A palletizing robot

Abstract

The present invention relates to the technical field of palletizing, and discloses a palletizing robot, including 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 walls of the two hollow rotating cylinders. The two first gears mesh 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 a first convex plate is slidably connected in each of the first notches. When clamping both sides of the box body, the present invention can lift the box body from the bottom through the lifting plate, avoiding the box body from slipping due to excessive weight and greatly improving the safety of palletizing.

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, the use of 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 maintaining component can be used to drive the clamping plate 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 solve the deficiencies existing in the prior art, and a palletizing robot is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] 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 rotatably connected to the middle of the installation groove, and a first gear is fixedly connected to the outer walls of both 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 both of the two hollow rotating cylinders, and a first convex plate is slidably connected in 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 of the lifting columns. Ramps are fixedly connected to the outer walls of the lifting plates facing the clamping plates. A lifting mechanism is arranged at the tops of the two lifting columns.

[0008] Further, the distance adjustment mechanism includes a bidirectional screw rod. The bidirectional screw rod is rotatably connected inside the installation groove, and a second driving motor is arranged at one end of the bidirectional screw rod. Threaded sliders are threadedly slidably connected to the outer walls on both sides of the bidirectional screw rod. The clamping plate is fixedly connected to the outer wall of the corresponding threaded slider.

[0009] Further, the lifting mechanism includes a U-shaped plate. The U-shaped plate is fixedly connected to the outer walls of the tops 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.

[0010] 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.

[0011] Further, accommodation grooves are formed on the outer walls of the opposite sides of the two clamping plates, and hollow rotating shafts are rotatably connected in the accommodation 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 in each of the plurality of second notches.

[0012] 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.

[0013] 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.

[0014] 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 III 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.

[0015] The beneficial effects of the present invention are as follows:

[0016] When clamping both sides of the box body, the present invention can lift the box body from the bottom through the lifting plate, avoiding the box body from slipping due to excessive weight and greatly improving the safety of palletizing.

[0017] Before clamping both sides of the box body, the present invention can make one end of the box body close to the installation groove tilt up through the tilting roller, so that the lifting plate can be inserted under 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.

[0018] 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

[0019] Figure 1 Schematic structural diagram of a palletizing robot proposed in Embodiment 1;

[0020] Figure 2 Schematic structural diagram of the installation groove of a palletizing robot proposed in Embodiment 1;

[0021] Figure 3 Schematic structural diagram of the lifting column of a palletizing robot proposed in Embodiment 1;

[0022] Figure 4 Schematic structural diagram of the hollow rotating cylinder of a palletizing robot proposed in Embodiment 1;

[0023] Figure 5 Schematic structural diagram of the clamping plate of a palletizing robot proposed in Embodiment 2;

[0024] Figure 6 Schematic structural diagram of the back of the clamping plate of a palletizing robot proposed in Embodiment 2;

[0025] Figure 7 Schematic internal structure diagram of the hollow rotating shaft of a palletizing robot proposed in Embodiment 2;

[0026] Figure 8 Schematic structural diagram of the hollow rotating shaft of a palletizing robot proposed in Embodiment 2;

[0027] Figure 9Schematic side view structure of the installation groove of a palletizing robot proposed in Embodiment 3.

[0028] In the figure: 1, walking vehicle body; 2, installation groove; 3, screw rod lifting mechanism; 4, clamping plate; 5, slope; 6, lifting plate; 7, driving motor 1; 8, transmission wheel; 9, transmission belt; 10, gear 1; 11, hollow rotating cylinder; 12, lifting column; 13, U-shaped plate; 14, electric push rod 1; 15, driving motor 2; 16, bidirectional threaded rod; 17, threaded slider; 18, convex plate 1; 19, notch 1; 20, accommodating groove; 21, swinging plate; 22, tilting roller; 23, rack; 24, hollow rotating shaft; 25, gear 2; 26, electric push rod 2; 27, connecting spring; 28, limiting disc; 29, convex plate 2; 30, telescopic column; 31, notch 2; 32, through hole; 33, guiding ring; 34, winding column; 35, steel cable; 36, fixing plate; 37, driving motor 3. Specific implementation mode

[0029] The technical solutions of the present invention will be further described in detail below in conjunction with specific implementation modes.

[0030] Embodiment 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. A lifting column 12 is slidably connected to the inner wall of each hollow rotating cylinder 11. The first convex plate 18 is fixedly connected to the corresponding lifting column 12. A lifting 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 lifting 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 moved closer to each other through the distance adjustment mechanism until the two clamping plates 4 are tightly abutted against the outer walls of both sides of the box respectively. 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 lifting plate 6 is adjusted by the lifting mechanism 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 rotating mechanism is started to move the lifting plate 6 with the slope 5 below 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 lifting mechanism moves the lifting plate 6 upward to make the lifting plate 6 contact the bottom of the box, so as to lift the box from the bottom, avoid the box from slipping due to its overweight, and greatly improve the safety of palletizing.

[0031] 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 to the inside of 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 the outer walls on both sides 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.

[0032] As a further solution in the present invention, the lifting mechanism includes a U-shaped plate 13, the U-shaped plate 13 is fixedly connected to the outer walls of the tops of two lifting columns 12, and two first electric push rods 14 are arranged on the outer wall of the bottom of the U-shaped plate 13. The two first electric push rods 14 are fixedly connected to the outer wall of the installation groove 2. The first electric push rods 14 can move the lifting columns 12 downward or upward through the U-shaped plate 13, so as to adjust the position height of the lifting plate 6.

[0033] As a further solution in the present invention, the rotating mechanism includes a first driving motor 7. A transmission wheel 8 is fixedly connected to the output shaft end of the first driving motor 7 and the outer wall of one of the hollow rotating cylinders 11. A transmission belt 9 is sleeved on the outer walls of the two transmission wheels 8. The first driving motor 7 can make one of the hollow rotating cylinders 11 rotate through the transmission wheels 8 and the transmission belt 9. Because the first 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.

[0034] Working principle: When it is necessary to stack heavier boxes, 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 stacked is located between the two clamping plates 4. Then, the second 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 by the screw rod lifting mechanism 3. Then, the first 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 first driving motor 7 can make one of the hollow rotating cylinders 11 rotate through the transmission wheels 8 and the transmission belt 9. Because the first 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 plates 6 drive the slopes 5 to move under the bottom of the box, so that a triangular shape is formed among the lifting plates 6, the installation groove 2 and the clamping plates 4. Then, the first 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 can lift the box from the bottom, avoiding the box from slipping due to being too heavy and greatly improving the safety of stacking.

[0035] Example 2, refer to Figures 5 - 8, A palletizing robot. Compared with Embodiment 1, on the basis of Embodiment 1, receiving grooves 20 are provided on the outer walls of the opposite sides of the two clamping plates 4, and hollow rotating shafts 24 are rotatably connected in the receiving grooves 20. A through hole 32 is provided at one end of the hollow rotating shaft 24, and a plurality of second notches 31 are equidistantly provided on the inner wall of the through hole 32. Convex plates 29 are slidably connected inside the plurality of second notches 31.

[0036] As a further scheme in the present invention, a telescopic column 30 is slidably connected to the inner wall of the through hole 32, and a swing plate 21 is fixedly connected to one end of the telescopic column 30. A lifting roller 22 is provided at one end of the swing plate 21. The other end of the telescopic column 30 is fixedly connected to a limiting disc 28, and a connecting spring 27 is fixedly connected between the limiting disc 28 and the inner wall of the hollow rotating shaft 24. The convex plates 29 are fixedly connected to the telescopic column 30. When the box to be palletized is located between the two clamping plates 4, through the cooperation of the distance adjustment mechanism and the traveling vehicle body 1, the two lifting 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.

[0037] As a further scheme in the present invention, a second gear 25 is fixedly connected to the other end of the hollow rotating shaft 24, and a rack 23 is engaged 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. 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. Since the rack 23 is engaged 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 can be stressed through the lifting roller 22, so that one end of the box close to the installation groove 2 is lifted. Then the rotating mechanism is started. 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 yet. Then the electric push rod 26 is used to swing the swing plate 21 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 by 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.

[0038] 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 the end of the box close to the installation groove 2 tilts upward. Then, the rotating mechanism is activated, and 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 the box from both sides. 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.

[0039] Embodiment 3, referring 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 opposite outer walls of the clamping plates 4, and a winding column 34 is rotatably connected between the two fixing plates 36. A third driving motor 37 is arranged at one end of the winding column 34, and a guiding ring 33 is arranged 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 moving with the slope 5 below the bottom of the box, the third driving motor 37 rotates 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 taut state, thereby being able to pull the other end of the lifting plate 6 and sharing the load of the lifting plate 6 to ensure the overall stability of the lifting plate 6.

[0040] Working principle: During the process of the lifting plate 6 moving with the slope 5 below the bottom of the box, the third driving motor 37 rotates 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 taut state, thereby being able to pull the other end of the lifting plate 6 and sharing the load of the lifting plate 6 to ensure the overall stability of the lifting plate 6.

[0041] 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 all should be covered within the protection scope of the present invention.

Claims

1. A palletizing robot, comprising a walking vehicle body (1), wherein an outer wall of the top of the walking vehicle body (1) is fixedly connected with a screw rod lifting mechanism (3), and an installation groove (2) is arranged on the screw rod lifting mechanism (3), characterized in that, A distance adjustment mechanism is arranged inside the installation groove (2), and 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), and a first gear (10) is fixedly connected to the outer wall of each 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), and a first convex plate (18) is slidably connected in each of the first notches (19). A lifting column (12) is slidably connected to the inner wall of each of the hollow rotating cylinders (11). The first convex plate (18) is fixedly connected to the corresponding lifting column (12), and a lifting plate (6) is fixedly connected to the bottom of each of the lifting columns (12). A slope (5) is fixedly connected to the outer wall of each of the lifting plates (6) facing the clamping plate (4). A lifting mechanism is arranged at the top of the two lifting columns (12); Receiving grooves (20) are formed in the outer walls of the opposite sides of the two clamping plates (4), and a hollow rotating shaft (24) is rotatably connected in each of the receiving grooves (20). A through hole (32) is formed at one end of the hollow rotating shaft (24), and a plurality of second notches (31) are equidistantly formed in the inner wall of the through hole (32). A second convex plate (29) is slidably connected in each of the plurality of second notches (31); A telescopic column (30) is slidably connected to the inner wall of the through hole (32), and a swing plate (21) is fixedly connected to one end of the telescopic column (30). A lifting roller (22) is arranged at one end of the swing plate (21). A limiting disc (28) is fixedly connected to the other end of the telescopic column (30), and a connecting spring (27) is fixedly connected between the limiting disc (28) and the inner wall of the hollow rotating shaft (24). The second convex plates (29) are fixedly connected to the telescopic column (30); A second gear (25) is fixedly connected to the other end of the hollow rotating shaft (24), 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 two (26) is arranged on one outer wall of the rack (23). The electric push rod two (26) is fixedly connected to the outer wall of the clamping plate (4).

2. The palletizing robot according to claim 1, wherein The distance adjustment mechanism includes a bidirectional threaded rod (16). The bidirectional threaded rod (16) is rotatably connected inside the installation groove (2), and a driving motor two (15) is arranged at one end of the bidirectional threaded rod (16). Threaded sliders (17) are threadedly slidably connected to the outer walls on both sides of the bidirectional threaded rod (16). The clamping plate (4) is fixedly connected to the outer wall of the corresponding threaded slider (17).

3. A palletizing robot according to claim 2, characterized in that, The lifting mechanism includes a U-shaped plate (13). The U-shaped plate (13) is fixedly connected to the outer walls of the tops of the two lifting columns (12), and two electric push rods one (14) are arranged on the outer wall of the bottom of the U-shaped plate (13). The two electric push rods one (14) are fixedly connected to the outer wall of the installation groove (2).

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

5. A palletizing robot according to claim 1, characterized in that, Two fixing plates (36) are fixedly connected to the opposite outer walls of the clamping plates (4). A winding column (34) is rotatably connected between the two fixing plates (36). A third driving motor (37) is arranged at one end of the winding column (34). A guiding ring (33) is arranged below the winding column (34). A steel cable (35) is wound around the outer wall of the winding column (34). 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).

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