperation of the walking vehicle body 1, the box to be palletized is located between the two clamping plates 4. Then, the two clamping plates 4 are made to approach each other through the distance adjustment mechanism until the two clamping plates 4 respectively abut tightly against the outer walls of both sides of the box. Then, the box between the two clamping plates 4 is moved upward by the screw rod lifting mechanism 3. Then, the position height of the supporting plate 6 is adjusted by the lifting mechanism so that the upper surface of the supporting plate 6 is lower than the bottom of the clamped box. The initial positions of the two supporting plates 6 are parallel to the installation groove 2. Then, the rotating mechanism is started, so that the supporting plate 6 drives the slope 5 to move below the bottom of the box, forming a triangular shape between the supporting plate 6, the installation groove 2 and the clamping plate 4. Then, the lifting mechanism makes the supporting plate 6 move upward to contact the bottom of the box, so as to lift the box from the bottom, avoiding the box from slipping due to its overweight and greatly improving the safety of palletizing.

[0021] As a further scheme in the present invention, the distance adjustment mechanism includes a bidirectional threaded rod 16. The bidirectional threaded rod 16 is rotatably connected inside the installation groove 2. A second driving motor 15 is arranged at one end of the bidirectional threaded rod 16. Threaded sliders 17 are threadedly slidably connected to both outer walls of the bidirectional threaded rod 16. The clamping plate 4 is fixedly connected to the outer wall of the corresponding threaded slider 17. The second driving motor 15 drives the connected bidirectional threaded rod 16 to rotate forward or backward, so that the two threaded sliders 17 can approach or move away from each other, thereby adjusting the distance between the two clamping plates 4.

[0022] As a further solution in the present invention, the lifting mechanism includes a U-shaped plate 13, which is fixedly connected to the outer walls of the tops of two lifting columns 12. And two electric push rods 14 are arranged on the outer wall of the bottom of the U-shaped plate 13. The two electric push rods 14 are fixedly connected to the outer wall of the installation groove 2. The electric push rod 14 can move the lifting column 12 downward or upward through the U-shaped plate 13, so as to adjust the position height of the lifting plate 6.

[0023] As a further solution in the present invention, the rotating mechanism includes a driving motor 7. A transmission wheel 8 is fixedly connected to the output shaft end of the driving motor 7 and the outer wall of one of the hollow rotating cylinders 11. And a transmission belt 9 is sleeved on the outer walls of the two transmission wheels 8. The driving motor 7 can make one of the hollow rotating cylinders 11 rotate through the action of the transmission wheel 8 and the transmission belt 9. Because the gears 10 on the two hollow rotating cylinders 11 are meshed with each other, the other hollow rotating cylinder 11 can also rotate, and the rotating directions of the two hollow rotating cylinders 11 are opposite, so that the two lifting plates 6 approach each other.

[0024] Working principle: When it is necessary to stack heavy boxes, the height of the installation groove 2 is adjusted through the screw rod lifting mechanism 3. At the same time, with the cooperation of the walking vehicle body 1, the box to be stacked is located between the two clamping plates 4. Then, the driving motor 15 drives the connected bidirectional threaded rod 16 to rotate forward or backward, so that the two threaded sliders 17 approach or move away from each other, thereby adjusting the distance between the two clamping plates 4 until the two clamping plates 4 are tightly abutted against the outer walls on both sides of the box respectively. Then, the box between the two clamping plates 4 is moved upward through the screw rod lifting mechanism 3. Next, the electric push rod 14 can move the lifting column 12 downward through the U-shaped plate 13 to adjust the position height of the lifting plate 6, so that the upper surface of the lifting plate 6 is lower than the bottom of the clamped box. The initial positions of the two lifting plates 6 are parallel to the installation groove 2. Then, the driving motor 7 can make one of the hollow rotating cylinders 11 rotate through the action of the transmission wheel 8 and the transmission belt 9. Because the gears 10 on the two hollow rotating cylinders 11 are meshed with each other, the other hollow rotating cylinder 11 can also rotate, and the rotating directions of the two hollow rotating cylinders 11 are opposite, so that the two lifting plates 6 approach each other, and the lifting plate 6 drives the slope 5 to move under the bottom of the box, so that a triangular shape is formed among the lifting plate 6, the installation groove 2 and the clamping plate 4. Then, the electric push rod 14 can move the lifting plate 6 at the bottom of the lifting column 12 upward through the U-shaped plate 13, so that the lifting plate 6 contacts the bottom of the box, and the box can be lifted from the bottom to avoid the box slipping due to its excessive weight, greatly improving the safety of stacking.

[0025] Example 2, refer to Figures 5 - 8, a palletizing robot, compared with embodiment 1, on the basis of embodiment 1, the outer walls of the two clamping plates 4 on the opposite side are provided with a receiving groove 20, and a hollow rotating shaft 24 is rotatably connected in the receiving groove 20, a through hole 32 is provided at one end of the hollow rotating shaft 24, and a plurality of notches 31 are equidistantly provided on the inner wall of the through hole 32, and a convex plate 29 is slidably connected inside the plurality of notches 31.

[0026] As a further solution in the present invention, a telescopic column 30 is slidably connected to the inner wall of the through hole 32, and one end of the telescopic column 30 is fixedly connected to the swing plate 21, and a lift roller 22 is provided at one end of the swing plate 21, and the other end of the telescopic column 30 is fixedly connected to the limit plate 28, and a connecting spring 27 is fixedly connected between the limit plate 28 and the inner wall of the hollow rotating shaft 24, and the second convex plate 29 is fixedly connected to the telescopic column 30. When the box to be stacked is located between the two clamping plates 4, the two lift rollers 22 are in contact with the outer wall of the box to be stacked through the cooperation of the distance adjustment mechanism and the walking body 1, and are located on the upper outer wall of the box.

[0027] As a further solution of the present invention, the other end of the hollow rotating shaft 24 is fixedly connected with a gear 25, and a rack 23 is meshed below the gear 25. The rack 23 is slidably connected to the outer wall of the clamping plate 4, and an electric push rod 26 is provided on the outer wall of one side of the rack 23. The electric push rod 26 is fixedly connected to the outer wall of the clamping plate 4. Then the electric push rod 26 is started to move the rack 23. Because the rack 23 is meshed with the gear 25 on the hollow rotating shaft 24, the swing plate 21 on one end of the hollow rotating shaft 24 can be swung upward. At this time, the upper outer wall of the box body can be subjected to force through the tilting roller 22, so that the end of the box body close to the mounting groove 2 is tilted, and then As the rotating mechanism starts, under the action of the slope 5 on the lifting plate 6, the lifting plate 6 can be inserted into the bottom of the box that has not been clamped, and then the swing plate 21 is swung downward by the electric push rod 26 until the swing plate 21 is parallel to the receiving groove 20, and then the two clamping plates 4 approach each other to clamp the box from both sides. At this time, the swing plate 21 is subjected to force to make the telescopic column 30 compress the connecting spring 27 and retract it into the hollow rotating shaft 24, so that the swing plate 21 can be embedded in the receiving groove 20, so that the surface of the clamping plate 4 is in close contact with the surface of the box. Through the above operation, the box can be lifted before clamping to avoid damage to the box caused by excessive clamping force on both sides.

[0028] Working principle: When the box to be palletized is located between the two clamping plates 4, through the cooperation of the distance adjustment mechanism and the walking vehicle body 1, the two tilting rollers 22 are brought into contact with the outer wall of the box to be palletized and are located on the upper outer wall of the box. Then, the second electric push rod 26 is activated to move the rack 23. Since the rack 23 meshes with the second gear 25 on the hollow rotating shaft 24, the swing plate 21 at one end of the hollow rotating shaft 24 can swing upward. At this time, the upper outer wall of the box is stressed by the tilting rollers 22, so that one end of the box close to the installation groove 2 tilts up. Then, the rotating mechanism is activated. Under the action of the slope 5 on the lifting plate 6, the lifting plate 6 can be inserted under the bottom of the box that has not been clamped yet. Then, the second electric push rod 26 is used to make the swing plate 21 swing downward until the swing plate 21 is parallel to the receiving groove 20. Then, the two clamping plates 4 approach each other and clamp from both sides of the box. At this time, the swing plate 21 is stressed to compress the connecting spring 27 of the telescopic column 30 and retract into the hollow rotating shaft 24, so that the swing plate 21 can be embedded into the receiving groove 20, and the surface of the clamping plate 4 is closely attached to the surface of the box. Through the above operations, the box can be lifted before clamping, avoiding damage to the box caused by excessive clamping force on both sides.

[0029] Embodiment 3. Refer to Figure 9 , a palletizing robot. Compared with Embodiment 2, on the basis of Embodiment 2, two fixing plates 36 are fixedly connected to the outer walls of the two clamping plates 4 facing away from each other, and a winding column 34 is rotatably connected between the two fixing plates 36. A third driving motor 37 is provided at one end of the winding column 34, and a guiding ring 33 is provided below the winding column 34. A steel cable 35 is wound around the outer wall of the winding column 34, and one end of the steel cable 35 passes through the guiding ring 33 and is fixedly connected to one end of the corresponding lifting plate 6. During the process of the lifting plate 6 with the slope 5 moving below the bottom of the box, the third driving motor 37 will rotate the winding column 34 to wind the steel cable 35 around the winding column 34, so that the steel cable 35 is always in a straightened state, so as to be able to pull the other end of the lifting plate 6 and share the load of the lifting plate 6 to ensure the overall stability of the lifting plate 6.

[0030] Working principle: During the process of the lifting plate 6 with the slope 5 moving below the bottom of the box, the third driving motor 37 will rotate the winding column 34 to wind the steel cable 35 around the winding column 34, so that the steel cable 35 is always in a straightened state, so as to be able to pull the other end of the lifting plate 6 and share the load of the lifting plate 6 to ensure the overall stability of the lifting plate 6.

[0031] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A palletizing robot, comprising a traveling vehicle body (1), wherein a screw lifting mechanism (3) is fixedly connected to the top outer wall of the traveling vehicle body (1), and a mounting groove (2) is provided on the screw lifting mechanism (3), characterized in that: A distance adjustment mechanism is provided inside the installation groove (2), and two clamping plates (4) are symmetrically provided on the distance adjustment mechanism. Two hollow rotating cylinders (11) are symmetrically rotatably connected in the middle of the installation groove (2), and gears (10) are fixedly connected to the outer walls of the two hollow rotating cylinders (11). The two gears (10) are meshed with each other. A rotating mechanism is provided on one of the hollow rotating cylinders (11), and two notch grooves (19) are symmetrically provided on the inner walls of the two hollow rotating cylinders (11), and a convex plate (18) is slidably connected in the notch grooves (19). The inner walls of the hollow rotating cylinders (11) are slidably connected to lifting columns (12), and the convex plate (18) is fixedly connected to the corresponding lifting columns (12). The bottom of the lifting columns (12) is fixedly connected to a lifting plate (6), and the outer wall of the lifting plate (6) facing the clamping plate (4) is fixedly connected to a slope (5). The tops of the two lifting columns (12) are provided with lifting mechanisms.

2. A palletizing robot according to claim 1, characterized in that: The distance adjustment mechanism comprises a bidirectional threaded rod (16), the bidirectional threaded rod (16) being rotatably connected to the inside of the mounting groove (2), and a second driving motor (15) being arranged at one end of the bidirectional threaded rod (16), and threaded sliders (17) being threadedly slidably connected to the outer walls of both sides of the bidirectional threaded rod (16), and the clamping plate (4) being fixedly connected to the outer walls of the corresponding threaded sliders (17).

3. A palletizing robot according to claim 2, characterized in that: The lifting mechanism comprises a U-shaped plate (13), the U-shaped plate (13) being fixedly connected to the outer walls of the top ends of the two lifting columns (12), and the outer wall of the bottom end of the U-shaped plate (13) being provided with two electric push rods (14), the two electric push rods (14) being fixedly connected to the outer wall of the mounting groove (2).

4. A palletizing robot according to claim 3, characterized in that: The rotating mechanism comprises a driving motor 1 (7), wherein a transmission wheel (8) is fixedly connected to the output shaft end of the driving motor 1 (7) and the outer wall of one of the hollow rotating cylinders (11), and a transmission belt (9) is sleeved on the outer walls of the two transmission wheels (8).

5. The palletizing robot according to claim 1, characterized in that: The outer walls of the two clamping plates (4) on opposite sides are each provided with a receiving groove (20), and a hollow rotating shaft (24) is rotatably connected in the receiving groove (20), a through hole (32) is provided at one end of the hollow rotating shaft (24), and a plurality of notched grooves (31) are provided on the inner wall of the through hole (32) at equal distances, and a convex plate (29) is slidably connected inside each of the plurality of notched grooves (31).

6. A palletizing robot according to claim 5, characterized in that: The inner wall of the through hole (32) is slidably connected to a telescopic column (30), and one end of the telescopic column (30) is fixedly connected to a swing plate (21), one end of the swing plate (21) is provided with a tilting roller (22), the other end of the telescopic column (30) is fixedly connected to a limit plate (28), and a connecting spring (27) is fixedly connected between the limit plate (28) and the inner wall of the hollow rotating shaft (24), and the second convex plate (29) is fixedly connected to the telescopic column (30).

7. A palletizing robot according to claim 6, characterized in that: The other end of the hollow rotating shaft (24) is fixedly connected to a second gear (25), and a rack (23) is meshed below the second gear (25), the rack (23) is slidably connected to the outer wall of the clamping plate (4), and an electric push rod (26) is provided on the outer wall of one side of the rack (23), and the electric push rod (26) is fixedly connected to the outer wall of the clamping plate (4).

8. The palletizing robot according to claim 1, characterized in that: Two fixing plates (36) are fixedly connected to the opposite outer walls of the clamping plate (4), and a winding column (34) is rotatably connected between the two fixing plates (36). A driving motor (37) is provided at one end of the winding column (34), and a guide ring (33) is provided below the winding column (34). A steel cable (35) is wound around the outer wall of the winding column (34), and one end of the steel cable (35) passes through the guide ring (33) and is fixedly connected to one end of the corresponding lifting plate (6).

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