A palletizing robot with adjustable gripping angle

Abstract

This invention discloses a palletizing robot with adjustable gripping angle, relating to the field of automation equipment technology. It includes a base and a robotic arm fixedly mounted on the base. The end of the robotic arm is equipped with a gripping mechanism. The gripping mechanism includes a V-shaped clamp with sliding channels on both sides. A sliding plate is slidably disposed inside the sliding channels. A first rotating channel is formed on the sliding plate, and a clamping plate is rotatably disposed inside the first rotating channel. The clamping plate intersects the sliding plate in an X-shape, and the tilt angle of the clamping plate is adjusted by a first control component. This palletizing robot with adjustable gripping angle, through the design of the clamp, clamping plate, and reinforcing plate, is suitable for cylindrical goods of various sizes. It can maintain up to six line contact points for gripping and locking the goods, distributed in an arc shape to ensure gripping stability and facilitate easy removal, thus improving the efficiency of the palletizing robot.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a palletizing robot with an adjustable gripping angle. Background Technology

[0002] Palletizing robots are frequently used in the manufacturing sector. They are primarily used for palletizing products, stacking manufactured goods according to a specific pattern to replace manual handling and reduce the labor intensity of workers. Existing palletizing robots mainly consist of a base, a robotic arm, and grippers. The grippers are used to grasp goods, while the robotic arm, through extension, retraction, and rotation, is used to move the goods to the appropriate position.

[0003] For example, a patent entitled "A Palletizing Robot" (patent application number: CN202221837449.X) discloses a palletizing robot that uses numerous positioning rods on a positioning ring and anti-slip blocks at the inner ends of the positioning rods to clamp goods. Because the clamping mechanism and the goods have many contact points and are evenly distributed, the goods can be transported stably, reducing the labor intensity of workers. However, in actual use, the positioning ring and other structures need to move from top to bottom to clamp the goods. When the pallet is stacked to a height close to the top of the building, it is difficult to pull the positioning ring and other structures out from bottom to top, which affects the palletizing efficiency.

[0004] Therefore, it is necessary to propose a palletizing robot with an adjustable gripping angle to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a palletizing robot with an adjustable gripping angle, in order to solve the problem that in actual use, the positioning ring and other structures need to move from top to bottom to grip the goods, and when the pallet is stacked to a height close to the top of the building, it is difficult to pull the positioning ring and other structures out from bottom to top, which affects the palletizing efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a palletizing robot with adjustable gripping angle, comprising a base and a mechanical arm fixedly mounted on the base, wherein the end of the mechanical arm is provided with a gripping mechanism;

[0007] The clamping mechanism includes a V-shaped clamp, with sliding channels on both sides of the clamp. A sliding plate is slidably disposed inside the sliding channel. A first rotating channel is provided on the sliding plate. A clamping plate is rotatably disposed inside the first rotating channel. The clamping plate and the sliding plate intersect in an X-shape, and the tilt angle of the clamping plate is adjusted by a first control component.

[0008] The clamping plate has a second rotation channel at the end away from the first control component. A reinforcing plate is rotatably installed inside the second rotation channel. The reinforcing plate intersects the clamping plate in an X shape, and the tilt angle of the reinforcing plate can be adjusted by the second control component.

[0009] Preferably, the first control component includes a first electric push rod, one end of which is hinged to the clamping plate, and the other end of which is hinged to the outer wall of the clamp.

[0010] Preferably, the second control component includes a second electric actuator, one end of which is hinged to the inner wall of the second rotating channel, and the other end of which is hinged to the reinforcing plate.

[0011] Preferably, a third electric push rod is fixedly connected to the outer wall of the clamp, and two third electric push rods are provided, which are staggered. The clamp is provided with a through groove for the telescopic end of the third electric push rod to pass through, and the slide plate is fixedly connected to the corresponding telescopic end of the third electric push rod.

[0012] Preferably, the slide plate has a circular groove, the inner wall of the circular groove has an annular groove, the bottom end of the sliding channel has a rectangular groove, the annular groove and the rectangular groove are connected, a rotating ring is rotatably arranged inside the circular groove, a rotating shaft is fixedly connected to the rotating ring, and a fan is fixedly installed at the end of the rotating shaft away from the inner side of the clamp.

[0013] Preferably, a transmission assembly for driving the rotating ring to rotate is provided between the rotating ring and the rectangular groove. The transmission assembly includes a rack and a toothed ring. The rack is fixedly connected inside the rectangular groove, and the toothed ring is rotatably disposed inside the annular groove. The rotating ring is fixedly connected to the toothed ring, and the rack and toothed ring are meshed together.

[0014] Preferably, a fan cover is fixedly connected to the slide plate, and the fan cover surrounds the outside of the fan.

[0015] Preferably, the top of the sliding channel is provided with a groove, and a slider is slidably disposed inside the groove, the slider being fixedly connected to the slide plate.

[0016] Preferably, an extension strip is fixedly connected to the end of the reinforcing plate away from the second control component.

[0017] Preferably, the clamping mechanism further includes an angle adjustment component, which includes a fixed frame and a motor. The fixed frame is fixedly connected to the end of the robotic arm, the motor is fixedly connected to the fixed frame, and the clamp is fixedly connected to the drive shaft of the motor.

[0018] The technical effects and advantages of this invention are as follows:

[0019] This invention, by setting up structures such as clamps, clamping plates, and reinforcing plates, is suitable for cylindrical goods of various sizes. It can always maintain up to six line contact positions to clamp and lock the goods, and the positions are distributed in an optimal arc shape to ensure the stability of gripping. It can also be easily pulled out, improving the efficiency of palletizing robots.

[0020] The single-sided reinforcing plate, clamping plate and clamping frame still have the effect of forming an excellent arc-shaped clamping structure, ensuring the flexibility of clamping and locking.

[0021] The positions of the reinforcing plates and clamps are adjustable, and the angles of the reinforcing plates and clamps themselves are adjustable. At the same time, the clamps are V-shaped, which is suitable for cylindrical goods of various sizes. They can always maintain up to six line contact positions, which are distributed in an arc shape to ensure the stability of the grip.

[0022] By setting up structures such as rotating rings, fans, and transmission components, the sliding plate inside the sliding channel is used as power to perform mobile dust removal. The position where the goods need to come into contact with the clamping mechanism is treated to facilitate subsequent gripping and avoid slippage.

[0023] By using the sliding motion of the skateboard inside the sliding channel as a power source, there is no need to set up an additional power structure, thus reducing the cost of equipment operation;

[0024] By setting up structures such as cleaning components, torsion springs, and elastic ropes, the rotating bar is fixed to the cleaning components to remove stubborn adhering substances and ensure the stability of clamping and locking. At the same time, the movement of the sliding plate is used as power to realize the retrieval of the cleaning components without affecting the clamping and locking of the goods.

[0025] By controlling the slide plate to move back and forth multiple times, the cleaning component swings multiple times outside the sliding channel, shaking off any remaining adhesive residue for subsequent use. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the palletizing robot with adjustable gripping angle according to the present invention from one perspective.

[0027] Figure 2 For the present invention Figure 1 Enlarged schematic diagram of the structure at point A in the middle.

[0028] Figure 3 This is a schematic diagram of the palletizing robot with adjustable gripping angle from another perspective.

[0029] Figure 4 This is a schematic diagram of the clamp and sliding channel structure of the present invention.

[0030] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structure at point B.

[0031] Figure 6 This is a schematic diagram of the clamp and extension bar structure of the present invention.

[0032] Figure 7 This is a schematic diagram of the clamping plate and reinforcing plate structure of the present invention.

[0033] Figure 8 This is a schematic diagram of the groove and slider structure of the present invention.

[0034] Figure 9 This is a schematic diagram of the sliding channel and slide plate structure of the present invention.

[0035] Figure 10 For the present invention Figure 9 Enlarged schematic diagram of the structure at point C.

[0036] Figure 11 This is a schematic diagram of the circular groove and annular groove structure of the present invention.

[0037] Figure 12 This is a schematic diagram of the clamp and third electric push rod structure of the present invention.

[0038] Figure 13 For the present invention Figure 12 Enlarged structural diagram of the structure at point D.

[0039] In the diagram: 1. Base; 2. Robotic arm; 3. Clamping mechanism; 4. Fixture; 5. Motor; 6. Clamping frame; 7. Sliding channel; 8. Slide plate; 9. First rotating channel; 10. Clamping plate; 11. First electric push rod; 12. Second rotating channel; 13. Reinforcing plate; 14. Extension bar; 15. Second electric push rod; 16. Third electric push rod; 17. Through groove; 18. Sliding groove; 19. Slider; 20. Circular groove; 21. Rectangular groove; 22. Rack; 23. Ring groove; 24. Gear ring; 25. Rotary ring; 26. Rotating shaft; 27. Fan; 28. Fan cover; 29. ​​Protrusion; 30. Round shaft; 31. Rotating bar; 32. Torsion spring; 33. Elastic rope; 34. Cleaning component. Detailed Implementation

[0040] Example 1, the present invention provides as follows Figures 1 to 11 The diagram shows a palletizing robot with an adjustable gripping angle, which is particularly suitable for cylindrical goods such as paint buckets or wine barrels. It includes a base 1 and a robotic arm 2 fixedly mounted on the base 1. The end of the robotic arm 2 is provided with a gripping mechanism 3. The base 1 is the supporting foundation of the entire robot, used to fix the robotic arm 2 and ensure the stability of the robot during operation. The base 1 can be made of high-strength steel to bear the weight of the robotic arm 2 and the goods.

[0041] The robotic arm 2 is fixedly mounted on the base 1 to achieve spatial movement, moving the gripping mechanism 3 to the target position. The robotic arm 2 can adopt a multi-joint structure with multiple degrees of freedom, enabling it to flexibly reach any position within the working area. The movement of the robotic arm 2 can be precisely controlled by a motor drive and a control system, such as: a shoulder joint motor: used to control the shoulder rotation of the robotic arm 2, enabling the robotic arm to perform a wide range of rotational movements in the horizontal direction; the control system includes a main controller, a motion planning module, sensors, etc.

[0042] The robotic arm 2 and its control system are both common existing technologies, and will not be elaborated on here.

[0043] Considering that in actual use, the gripping mechanism 3 of existing palletizing robots typically moves from top to bottom to grip goods, it becomes difficult to pull the gripping mechanism 3 out from bottom to top when the pallet is stacked close to the top of the building, affecting palletizing efficiency. To ensure palletizing efficiency, refer to... Figure 1 , Figure 3 , Figure 4 , Figure 5 As shown, the clamping mechanism 3 includes a V-shaped clamp 6 that can be attached to the cargo from the side, and the V-shaped structure is suitable for cargo of various sizes.

[0044] To secure and hold the goods, sliding channels 7 are provided on both sides of the clamp 6. A sliding plate 8 is slidably mounted inside the sliding channel 7, and a groove 18 is provided at the top of the sliding channel 7. A slider 19 is slidably mounted inside the groove 18 and is fixedly connected to the sliding plate 8. When the sliding plate 8 slides, it drives the slider 19 to slide within the groove 18, thus ensuring the stability of the sliding plate 8. In actual use, a ball bearing or other structure can be installed between the slider 19 and the groove 18 to ensure the smoothness of the sliding plate 8.

[0045] Reference Figure 4 , Figure 8 As shown, a third electric push rod 16 is fixedly connected to the outer wall of the clamp 6. Two third electric push rods 16 are provided, staggered in arrangement. A through slot 17 is provided on the clamp 6 for the telescopic ends of the third electric push rods 16 to pass through. The slide plate 8 is fixedly connected to the corresponding telescopic end of the third electric push rod 16. The third electric push rod 16 is used to drive the slide plate 8 to slide inside the sliding channel 7, adjusting the position of the slide plate 8.

[0046] Reference Figure 4 , Figure 5As shown, a first rotating channel 9 is provided on the slide plate 8. A clamping plate 10 is rotatably arranged inside the first rotating channel 9. The clamping plate 10 intersects the slide plate 8 in an X-shape, and the tilt angle of the clamping plate 10 is adjusted by a first control component. The first control component includes a first electric push rod 11. One end of the first electric push rod 11 is hinged to the clamping plate 10, and the other end of the first electric push rod 11 is hinged to the outer wall of the clamping frame 6. When the telescopic end of the first electric push rod 11 is extended, it causes the end of the clamping plate 10 near the first control component to swing away from the clamping frame 6, while the end of the clamping plate 10 away from the first control component retracts into the clamping frame 6.

[0047] Before gripping the goods, the telescopic end of the first electric push rod 11 is retracted, causing the end of the clamping plate 10 away from the first control component to open outward, without affecting the clamping frame 6 to adhere to the goods from the side. Then, the third electric push rod 16 drives the slide plate 8 to slide inside the sliding channel 7, adjusts the position of the slide plate 8, and controls the telescopic end of the first electric push rod 11 to extend, causing the end of the clamping plate 10 away from the first control component to retract towards the inside of the clamping frame 6. At this time, the two sides of the inner wall of the clamping frame 6 and the two clamping plates 10 are in line contact with the outer wall of the goods, and the four line contact positions form an arc-shaped clamping structure to ensure the stability of gripping.

[0048] To ensure the stability of the crawling, refer to Figure 4 As shown, a second rotating channel 12 is provided at the end of the clamping plate 10 away from the first control component. A reinforcing plate 13 is rotatably disposed inside the second rotating channel 12. The reinforcing plate 13 intersects the clamping plate 10 in an X-shape, and the tilt angle of the reinforcing plate 13 is adjusted by the second control component. The second control component includes a second electric push rod 15. One end of the second electric push rod 15 is hinged to the inner wall of the second rotating channel 12, and the other end of the second electric push rod 15 is hinged to the reinforcing plate 13. When the extension end of the second electric push rod 15 is extended, it causes the end of the reinforcing plate 13 near the second control component to swing away from the clamping plate 10, while the end of the reinforcing plate 13 away from the first control component retracts towards the inside of the clamping frame 6.

[0049] An extension strip 14 is fixedly connected to one end of the reinforcing plate 13 away from the second control component. The extension strip 14 is cylindrical and is distributed in a T-shape with the reinforcing plate 13. The extension strip 14 is provided to increase the contact area with the outer wall of the cargo.

[0050] Furthermore, the two clamping plates 10 on both sides of the inner wall of the clamping frame 6 are in line contact with the outer wall of the goods. The telescopic end of the second electric push rod 15 is extended, causing the end of the reinforcing plate 13 near the second control component to swing away from the clamping plate 10, while the end of the reinforcing plate 13 away from the first control component retracts towards the inner side of the clamping frame 6. At this time, the extension strip 14 is in line contact with the outer wall of the goods, and the six line contact positions form a larger arc-shaped clamping structure to clamp and lock the goods, further ensuring the stability of the gripping.

[0051] After capture, refer to Figure 7 Stack at different angles, even if they are similar. Figure 6 Even when stacked up to near the top of the building, they can be stacked flexibly without interfering with other goods.

[0052] After the goods are placed, the extension end of the second electric push rod 15 is retracted, causing the end of the reinforcing plate 13 near the second control component to swing towards the clamping plate 10, and the extension strip 14 to disengage from the outer wall of the goods; at the same time, the extension end of the first electric push rod 11 is retracted, causing the end of the clamping plate 10 near the first control component to swing towards the clamping frame 6, and the clamping plate 10 to disengage from the outer wall of the goods. During the above process, the reinforcing plate 13 and the clamping plate 10 will not come into contact with the outer walls of other goods.

[0053] Next, the robotic arm 2 drives the gripping mechanism 3 to grab and stack other goods, and the clamp 6, clamping plate 10 and reinforcing plate 13 can be easily pulled out.

[0054] Specifically, since the slide plate 8 can slide inside the sliding channel 7, the positions of the reinforcing plate 13 and the clamping plate 10 are adjustable, and the angles of the reinforcing plate 13 and the clamping plate 10 themselves are adjustable. At the same time, the clamping frame 6 is V-shaped, which is suitable for cylindrical goods of various sizes. It can always maintain up to six line contact positions, which are distributed in an arc shape to ensure the stability of gripping.

[0055] In addition, the first and second control components on both sides can be controlled independently. Even if the first electric push rod 11, the second electric push rod 15, or the third electric push rod 16 on one side is damaged, the telescopic end of the third electric push rod 16 on the other side can be extended, and the corresponding slide plate 8 can slide a longer distance inside the sliding channel 7. At this time, the reinforcing plate 13, the clamping plate 10, and the clamping frame 6 on this side can still form an arc-shaped clamping structure, ensuring the flexibility of clamping and locking.

[0056] Furthermore, rubber pads or similar materials can be installed on the reinforcing plate 13, clamping plate 10, and clamping frame 6 to increase friction.

[0057] This invention, by setting up structures such as clamping frame 6, clamping plate 10 and reinforcing plate 13, is suitable for cylindrical goods of various sizes. It can always maintain up to six line contact positions to clamp and lock the goods, and the positions are distributed in an optimal arc shape to ensure the stability of gripping. It can also be easily pulled out, improving the efficiency of palletizing robots.

[0058] Reference Figure 1 , Figure 2 As shown, the clamping mechanism 3 also includes an angle adjustment assembly, which includes a fixed frame 4 and a motor 5. The fixed frame 4 is fixedly connected to the end of the robotic arm 2, the motor 5 is fixedly connected to the fixed frame 4, and the clamp 6 is fixedly connected to the drive shaft of the motor 5. In use, the motor 5 drives the clamp 6 to rotate, and with the cooperation of the robotic arm 2, the clamping mechanism 3 can be adjusted to multiple angles, thereby performing multi-angle gripping.

[0059] Considering that some goods stored in the warehouse for a long time are prone to dust accumulation on their exterior, if they are directly grabbed, dust can easily adhere to the reinforcing plate 13, clamping plate 10, and clamping frame 6 after repeated operations, causing slippage. To ensure the stability of the grip, refer to... Figure 5 , Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, a circular groove 20 is formed on the slide plate 8, and an annular groove 23 is formed on the inner wall of the circular groove 20. A rectangular groove 21 is formed at the bottom of the sliding channel 7, and the annular groove 23 communicates with the rectangular groove 21. A rotating ring 25 is rotatably arranged inside the circular groove 20. The width of the rotating ring 25 is greater than the width of the annular groove 23. The rotating ring 25 fits against the inner wall of the circular groove 20. A support plate is fixedly connected to the inner wall of the rotating ring 25, and a rotating shaft 26 is fixedly connected to the support plate. The rotating shaft 26 is concentrically arranged with the rotating ring 25. A fan 27 is fixedly installed at the end of the rotating shaft 26 away from the inner side of the clamp 6. When the rotating ring 25 rotates, it will drive the fan 27 to rotate through the support plate and the rotating shaft 26.

[0060] A transmission assembly for driving the rotating ring 25 to rotate is provided between the rotating ring 25 and the rectangular groove 21. The transmission assembly includes a rack 22 and a toothed ring 24. The rack 22 is fixedly connected inside the rectangular groove 21, and the toothed ring 24 is rotatably disposed inside the annular groove 23. The rotating ring 25 is fixedly connected to the toothed ring 24, and the rack 22 and the toothed ring 24 are meshed together. When the slide plate 8 slides inside the sliding channel 7, the meshing connection between the rack 22 and the toothed ring 24 causes the toothed ring 24 to drive the rotating ring 25 to rotate. The rotating ring 25 drives the fan 27 to rotate through the rotating shaft 26. Moreover, the size of the teeth on the rack 22 and the toothed ring 24 is small, so even if the slide plate 8 slides a short distance inside the sliding channel 7, the toothed ring 24 can still rotate quickly multiple times. The positions of the rack 22, toothed ring 24, and other structures can also be interchanged with the positions of the slider 19 and the sliding groove 18. Operators can periodically inspect the rack 22 and the toothed ring 24, such as applying lubricating oil and removing dust, to ensure stable operation and make adjustments according to specific usage conditions.

[0061] Ball bearings and other structures are provided between the inner wall of the rotating ring 25 and the circular groove 20, and between the toothed ring 24 and the inner wall of the ring groove 23, to improve the smoothness of the rotation of the rotating ring 25 and the toothed ring 24.

[0062] A fan cover 28 is fixedly connected to the slide plate 8. The fan cover 28 surrounds the outside of the fan 27. The fan cover 28 is set to protect the fan 27 and prevent the operator from accidentally touching the fan 27.

[0063] In actual use, the angle adjustment component works in conjunction with the robotic arm 2 to bring the groove side of the gripper 6 closer to the goods. The corresponding third electric push rod 16 is then extended, and the corresponding slide plate 8 slides inside the sliding channel 7. Since the rack 22 and the toothed ring 24 are meshed, the toothed ring 24 will drive the rotating ring 25 to rotate. The rotating ring 25 drives the fan 27 to rotate through the rotating shaft 26, generating an airflow that passes through the outer wall of the goods and then through the circular groove 20 and the wind hood 28 in sequence. This airflow removes the floating dust from the outside of the goods, making it easier to grip them and preventing slippage.

[0064] Meanwhile, the angle adjustment component works in conjunction with the robotic arm 2 to move the clamping mechanism 3, performing mobile dust removal and processing the position where the goods need to come into contact with the clamping mechanism 3.

[0065] Furthermore, when the telescopic end of the third electric push rod 16 is retracted, it can also blow away dust from the position where the goods need to come into contact with the clamping mechanism 3. Alternatively, after the clamping mechanism 3 is moved away from the goods, the telescopic end of the third electric push rod 16 can be controlled to retract, and adjustments can be made according to the specific usage.

[0066] By setting up structures such as rotating ring 25, fan 27 and transmission components, the sliding plate 8 slides inside the sliding channel 7 as power to perform mobile dust removal, and to process the position where the goods need to come into contact with the clamping mechanism 3, so as to facilitate subsequent gripping and avoid slippage.

[0067] By using the sliding plate 8 to slide inside the sliding channel 7 as a power source, there is no need to set up an additional power structure, thus reducing the cost of equipment use.

[0068] Example 2, the present invention provides as follows Figures 12-13 The palletizing robot shown has an adjustable gripping angle. Considering that some goods may have stubborn adhesive residue on their exterior, which is difficult to clean by wind alone, a protrusion 29 is fixedly connected to the inner wall of the sliding channel 7, and the protrusion 29 is located at the end of the sliding channel 7 near the third electric push rod 16. A round shaft 30 is fixedly connected to the protrusion 29, and a rotating bar 31 is rotatably connected to the round shaft 30. A cleaning component 34 is installed at the end of the rotating bar 31 away from the protrusion 29. A torsion spring 32 is fitted on the round shaft 30. One end of the torsion spring 32 is fixedly connected to the rotating bar 31, and the other end of the torsion spring 32 is fixedly connected to the round shaft 30. An elastic rope 33 is fixedly connected to the end of the rotating bar 31 near the cleaning component 34, and the end of the elastic rope 33 away from the rotating bar 31 is fixedly connected to the slide plate 8.

[0069] The cleaning component 34 can use, but is not limited to, structures such as cotton swabs and cleaning brushes, and can be replaced periodically by operators. The length of the rotating strip 31 and the size of the cleaning component 34 can be adjusted according to the specific usage.

[0070] Before performing mobile dust removal, the telescopic end of the third electric push rod 16 is retracted, and the slide plate 8 moves towards the protrusion 29. Under the action of the return spring force of the torsion spring 32, the cleaning component 34 swings outward. Then, the slide plate 8 is attached to the rotating bar 31. The rotating bar 31 is perpendicular to the sliding channel 7, which fixes the rotating bar 31 and the cleaning component 34. The angle adjustment component cooperates with the robotic arm 2 to make the groove side of the clamp 6 close to the goods. The cleaning component 34 contacts the stubborn adhesive on the outside of the goods and removes the stubborn adhesive by using the cleaning component 34 to ensure the stability of the clamping and locking.

[0071] After cleaning, the telescopic end of the third electric push rod 16 is extended, driving the slide plate 8 to move away from the protrusion 29. The elastic rope 33 is used to pull the rotating bar 31 and the cleaning part 34 into the interior of the sliding channel 7 to achieve recycling. This does not affect the subsequent clamping and locking of the goods. At the same time, since the elastic rope 33 has a certain elasticity, it does not affect the sliding of the slide plate 8.

[0072] During the process of the cleaning component 34 being retracted into the sliding channel 7, the control slide plate 8 is moved back and forth multiple times, causing the cleaning component 34 to swing multiple times outside the sliding channel 7, shaking off the residual adhesive, making it easier for subsequent use.

[0073] By setting up structures such as cleaning component 34, torsion spring 32 and elastic rope 33, the rotating bar 31 is fixed to the cleaning component 34 to remove stubborn adhering objects and ensure the stability of clamping and locking. At the same time, the movement of the sliding plate 8 is used as power to realize the recycling of the cleaning component 34 without affecting the clamping and locking of the goods.

Claims

1. A palletizing robot with adjustable gripping angle, comprising a base (1) and a robotic arm (2) fixedly mounted on the base (1), characterized in that: The end of the robotic arm (2) is provided with a clamping mechanism (3); The clamping mechanism (3) includes a V-shaped clamp (6), with sliding channels (7) on both sides of the clamp (6). A sliding plate (8) is slidably arranged inside the sliding channel (7). A first rotating channel (9) is opened on the sliding plate (8). A clamping plate (10) is rotatably arranged inside the first rotating channel (9). The clamping plate (10) and the sliding plate (8) intersect in an X shape, and the tilt angle of the clamping plate (10) is adjusted by a first control component. The clamping plate (10) has a second rotating channel (12) at the end away from the first control component. A reinforcing plate (13) is rotatably installed inside the second rotating channel (12). The reinforcing plate (13) and the clamping plate (10) are X-shaped and the tilt angle of the reinforcing plate (13) can be adjusted by the second control component. The first control component includes a first electric push rod (11), and the second control component includes a second electric push rod (15). A third electric push rod (16) is fixedly connected to the outer wall of the clamp (6). There are two third electric push rods (16), which are staggered. The clamp (6) has a through slot (17) for the telescopic end of the third electric push rod (16) to pass through. The slide plate (8) is fixedly connected to the telescopic end of the corresponding third electric push rod (16).

2. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: One end of the first electric push rod (11) is hinged to the clamp plate (10), and the other end of the first electric push rod (11) is hinged to the outer wall of the clamp (6).

3. The palletizing robot with adjustable gripping angle according to claim 1, characterized in that: One end of the second electric push rod (15) is hinged to the inner wall of the second rotating channel (12), and the other end of the second electric push rod (15) is hinged to the reinforcing plate (13).

4. A palletizing robot with adjustable gripping angle according to claim 1, characterized in that: The slide plate (8) has a circular groove (20), and the inner wall of the circular groove (20) has an annular groove (23). The bottom end of the sliding channel (7) has a rectangular groove (21). The annular groove (23) is connected to the rectangular groove (21). The circular groove (20) has a rotating ring (25) inside it. The rotating ring (25) has a rotating shaft (26) fixedly connected to it. A fan (27) is fixedly installed at one end of the rotating shaft (26) away from the inner side of the clamp (6).

5. A palletizing robot with adjustable gripping angle according to claim 4, characterized in that: A transmission assembly for driving the rotating ring (25) to rotate is provided between the rotating ring (25) and the rectangular groove (21). The transmission assembly includes a rack (22) and a toothed ring (24). The rack (22) is fixedly connected inside the rectangular groove (21). The toothed ring (24) is rotatably disposed inside the ring groove (23). The rotating ring (25) is fixedly connected to the toothed ring (24). The rack (22) and the toothed ring (24) are meshed together.

6. A palletizing robot with adjustable gripping angle according to claim 4, characterized in that: A fan cover (28) is fixedly connected to the slide plate (8), and the fan cover (28) surrounds the outside of the fan (27).

7. A palletizing robot with adjustable gripping angle according to claim 1, characterized in that: The top of the sliding channel (7) is provided with a groove (18), and a slider (19) is slidably arranged inside the groove (18). The slider (19) is fixedly connected to the slide plate (8).

8. A palletizing robot with adjustable gripping angle according to claim 1, characterized in that: An extension strip (14) is fixedly connected to the end of the reinforcing plate (13) away from the second control component.

9. A palletizing robot with adjustable gripping angle according to claim 1, characterized in that: The clamping mechanism (3) further includes an angle adjustment component, which includes a fixed frame (4) and a motor (5). The fixed frame (4) is fixedly connected to the end of the robotic arm (2), the motor (5) is fixedly connected to the fixed frame (4), and the clamp (6) is fixedly connected to the drive shaft of the motor (5).

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