A palletizing device based on robot loading

Abstract

The present invention belongs to the field of conveying technology, and in particular to a palletizing device based on robot loading. The following scheme is proposed, comprising a movable base, the top of the movable base is connected to a support base by bolts, and the top of the support base is rotatably connected to a turntable by a bearing, a motor slot is provided at the bottom of the support base, and a first motor is connected to the top of the motor slot by bolts, one end of the first motor is fixedly connected to the bottom of the turntable, a lifting mechanism is provided at the top of the turntable, a connecting rod is provided on one side of the lifting mechanism, and one end of the connecting rod is connected to a support shaft by bolts, and a clamping mechanism is provided at the bottom of the support shaft. The present invention can correct tilted objects and prevent the center of gravity of the stacked objects from changing due to the tilted position of multiple objects during stacking, thereby causing the objects to collapse during stacking and causing damage to the objects.

Description

Technical Field

[0001] The present invention relates to the field of transportation, and in particular to a palletizing device based on robot loading. Background Art

[0002] The palletizer automatically stacks cartons that have been packed into containers on pallets and stacking boards in a certain arrangement. It can stack multiple layers and then push them out to facilitate forklift transportation to the warehouse for storage.

[0003] A search revealed a Chinese patent application with publication number CN108516354A, which discloses an industrial robot palletizing device comprising a top plate, the bottom of which is fixedly connected to a box, stabilizing blocks fixedly connected to both sides of the top of the box's inner wall, and vertical plates movably connected to the surfaces of the stabilizing blocks. The bottoms of the vertical plates are fixedly connected to hydraulic cylinders, one end of the hydraulic cylinder output shafts being fixedly connected to universal wheels, and the stabilizing plates being fixedly connected to opposing sides of the two hydraulic cylinders. A first threaded rod is fixedly connected to the bottom of the box's inner wall. This invention relates to the field of industrial machinery technology. This industrial robot palletizing device, through the coordinated arrangement of a fixed rod, a movable plate, a top plate, a movable plate, a fixed block, and a second threaded rod, enables the universal wheels to extend from within the box, thereby resolving the problem of the palletizing device being inconvenient to move and avoiding the current situation where the palletizing device is often fixed in a specific position. This reduces production costs, conserves resources, and reduces labor usage.

[0004] Existing equipment usually stacks multiple boxes together during palletizing. However, during the stacking process, if the box tilts with respect to the bottom box, as the box continues to be stacked, the box's center of gravity will change due to the tilt, causing the stacked box to collapse. Summary of the Invention

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A palletizing device based on robot loading includes a mobile base, the top of the mobile base is connected to a support base by bolts, and the top of the support base is rotatably connected to a turntable by a bearing, a motor slot is provided at the bottom of the support base, and the top of the motor slot is connected to a first motor by bolts, one end of the first motor is fixedly connected to the bottom of the turntable, a lifting mechanism is provided on the top of the turntable, a connecting rod is provided on one side of the lifting mechanism, and one end of the connecting rod is connected to a support shaft by bolts, a clamping mechanism is provided at the bottom of the support shaft, and anti-deflection mechanisms are provided on opposite sides of the clamping mechanism, and the anti-deflection mechanism and the clamping mechanism are matched with each other.

[0007] Preferably, the lifting mechanism includes a lifting seat, a lead screw, a second motor and a lifting block, and the bottom of the lifting seat is connected to the top of the turntable by bolts, a lifting port is opened through one side of the lifting seat, both ends of the lead screw are rotatably connected to the lifting port by bearings, the inner wall of the lifting port is slidably connected to the lifting block, a threaded hole is opened through the top of the lifting block, the threaded hole is threadedly connected to the lead screw, one side of the lifting block is connected to the connecting rod by bolts, the top of the lifting seat is connected to the second motor by bolts, and one end of the second motor is fixedly connected to the top of the lead screw.

[0008] Preferably, a slide groove is provided on the top of the movable base, and the shape of the slide groove is annular. Two sliders are slidably connected to the inner wall of the circumference of the slide groove. The top of the slider is connected to a pillar by bolts, and multiple support rods are fixed between the pillar and the lifting seat.

[0009] Preferably, the clamping mechanism includes a horizontal plate, two support plates, a third motor, a double-headed screw and two clamping plates, and the horizontal plate is connected to the support shaft by bolts, the two sides of the bottom of the horizontal plate are fixedly connected to the two support plates, and the two support plates and the double-headed screw are rotatably connected by bearings. The thread directions on both sides of the double-headed screw are opposite, one side of one of the support plates is connected to the third motor by bolts, and threaded openings are opened on one side of the two clamping plates, and the two threaded openings are threadedly connected to the double-headed screw, and the top of the clamping plate is slidably connected to the bottom of the horizontal plate.

[0010] Preferably, the anti-deflection mechanism includes a clamping block, an anti-deflection plate and a push plate, and a first spring is connected to the clamping plate by bolts on one side of the clamping block, an extension groove is provided at the bottom of the two clamping plates, the extension groove is slidably connected to the anti-deflection plate, a second spring is connected to the top of the anti-deflection plate by bolts on the extension groove, a slot is provided on one side of the extension groove, the slot is slidably connected to the push plate, the two ends of the push plate are respectively connected to the bottom of the anti-deflection plate and the top of the clamping block by hinges, and the push plate is arranged at an angle.

[0011] Preferably, a limiting mechanism is provided on one side of the anti-deflection mechanism, and the limiting mechanism and the anti-deflection mechanism are matched with each other.

[0012] Preferably, the limiting mechanism includes a limiting plate and a transmission assembly, and the limiting plate and the splint are connected by the transmission assembly. A pulling groove is provided at the bottom position on one side of the anti-deflection plate, and the inner wall of the pulling groove is slidingly connected to the limiting plate. A through opening is provided on one side of the top of the pulling groove, and a connecting groove is provided on the top of the limiting plate.

[0013] Preferably, the transmission assembly is composed of a first rack, a gear and a second rack, and one side of the second rack is connected to the clamping plate by bolts, the bottom of the first rack is connected to the connecting groove by bolts, both ends of one side of the anti-deflection plate are connected to the gear seat by bolts, and the two gear seats are rotatably connected to a rotating shaft through a bearing, the gear is fixedly sleeved on the outer wall of the rotating shaft, one side of the gear is meshed with the second rack, and the bottom of the gear is meshed with the first rack.

[0014] The beneficial effects of the present invention are:

[0015] 1. The present invention provides a clamping mechanism and an anti-deflection mechanism. When the robot performs palletizing, the mobile base is started, and the mobile base drives the clamping mechanism to move. When the clamping mechanism moves to the top of the stacked object, the mobile base stops moving, and the lifting mechanism drives the clamping mechanism to move downward. At this time, the clamping mechanism is started, and the clamping mechanism clamps both sides of the object and fixes both sides of the object through the clamping blocks. After the fixation is completed, the lifting mechanism is started, and the lifting mechanism drives the clamping mechanism and the object to rise. At this time, the clamping mechanism continues to clamp both sides of the object, and the clamping block moves toward one side of the splint under the action of pressure. When the objects are stacked, the anti-deflection plates are located on both sides of the objects, so that the anti-deflection plates can correct the tilted objects and prevent the objects from collapsing and being damaged due to the tilted positions of the objects when they are stacked. When the clamping mechanism puts down the objects, the anti-deflection plates are retracted into the interior of the extension slot to prevent the anti-deflection plates from accidentally hitting one side of the objects and causing the objects to collapse.

[0016] 2. The present invention provides an anti-deflection mechanism and a limiting mechanism. When the stacking of objects is corrected by the anti-deflection mechanism, the anti-deflection plate will extend downward under the action of the clamping block. At this time, the gear will move downward synchronously with the downward movement of the anti-deflection plate, and the gear will mesh with the second rack when moving downward. The gear will rotate under the action of the meshing, and when the gear rotates, it will cause the first rack to move laterally through meshing, and the first rack will drive the limiting plate to move while moving. At this time, the limiting plate will extend from the inside of the pull-out groove, so as to facilitate the limiting processing of the bottom of the object. Otherwise, the object will slide down due to the action of gravity, so that the object will fall on the ground and cause damage to the object. The sliding of the object can be supported by the limiting plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is a schematic structural diagram of a palletizing device based on robot loading proposed by the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of a mobile base of a palletizing device based on robot loading proposed by the present invention;

[0019] Figure 3 This is a schematic structural diagram of the lifting mechanism and clamping mechanism of a palletizing device based on robot loading proposed by the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of a clamping mechanism of a palletizing device based on robot loading proposed by the present invention;

[0021] Figure 5 This is a schematic diagram of the partial structure of a palletizing device based on robot loading proposed by the present invention;

[0022] Figure 6 This is a schematic structural diagram of a limiting mechanism of a palletizing device based on robot loading proposed by the present invention;

[0023] Figure 7 This is a schematic diagram of the transmission component structure of a palletizing device based on robot loading proposed by the present invention.

[0024] In the accompanying drawings: 1. movable base; 2. slide; 3. slider; 4. support seat; 5. pillar; 6. clamping mechanism; 7. support shaft; 8. connecting rod; 9. lifting mechanism; 10. support rod; 11. turntable; 12. lifting seat; 13. first motor; 14. lifting port; 15. lead screw; 16. lifting block; 17. second motor; 18. cross plate; 19. support plate; 20. double-headed screw; 21. third motor; 22. clamping plate; 23. notch; 24. anti-deflection plate; 25. pulling groove; 26. clamping block; 27. first spring; 28. push plate; 29. ​​limiting mechanism; 30. limiting plate; 31. connecting groove; 32. gear seat; 33. rotating shaft; 34. gear; 35. first rack; 36. second rack. DETAILED DESCRIPTION

[0025] Example 1, reference Figure 1-Figure 5, a palletizing device based on robot loading, includes a mobile base 1, the top of the mobile base 1 is connected to a support base 4 by bolts, and the top of the support base 4 is rotatably connected to a turntable 11 through a bearing, a motor slot is opened at the bottom of the support base 4, and the top of the motor slot is connected to a first motor 13 by bolts, one end of the first motor 13 is fixedly connected to the bottom of the turntable 11, and a lifting mechanism 9 is provided on the top of the turntable 11, a connecting rod 8 is provided on one side of the lifting mechanism 9, and one end of the connecting rod 8 is connected to a support shaft 7 by bolts, a clamping mechanism 6 is provided at the bottom of the support shaft 7, and anti-deflection mechanisms are provided on opposite sides of the clamping mechanism 6, and the anti-deflection mechanism and the clamping mechanism 6 are cooperated to correct tilted objects to prevent the center of gravity of the stacked objects from changing due to the tilted position when multiple objects are stacked, thereby causing the objects to collapse during stacking and causing damage to the objects.

[0026] On the basis of the above, the lifting mechanism 9 includes a lifting seat 12, a screw 15, a second motor 17 and a lifting block 16, and the bottom of the lifting seat 12 is connected to the top of the turntable 11 by bolts, and a lifting port 14 is opened on one side of the lifting seat 12. The two ends of the screw 15 are connected to the lifting port 14 by bearings to form a rotation connection, and the inner wall of the lifting port 14 is connected to the lifting block 16 in a sliding manner. A threaded hole is opened on the top of the lifting block 16, and the threaded hole is threadedly connected to the screw 15. One side of the lifting block 16 is connected to the connecting rod 8 by bolts, and the top of the lifting seat 12 is connected to the second motor 17 by bolts. One end of the second motor 17 is fixedly connected to the top of the screw 15.

[0027] On the basis of the above, a slide groove 2 is opened on the top of the mobile base 1, and the shape of the slide groove 2 is annular. Two sliders 3 are slidably connected to the inner wall of the circumference of the slide groove 2. The top of the slider 3 is connected to the pillar 5 by bolts, and multiple support rods 10 are fixed between the pillar 5 and the lifting seat 12.

[0028] On the basis of the above, the clamping mechanism 6 includes a horizontal plate 18, two support plates 19, a third motor 21, a double-headed screw 20 and two clamping plates 22, and the horizontal plate 18 is connected to the support shaft 7 by bolts, and the two sides of the bottom of the horizontal plate 18 are fixedly connected to the two support plates 19. The two support plates 19 and the double-headed screw 20 form a rotational connection through bearings. The thread directions on both sides of the double-headed screw 20 are opposite. One side of one of the support plates 19 is connected to the third motor 21 by bolts. A threaded opening is opened on one side of the two clamping plates 22, and the two threaded openings are threadedly connected to the double-headed screw 20. The top of the clamping plate 22 is slidably connected to the bottom of the horizontal plate 18.

[0029] On the basis of the above, the anti-deflection mechanism includes a clamping block 26, an anti-deflection plate 24 and a push plate 28, and a first spring 27 is connected to the clamping plate 22 on one side of the clamping block 26 by bolts. An extension groove is provided at the bottom of the two clamping plates 22, and the extension groove is slidably connected to the anti-deflection plate 24. A second spring is connected to the top of the anti-deflection plate 24 and the extension groove by bolts. A slot 23 is provided on one side of the extension slot, and the slot 23 is slidably connected to the push plate 28. The two ends of the push plate 28 are respectively connected to the bottom of the anti-deflection plate 24 and the top of the clamping block 26 by hinges, and the push plate 28 is tilted.

[0030] Example 2, reference Figure 1-Figure 7 , a palletizing device based on robot loading, compared with Example 1, on the basis of Example 1, a limiting mechanism 29 is set on one side of the anti-deflection mechanism, and the limiting mechanism 29 is coordinated with the anti-deflection mechanism.

[0031] On the basis of the above, the limiting mechanism 29 includes a limiting plate 30 and a transmission assembly, and the limiting plate 30 is connected to the splint 22 through the transmission assembly. A pull-out groove 25 is provided at the bottom position on one side of the anti-deflection plate 24. The inner wall of the pull-out groove 25 is slidingly connected to the limiting plate 30. A through opening is provided on one side of the top of the pull-out groove 25, and a connecting groove 31 is provided on the top of the limiting plate 30.

[0032] On the basis of the above, the transmission assembly is composed of a first rack 35, a gear 34 and a second rack 36, and one side of the second rack 36 is connected to the splint 22 by bolts, and the bottom of the first rack 35 is connected to the connecting groove 31 by bolts. Both ends of one side of the anti-deflection plate 24 are connected to the gear seat 32 by bolts, and the two gear seats 32 are rotatably connected with the rotating shaft 33 through a bearing. The gear 34 is fixedly sleeved on the outer wall of the rotating shaft 33, and one side of the gear 34 is meshed with the second rack 36, and the bottom of the gear 34 is meshed with the first rack 35. The limit plate 30 will extend from the inside of the pulling groove 25, so as to facilitate the limiting processing of the bottom of the object. On the contrary, the object will slide down due to the action of gravity, causing the object to fall on the ground and cause damage to the object. The limiting plate 30 can support the sliding of the object.

[0033] In summary, with the help of the above technical solution of the present invention: when the robot is used for palletizing, the mobile base 1 is started, and the mobile base 1 drives the clamping mechanism 6 to move. When the clamping mechanism 6 moves to the top of the stacked object, the mobile base 1 stops moving, and the lifting mechanism 9 drives the clamping mechanism 6 to move downward. At this time, the clamping mechanism 6 is started, and the clamping mechanism 6 clamps both sides of the object, and the clamping blocks 26 clamp and fix both sides of the object. After the fixation is completed, the lifting mechanism 9 is started, and the lifting mechanism 9 drives the clamping mechanism 6 and As the object rises, the clamping mechanism 6 will continue to clamp both sides of the object, and the clamping block 26 will move to one side of the clamping plate 22 under the action of pressure. At this time, the clamping block 26 will push the push plate 28 to move. Since the push plate 28 is tilted, the push plate 28 will drive the anti-deflection plate 24 to move downward under the action of the pressure of the clamping block 26, and the anti-deflection plate 24 will extend from the inside of the extension groove. When the objects are stacked, the anti-deflection plates 24 will be located on both sides of the stacked objects, so that the tilted objects can be corrected by the anti-deflection plates 24. The invention relates to a method for preventing the center of gravity of the stacked objects from changing due to the tilt of the position when multiple objects are stacked, thereby causing the objects to collapse during stacking and causing damage to the objects. When the clamping mechanism 6 puts down the objects, the anti-deflection plate 24 will be retracted into the interior of the extension groove, thereby preventing the anti-deflection plate 24 from accidentally hitting one side of the object and causing the object to collapse. When the stacking of the objects is corrected by the anti-deflection mechanism, the anti-deflection plate 24 will extend downward under the action of the clamping block. At this time, the gear 34 will move downward synchronously with the downward movement of the anti-deflection plate 24, and the gear 34 will move downward when it moves downward. The gear 34 is meshed with the second rack 36, and the gear 34 rotates under the action of the meshing. When the gear 34 rotates, the first rack 35 moves laterally through meshing, and the first rack 35 drives the limit plate 30 to move while moving. At this time, the limit plate 30 extends from the inside of the pull-out groove 25, so as to facilitate the limiting treatment of the bottom of the object. Otherwise, the object slides down due to the action of gravity, causing the object to fall on the ground and cause damage to the object. The limit plate 30 can support the sliding of the object.

[0034] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A palletizing device based on robot loading, comprising a mobile base (1), characterized in that: The top of the movable base (1) is connected to the support base (4) by bolts, and the top of the support base (4) is rotatably connected to the turntable (11) through a bearing. The bottom of the support base (4) is provided with a motor slot, and the top of the motor slot is connected to the first motor (13) by bolts. One end of the first motor (13) is fixedly connected to the bottom of the turntable (11). The top of the turntable (11) is provided with a lifting mechanism (9), one side of the lifting mechanism (9) is provided with a connecting rod (8), and one end of the connecting rod (8) is connected to the support shaft (7) by bolts. The bottom of the support shaft (7) is provided with a clamping mechanism (6), and anti-deflection mechanisms are provided on opposite sides of the clamping mechanism (6). There is a gap between the anti-deflection mechanism and the clamping mechanism (6). The clamping mechanism (6) comprises a horizontal plate (18), two support plates (19), a third motor (21), a double-headed screw (20) and two clamping plates (22), and the horizontal plate (18) is connected to the support shaft (7) by bolts, the two sides of the bottom of the horizontal plate (18) are fixedly connected to the two support plates (19), the two support plates (19) and the double-headed screw (20) are connected to each other by bearings, the threads on both sides of the double-headed screw (20) are in opposite directions, one side of one of the support plates (19) is connected to the third motor (21) by bolts, one side of the two clamping plates (22) is provided with a threaded opening, the two threaded openings are threadedly connected to the double-headed screw (20), and the top of the clamping plate (22) slides with the bottom of the horizontal plate (18) The anti-deflection mechanism comprises a clamping block (26), an anti-deflection plate (24) and a push plate (28), and a first spring (27) is connected to the clamping block (26) and the clamping plate (22) by a bolt, an extension groove is provided at the bottom of the two clamping plates (22), the extension groove and the anti-deflection plate (24) are slidably connected, a second spring is connected to the top of the anti-deflection plate (24) and the extension groove by a bolt, a notch (23) is provided through one side of the extension groove, the notch (23) and the push plate (28) are slidably connected, the two ends of the push plate (28) are respectively connected to the bottom of the anti-deflection plate (24) and the top of the clamping block (26) by a hinge, the push plate (28) is tilted, and a limiting mechanism (29) is provided on one side of the anti-deflection mechanism, and the limiting mechanism (29) ) forms a match with the anti-deflection mechanism, the limiting mechanism (29) includes a limiting plate (30) and a transmission assembly, and the limiting plate (30) is connected to the clamping plate (22) through the transmission assembly, one side of the anti-deflection plate (24) is provided with a drawing groove (25) at the bottom, the inner wall of the drawing groove (25) is slidably connected to the limiting plate (30), one side of the top of the drawing groove (25) is provided with a through opening, and the top of the limiting plate (30) is provided with a connecting groove (31), the transmission assembly is composed of a first rack (35), a gear (34) and a second rack (36), and one side of the second rack (36) is connected to the clamping plate (22) by a bolt, and the bottom of the first rack (35) is connected to the connecting groove (31) by a bolt,Both ends of one side of the anti-deflection plate (24) are connected to a gear seat (32) by bolts, and a rotating shaft (33) is rotatably connected between the two gear seats (32) through a bearing. The gear (34) is fixedly sleeved on the outer wall of the rotating shaft (33), and one side of the gear (34) is meshed with the second rack (36), and the bottom of the gear (34) is meshed with the first rack (35).

2. The palletizing equipment based on robot loading according to claim 1, characterized in that: The lifting mechanism (9) includes a lifting seat (12), a lead screw (15), a second motor (17) and a lifting block (16), and the bottom of the lifting seat (12) is connected to the top of the turntable (11) by bolts, a lifting port (14) is provided through one side of the lifting seat (12), two ends of the lead screw (15) and the lifting port (14) are connected in rotation by bearings, an inner wall of the lifting port (14) and the lifting block (16) are connected in a sliding manner, a threaded hole is provided through the top of the lifting block (16), the threaded hole is threadedly connected to the lead screw (15), one side of the lifting block (16) and the connecting rod (8) are connected by bolts, the top of the lifting seat (12) and the second motor (17) are connected by bolts, and one end of the second motor (17) is fixedly connected to the top of the lead screw (15).

3. The palletizing equipment based on robot loading according to claim 2, characterized in that: A slide groove (2) is provided on the top of the movable base (1), and the slide groove (2) is annular in shape. Two sliders (3) are slidably connected to the inner wall of the circumference of the slide groove (2). The top of the slider (3) is connected to a pillar (5) by bolts. A plurality of support rods (10) are fixed between the pillar (5) and the lifting seat (12).

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