Stacking robot capable of flexibly adapting to special-shaped parts

Abstract

The invention discloses a palletizing robot capable of flexibly adapting to special-shaped parts, and relates to the field of automatic logistics equipment.The palletizing robot comprises a base, a mechanical arm base is fixedly installed at the top of the base, a first force arm is rotatably installed at the top of the mechanical arm base, and a second force arm is rotatably connected to the end of the first force arm; a deformation mechanism is fixedly installed at the end of the second force arm, and a clamping mechanism is fixedly connected to the bottom of the deformation mechanism. By arranging the deformation mechanism composed of the supporting table, the movable block, the extension rod, the movable rod, the connecting column, the guide support and the like, multi-direction sliding adjustment of the supporting table and accurate fine adjustment of the movable block are achieved, meanwhile, driving of the electric cylinder to the movable rod is combined, the position and angle of the clamping mechanism can be adjusted in a multi-dimensional mode, and the clamping efficiency is improved. The problems that a clamping mechanism of traditional stacking equipment is single in adjusting dimension and poor in adaptability are effectively solved, and the clamping mechanism can be flexibly matched with special-shaped pieces of different shapes.

Description

Technical Field

[0001] This invention relates to the field of automated logistics equipment technology, specifically to a palletizing robot that can flexibly adapt to irregularly shaped parts. Background Technology

[0002] In industrial production and logistics warehousing, palletizing is a key process for achieving efficient transfer and storage of goods.

[0003] In the prior art, such as the "palletizing robot" with publication number CN119098942A, the roller conveyor line includes multiple conveyor rollers arranged side by side. The palletizing robot includes a robotic arm and a robotic claw. The robotic claw includes two opposing grippers. Each gripper has multiple claw fingers spaced apart to extend into the gaps between the conveyor rollers and lift goods from the bottom. Each claw finger has two contact plates and a return torsion spring. The two contact plates are symmetrically arranged on both sides of the claw fingers and can rotate so that the contact plates can be vertically retracted and horizontally opened. The return torsion spring is connected to the contact plates to drive the contact plates to retract vertically. The contact plates have inclined surfaces to guide the contact plates to open horizontally after contacting the goods.

[0004] While existing technologies allow for relatively stable automated operation of traditional palletizing equipment, when palletizing irregularly shaped items (such as irregularly contoured mechanical parts and irregularly shaped packaging materials), the gripping mechanisms of many palletizing robots employ fixed structures, limiting their adaptability to goods of specific shapes or sizes. They cannot flexibly adjust the gripping angle and form according to the shape of the irregularly shaped items. Some palletizing equipment with simple adjustment functions has low adjustment precision and relies on a single drive structure for position or angle adjustment, making it difficult to achieve multi-dimensional and precise adaptation. This leads to problems such as unstable gripping and goods falling when gripping irregularly shaped items, affecting palletizing efficiency, potentially damaging the irregularly shaped items, increasing production and warehousing costs, and limiting the application scope of palletizing robots in irregularly shaped item handling scenarios. Summary of the Invention

[0005] The purpose of this invention is to provide a flexible palletizing robot that adapts to irregularly shaped parts, in order to solve the problems mentioned in the background art. The traditional palletizing robot clamping mechanisms are mostly fixed structures that can only adapt to specific goods, or have low adjustment accuracy and rely on a single drive to make it difficult to achieve multi-dimensional adaptation. This leads to instability and dropping when clamping irregularly shaped parts, affecting work efficiency and easily damaging goods.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a palletizing robot that flexibly adapts to irregularly shaped parts, comprising a base, a robotic arm base fixedly mounted on the top of the base, a first lever arm rotatably mounted on the top of the robotic arm base, a second lever arm rotatably connected to the end of the first lever arm, a deformation mechanism fixedly mounted at the end of the second lever arm, and a clamping mechanism fixedly connected to the bottom of the deformation mechanism. The deformation mechanism includes a support platform, a movable block, an extension rod, and a movable rod. The movable block is movably mounted on the top of the support platform, and multiple movable blocks are spliced ​​together to form a disc-shaped structure. The extension rod is fixedly mounted on the edge of the support platform, and a connecting rod is fixedly connected to the bottom of the extension rod. The end of the connecting rod is fixedly connected to the clamping mechanism. The clamping mechanism includes a positioning plate and a fitting rod. The fitting rod is rotatably mounted on the end of the positioning plate and is located on the lower surface of the positioning plate. The fitting rod is symmetrically distributed along the extension rod and its end faces the extension rod. A bending rod is fixedly connected to one side of the positioning plate and is fixedly connected to the connecting rod. The movable rod determines the angle of the positioning plate, and the fitting rod adjusts the contact angle with the irregular part by rotation.

[0007] Preferably, a connecting post is provided at the end of the movable block splicing point, a positioning block is fixedly connected to the top of the connecting post, the positioning block is fixedly connected to the end of the second lever arm, a fixing frame is fixedly installed at the bottom of the connecting post, a guide bracket is fixedly installed on the rod of the connecting post, the guide bracket is cross-shaped, and the fixing frame is connected to the guide bracket by bolts.

[0008] Preferably, the bottom of the support platform is slidably connected to the guide bracket, an anti-detachment groove is provided at the junction of the support platform and the guide bracket, a first servo motor is fixedly installed at the end of the support platform, a gear is fixedly installed at the output end of the movable block, a strip-shaped toothed groove is provided on the upper surface of the guide bracket, the four strip-shaped toothed grooves are perpendicular to each other, and the gear at the output end of the first servo motor meshes with the strip-shaped toothed groove.

[0009] Preferably, a partition bracket is fixedly installed on the top of the movable block, a second servo motor is fixedly installed on the top of the partition bracket, a gear is installed at the output end of the second servo motor, an annular groove is formed on the upper surface of the support platform, an arc-shaped tooth groove is formed on one side of the annular groove, the annular grooves on the upper surface of multiple support platforms are connected, and the gear at the output end of the second servo motor meshes with the arc-shaped tooth groove.

[0010] Preferably, the internal part of the partition bracket is rotatably mounted with an adapter end, and an electric cylinder is fixedly mounted at the end of the adapter end. The electric cylinder is located above the extension rod, and one end of the piston rod of the electric cylinder is rotatably connected to the movable rod. The output shaft of the second servo motor passes through the adapter end, and a strip hole is provided at the junction of the adapter end and the output shaft of the second servo motor.

[0011] Preferably, a third servo motor is fixedly installed at the top of the movable rod, and a transmission rod is fixedly connected to the output end of the third servo motor. The transmission rod passes through the end of the movable rod, and the other end of the transmission rod passes through the junction of the bent rod and the connecting rod. The transmission rod is rotatably connected to the positioning plate.

[0012] Preferably, a push plate is rotatably mounted on the outer wall of the transmission rod, an arc-shaped plate is fixedly mounted on the end of the push plate, and a toothed plate is fixedly mounted on the lower surface of the arc-shaped plate, with the two toothed plates arranged alternately.

[0013] Preferably, a driven gear shaft is fixedly installed at the end of the fitting rod, the driven gear shaft meshes with the toothed plate on the lower surface of the arc plate, and the driven gear shaft is located between the arc plate and the positioning plate.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, by setting up a deformation mechanism consisting of a support platform, a movable block, an extension rod, a connecting column, and a guide bracket, the multi-directional sliding adjustment of the support platform and the precise fine-tuning of the movable block are realized. At the same time, combined with the electric cylinder driving the movable rod, the position and angle of the clamping mechanism can be adjusted in multiple dimensions, effectively solving the problems of single adjustment dimension and poor adaptability of the clamping mechanism of traditional palletizing equipment, and can flexibly adapt to irregular parts with different shapes.

[0015] 2. In this invention, the clamping mechanism adopts a positioning plate combined with a rotatable fitting rod design. The transmission rod is driven by a third servo motor, which drives the push plate and the arc plate to move. By utilizing the meshing transmission between the staggered toothed plate on the lower surface of the arc plate and the driven gear shaft, the angle adjustment of the fitting rod is synchronized and stable, ensuring that the fitting rod can closely fit the surface of the irregular part, improving the stability of the irregular part clamping, and avoiding the clamping loosening and goods falling off that are prone to occur in traditional fixed clamping structures.

[0016] 3. In this invention, the deformation mechanism and the clamping mechanism are stably connected through connecting rods and bending rods. Anti-disengagement grooves are set at the junction of the support platform and the guide bracket, and strip holes are opened at the transition end. This not only ensures the structural stability of each component during operation, but also avoids interference between components. At the same time, the overall structure relies on the robotic arm base, the first lever arm, and the second lever arm to achieve a wide range of working position adjustments, taking into account both operational flexibility and structural reliability, and expanding the application scenarios of the palletizing robot. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a palletizing robot that can flexibly adapt to irregularly shaped parts according to the present invention; Figure 2 This is a front view of a palletizing robot that can flexibly adapt to irregularly shaped parts according to the present invention; Figure 3 This is a bottom view of the deformation mechanism and clamping mechanism of a flexible palletizing robot that adapts to irregularly shaped parts according to the present invention. Figure 4 This is a schematic diagram showing the disassembled structure of the movable block and guide support of a flexible palletizing robot that adapts to irregularly shaped parts according to the present invention. Figure 5 This is a schematic diagram showing the connection and structure of the deformation mechanism and clamping mechanism of a flexible palletizing robot that adapts to irregularly shaped parts according to the present invention. Figure 6 This is a bottom view of the support platform and fitting rod of a palletizing robot that can flexibly adapt to irregularly shaped parts according to the present invention. Figure 7 This is a three-dimensional structural diagram of the movable rod and clamping mechanism of a palletizing robot that can flexibly adapt to irregularly shaped parts according to the present invention. Figure 8 For the present invention Figure 7 Enlarged structural diagram of part A.

[0018] In the diagram: 1. Base; 2. Robotic arm base; 3. First lever arm; 4. Second lever arm; 5. Deformation mechanism; 6. Clamping mechanism; 51. Positioning block; 52. Connecting column; 53. Support platform; 54. Movable block; 55. Extension rod; 56. Fixed frame; 57. Guide bracket; 58. Movable rod; 59. Connecting rod; 510. Electric cylinder; 511. Annular groove; 512. Arc-shaped toothed groove; 513. Anti-detachment groove; 514. First servo motor; 515. Separating bracket; 516. Second servo motor; 517. Adapter end; 518. Strip hole; 519. Strip-shaped toothed groove; 61. Positioning plate; 62. Push plate; 63. Arc plate; 64. Fitting rod; 65. Bending rod; 66. Third servo motor; 67. Transmission rod; 68. Driven gear shaft. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1: Refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown: A palletizing robot that flexibly adapts to irregularly shaped parts includes a base 1, a robotic arm base 2 fixedly mounted on the top of the base 1, a first lever arm 3 rotatably mounted on the top of the robotic arm base 2, a second lever arm 4 rotatably connected to the end of the first lever arm 3, a deformation mechanism 5 fixedly mounted to the end of the second lever arm 4, and a clamping mechanism 6 fixedly connected to the bottom of the deformation mechanism 5. The deformation mechanism 5 includes a support platform 53, movable blocks 54, extension rods 55 and movable rods 58. Movable blocks 54 are movably mounted on the top of the support platform 53, and multiple movable blocks 54 are spliced ​​together to form a disc-shaped structure. Extension rods 55 are fixedly mounted on the support platform 53. At the edge of the support platform 53, a connecting rod 59 is fixedly connected to the bottom of the extension rod 55. The end of the connecting rod 59 is fixedly connected to the clamping mechanism 6. The clamping mechanism 6 includes a positioning plate 61 and a fitting rod 64. The fitting rod 64 is rotatably mounted on the end of the positioning plate 61. The fitting rod 64 is located on the lower surface of the positioning plate 61. The fitting rod 64 is symmetrically distributed along the extension rod 55, and its end faces the extension rod 55. A bending rod 65 is fixedly connected to one side of the positioning plate 61. The bending rod 65 is fixedly connected to the connecting rod 59. The movable rod 58 determines the angle of the positioning plate 61. The fitting rod 64 adjusts the contact angle with the irregular part by rotation.

[0021] In this embodiment, the base 1 serves as the overall support foundation, and the robotic arm base 2 fixed at its top provides installation and rotation support for the first lever arm 3. The end of the first lever arm 3 is rotatably connected to the second lever arm 4. The overall working position can be adjusted by the coordinated rotation of the first lever arm 3 and the second lever arm 4. The deformation mechanism 5 fixed at the end of the second lever arm 4 and the clamping mechanism 6 fixedly connected to the bottom of the deformation mechanism 5 are transported to the location where the irregularly shaped parts are to be stacked. In the deformation mechanism 5, the support platform 53 provides an installation carrier for the movable blocks 54. Multiple movable blocks 54 are spliced ​​together to form a disc-shaped structure. The overall shape of the deformation mechanism 5 can be adjusted by the movement of the movable blocks 54 to adapt to different operating requirements. The bottom of the edge-fixed extension rod 55 is fixedly connected to the connecting rod 59, and the end of the connecting rod 59 is fixed to the clamping mechanism 6, realizing a stable connection between the deformation mechanism 5 and the clamping mechanism 6. At the same time, the movable rod 58 can determine the angle of the positioning plate 61 in the clamping mechanism 6. The end of the positioning plate 61 of the clamping mechanism 6 is rotatably mounted with a contact rod 64. The contact rod 64 is located on the lower surface of the positioning plate 61 and is symmetrically distributed along the extension rod 55, with its end facing the extension rod 55. When clamping irregular parts, the contact rod 64 can adjust its contact angle with the irregular part by rotation to ensure that it can closely fit the surface of the irregular part. It works in conjunction with the bent rod 65 fixed to the connecting rod 59 on one side of the positioning plate 61 to position the plate 6. The base 1 provides auxiliary fixation at position 1, ultimately achieving stable clamping of irregularly shaped parts and subsequent palletizing operations. The base 1 provides stable support for the entire robot, ensuring overall stability during operation. The combined design of the robotic arm base 2, the first lever arm 3, and the second lever arm 4 allows for flexible adjustment of the spatial positions of the deformation mechanism 5 and the clamping mechanism 6, expanding the robot's operating range and meeting the palletizing needs of irregularly shaped parts in different positions. The disc-shaped structure composed of movable blocks 54 in the deformation mechanism 5 can flexibly adjust its shape. The connection between the extension rod 55 and the connecting rod 59 ensures stable force transmission. The movable rod 58 determines the angle of the positioning plate 61, providing a foundation for the clamping mechanism 6 to accurately clamp irregularly shaped parts. The rotatable fitting rod 64 in mechanism 6 can adjust the contact angle according to the shape of the irregular part, effectively solving the problem that traditional palletizing robots are difficult to adapt to the clamping of irregular parts. It ensures the clamping tightness and stability of irregular parts of different shapes. The symmetrically distributed fitting rods 64 further improve the force balance during clamping. The fixing of the bending rod 65 and the connecting rod 59 enhances the structural stability of the positioning plate 61 and avoids the positioning plate 61 from shifting during the clamping process, which affects the clamping effect. It realizes flexible adaptation and stable palletizing of irregular parts, improves the flexibility, applicability and reliability of palletizing operations, reduces the risk of falling during the palletizing of irregular parts, and improves palletizing efficiency and quality.

[0022] Example 2: According to Figure 2 , Figure 3 and Figure 4As shown, a connecting post 52 is provided at the end of the splicing of the movable block 54. A positioning block 51 is fixedly connected to the top of the connecting post 52. The positioning block 51 is fixedly connected to the end of the second lever arm 4. A fixing frame 56 is fixedly installed at the bottom of the connecting post 52. A guide bracket 57 is fixedly installed on the rod of the connecting post 52. The guide bracket 57 is cross-shaped. The fixing frame 56 is connected to the guide bracket 57 by bolts. The bottom of the support platform 53 is slidably connected to the guide bracket 57. An anti-detachment groove 513 is provided at the junction of the support platform 53 and the guide bracket 57. A first servo motor 514 is fixedly installed at the end of the support platform 53. A gear is fixedly installed at the output end of the movable block 54. A strip toothed groove 519 is provided on the upper surface of the guide bracket 57. The four strip toothed grooves 519 are perpendicular to each other. The gear at the output end of the movable block 54 meshes with the strip toothed groove 519.

[0023] In this embodiment, a connecting post 52 is provided at the end of the splicing part of the movable block 54. The top of the connecting post 52 is fixedly connected to the positioning block 51 and the end of the second lever arm 4, thus realizing the connection and fixation between this part of the structure and the second lever arm 4. A fixing frame 56 is fixedly installed at the bottom of the connecting post 52, and a cross-shaped guide bracket 57 is fixedly installed on the rod. The fixing frame 56 is connected to the guide bracket 57 by bolts, further enhancing the connection stability between the connecting post 52 and the guide bracket 57. The bottom of the support platform 53 is slidably connected to the guide bracket 57, and an anti-detachment groove 513 is provided at the junction of the two to prevent the support platform 53 from detaching from the guide bracket 57 during sliding. The upper surface of the guide bracket 57 is provided with four mutually perpendicular strip-shaped toothed grooves 519. The gear at the output end of the first servo motor 514 meshes with the strip-shaped toothed grooves 519. When the first servo motor 514 drives the movable block 54 to operate, the gear at the output end of the movable block 54 will move along the strip-shaped toothed grooves 519, thereby driving the support platform 53 to slide along the guide bracket 57, thus realizing the positioning of the support platform 53. The positioning block 51 is fixedly connected to the second lever arm 4 to adapt to different operational needs, ensuring a stable connection between the entire structure and the robotic arm and preventing loosening during operation. The cross-shaped guide bracket 57, combined with four mutually perpendicular strip toothed grooves 519, provides precise guidance for the movable block 54 to drive the support platform 53 to move, and can realize multi-directional position adjustment of the support platform 53, improving the flexibility of the structure. The fixed frame 56 is connected to the guide bracket 57 by bolts, which enhances the connection strength between the connecting column 52 and the guide bracket 57 and ensures the overall stability of the structure. The anti-disengagement groove 513 effectively prevents the support platform 53 from separating from the guide bracket 57, improving the safety and reliability of the structure operation. The first servo motor 514 drives the gear and the strip toothed grooves 519 to mesh and transmit power, which can precisely control the moving distance and speed of the support platform 53, ensuring the accuracy of position adjustment, and thus providing a more accurate positional basis for the subsequent deformation mechanism 5 and clamping mechanism 6 to adapt to irregular parts, improving the accuracy and efficiency of palletizing operations.

[0024] Example 3: According to Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, a partition bracket 515 is fixedly installed on the top of the movable block 54, and a second servo motor 516 is fixedly installed on the top of the partition bracket 515. A gear is installed at the output end of the second servo motor 516. An annular groove 511 is opened on the upper surface of the support platform 53, and an arc-shaped tooth groove 512 is opened on one side of the annular groove 511. The annular grooves 511 on the upper surfaces of multiple support platforms 53 are connected. The gear at the output end of the second servo motor 516 meshes with the arc-shaped tooth groove 512. An adapter end 517 is rotatably installed inside the partition bracket 515. An electric cylinder 510 is fixedly installed at the end of the adapter end 517. The electric cylinder 510 is located above the extension rod 55. One end of the piston rod of the electric cylinder 510 is rotatably connected to the movable rod 58. The output shaft of the second servo motor 516 passes through the adapter end 517. A strip hole 518 is opened at the junction of the adapter end 517 and the output shaft of the second servo motor 516.

[0025] In this embodiment, when the second servo motor 516 starts, its output gear rotates along the arc-shaped tooth groove 512, driving the separator bracket 515 and the movable block 54 to move along the annular groove 511, thus achieving fine adjustment of the position of the movable block 54. Through the extension and retraction of the piston rod of the electric cylinder 510, the movable rod 58 can be pushed to move, thereby adjusting the angle of the positioning plate 61. The strip hole 518 provides space for the adapter end 517 to move with the electric cylinder 510 and the movable rod 58, avoiding interference between components. The second servo motor 516, through the meshing transmission of the gear and the arc-shaped tooth groove 512, combined with the guiding effect of the annular groove 511, can precisely drive the movable block 54 to move along the annular groove 511, achieving fine adjustment of the position of the movable block 54 and improving the accuracy of structural position adjustment. The rotatable connection between 510 and movable rod 58 allows for precise control of the movement of movable rod 58 via the extension and retraction of piston rod, thereby precisely adjusting the angle of positioning plate 61. This provides a more accurate angular basis for the clamping mechanism 6 to adapt to irregularly shaped parts. The partition bracket 515 not only provides a stable mounting carrier for the second servo motor 516 and adapter end 517, but also separates the components to avoid mutual interference. The rotatable mounting of adapter end 517, combined with the movable space design of strip hole 518, effectively prevents interference between the output shaft of the second servo motor 516 and adapter end 517 during operation, ensuring the smooth operation of the structure. This further enhances the adaptability of deformation mechanism 5 to different irregularly shaped parts, laying the foundation for subsequent stable clamping of irregularly shaped parts and improving the accuracy and reliability of palletizing operations.

[0026] Example 4: According to Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, a third servo motor 66 is fixedly installed on the top of the movable rod 58. The output end of the third servo motor 66 is fixedly connected to a transmission rod 67. The transmission rod 67 passes through the end of the movable rod 58, and the other end of the transmission rod 67 passes through the junction of the bent rod 65 and the connecting rod 59. The transmission rod 67 is rotatably connected to the positioning plate 61. A push plate 62 is rotatably installed on the outer wall of the transmission rod 67. An arc plate 63 is fixedly installed at the end of the push plate 62. A toothed plate is fixedly installed on the lower surface of the arc plate 63. The two toothed plates are arranged alternately. A driven gear shaft 68 is fixedly installed at the end of the fitting rod 64. The driven gear shaft 68 meshes with the toothed plate on the lower surface of the arc plate 63. The driven gear shaft 68 is located between the arc plate 63 and the positioning plate 61.

[0027] In this embodiment, the transmission rod 67 passes through the end of the movable rod 58, and the other end passes through the junction of the bent rod 65 and the connecting rod 59, while being rotatably connected to the positioning plate 61. When the third servo motor 66 starts, it drives the transmission rod 67 to rotate. A push plate 62 is rotatably mounted on the outer wall of the transmission rod 67. When the transmission rod 67 rotates, it drives the push plate 62 to move synchronously. An arc plate 63 is fixedly mounted on the end of the push plate 62. The arc plate 63 moves together with the push plate 62. A toothed plate is fixedly mounted on the lower surface of the arc plate 63, and the two toothed plates are staggered. When the arc plate 63 moves, the toothed plate on its lower surface drives the driven gear shaft 68 to rotate, thereby driving the fitting rod 64 to rotate, realizing the adjustment of the contact angle between the fitting rod 64 and the irregular part. The third servo motor 66, as a power source, can accurately control the rotation speed and angle of the transmission rod 67, providing a guarantee for the accuracy of the subsequent actions of each component. The transmission rod 67 passes through the end of the movable rod 58, the bent rod 65, and the connecting rod. At the junction of 59 and rotatably connected to the positioning plate 61, stable power transmission is achieved, and the connection stability between various components is enhanced. The rotatable connection between the push plate 62 and the transmission rod 67 can convert the rotation of the transmission rod 67 into its own movement, thereby driving the arc plate 63 to move and realizing the transformation of power transmission form. The toothed plates arranged alternately on the lower surface of the arc plate 63 mesh with the driven gear shaft 68, which can ensure stable power transmission to the contact rod 64. The alternately arranged toothed plates can improve the smoothness of the meshing transmission, avoid jamming when the contact rod 64 rotates, and ensure that the contact rod 64 can simultaneously turn to or away from the extension rod 55. The driven gear shaft 68 is located between the arc plate 63 and the positioning plate 61 and is protected by the limiting of the components on both sides, reducing the interference of external factors on the transmission. It realizes the precise and stable adjustment of the contact angle of the contact rod 64, further improving the adaptability and clamping stability of the clamping mechanism 6 to irregular parts, and ensuring the smooth operation of palletizing.

[0028] The usage and working principle of this device are as follows: First, using base 1 as the overall support foundation, start the robotic arm base 2. This causes the first lever arm 3, rotatably mounted on the top of the robotic arm base 2, to begin rotating. The second lever arm 4, rotatably connected to the end of the first lever arm 3, rotates in tandem. By adjusting the position through the rotation of the first lever arm 3 and the second lever arm 4, the deformation mechanism 5, fixedly mounted at the end of the second lever arm 4, and the clamping mechanism 6, fixedly connected to the bottom of the deformation mechanism 5, are conveyed to the area above the irregularly shaped parts to be stacked. Next, start the first servo motor 514 fixedly mounted at the end of the support platform 53. The gear at the output end of the movable block 54 moves along the strip tooth groove 519, causing the support platform 53 to slide along the guide bracket 57, adjusting the position of the support platform 53. The top of the connecting column 52 is connected via the positioning block 5. 1. The fixed end of the second lever arm 4 is fixed, and the fixed bracket 56, which is fixed at the bottom of the connecting column 52, is connected to the guide bracket 57 by bolts to ensure structural stability during the process. Then, the second servo motor 516 fixed on the top partition bracket 515 of the movable block 54 is started. The gear at the output end of the second servo motor 516 meshes with the arc-shaped toothed groove 512 opened on one side of the annular groove 511 on the upper surface of the support platform 53. The annular grooves 511 on the upper surfaces of multiple support platforms 53 are connected. The second servo motor 516 drives the gear to rotate along the arc-shaped toothed groove 512, driving the partition bracket 515 and the movable block 54 to move along the annular groove 511, finely adjusting the position of the movable block 54. At the same time, the electric cylinder 510 fixed at the end of the adapter head 517, which is rotatably installed inside the partition bracket 515, is started. Cylinder 510 is located above extension rod 55, and one end of its piston rod is rotatably connected to movable rod 58. The piston rod of electric cylinder 510 extends and retracts, pushing movable rod 58 to move and adjust the angle of positioning plate 61. During this process, the strip hole 518 opened at the junction of adapter end 517 and the output shaft of second servo motor 516 provides space for the movement of adapter end 517. Then, the third servo motor 66 fixedly installed on the top of movable rod 58 is started, and transmission rod 67 fixedly connected to the output end of third servo motor 66 begins to rotate. Transmission rod 67 passes through the end of movable rod 58, the junction of bent rod 65 and connecting rod 59, and is rotatably connected to positioning plate 61. When transmission rod 67 rotates, it drives the push plate 62 rotatably installed on its outer wall to move. The arc plate 63 fixedly installed at the end of push plate 62 moves accordingly. The push plate 62 moves together. Because the two staggered toothed plates fixedly installed on the lower surface of the arc plate 63 mesh with the driven gear shaft 68 fixedly installed at the end of the fitting rod 64, and the driven gear shaft 68 is located between the arc plate 63 and the positioning plate 61, when the arc plate 63 moves, it drives the driven gear shaft 68 to rotate through the toothed plates, causing the fitting rod 64, which is rotatably installed at the end of the positioning plate 61 and located on the lower surface of the positioning plate 61 and symmetrically distributed along the extension rod 55, to rotate. This adjusts the contact angle between the fitting rod 64 and the irregular part. After the angle of the fitting rod 64 is adjusted to fit the irregular part, the position is further adjusted by the first lever arm 3 and the second lever arm 4, so that the fitting rod 64 contacts the irregular part. Then, the transmission rod 67 is driven again by the third servo motor 66, which drives the push plate 62 and the arc plate 63 to move.The bonding rod 64 is further rotated to clamp the irregular part. The bent rod 65, fixedly connected to one side of the positioning plate 61, and the connecting rod 59, fixedly connected to the bottom of the extension rod 55, are fixedly connected to ensure the stability of the positioning plate 61. After clamping the irregular part, the first lever arm 3 and the second lever arm 4 are activated again to transport the clamping mechanism 6 and the deformation mechanism 5 holding the irregular part to the designated stacking position. Upon reaching the position, the third servo motor 66 is activated in reverse, causing the transmission rod 67 to rotate in the opposite direction, driving the push plate 62 and the arc plate 63 to move in the opposite direction. The driven gear shaft 68 rotates in the opposite direction, and the bonding rod 64 rotates to release the irregular part, completing one stacking operation. To continue stacking, the above steps can be repeated.

[0029] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A palletizing robot that flexibly adapts to irregularly shaped parts, comprising a base (1), a robotic arm base (2) fixedly mounted on the top of the base (1), a first lever arm (3) rotatably mounted on the top of the robotic arm base (2), a second lever arm (4) rotatably connected to the end of the first lever arm (3), a deformation mechanism (5) fixedly mounted to the end of the second lever arm (4), and a clamping mechanism (6) fixedly connected to the bottom of the deformation mechanism (5), characterized in that: The deformation mechanism (5) includes a support platform (53), a movable block (54), an extension rod (55), and a movable rod (58). The movable block (54) is movably installed on the top of the support platform (53). Multiple movable blocks (54) are spliced ​​together to form a disc-shaped structure. The extension rod (55) is fixedly installed at the edge of the support platform (53). A connecting rod (59) is fixedly connected to the bottom of the extension rod (55). The end of the connecting rod (59) is fixedly connected to the clamping mechanism (6). The clamping mechanism (6) includes a positioning plate (61) and a fitting rod (64). The fitting rod (64) is rotatably mounted on the end of the positioning plate (61). The fitting rod (64) is located on the lower surface of the positioning plate (61). The fitting rod (64) is symmetrically distributed along the extension rod (55) and its end faces the extension rod (55). A bending rod (65) is fixedly connected to one side of the positioning plate (61). The bending rod (65) is fixedly connected to the connecting rod (59). The movable rod (58) determines the angle of the positioning plate (61). The fitting rod (64) adjusts the contact angle with the irregular part by rotation.

2. The palletizing robot for flexible, adaptable irregularly shaped parts according to claim 1, characterized in that: The end of the movable block (54) is provided with a connecting column (52), and a positioning block (51) is fixedly connected to the top of the connecting column (52). The positioning block (51) is fixedly connected to the end of the second lever arm (4). A fixing frame (56) is fixedly installed at the bottom of the connecting column (52). A guide bracket (57) is fixedly installed on the rod of the connecting column (52). The guide bracket (57) is cross-shaped. The fixing frame (56) is connected to the guide bracket (57) by bolts.

3. The palletizing robot for flexible, adaptable irregularly shaped parts according to claim 1, characterized in that: The bottom of the support platform (53) is slidably connected to the guide bracket (57). An anti-detachment groove (513) is provided at the junction of the support platform (53) and the guide bracket (57). A first servo motor (514) is fixedly installed at the end of the support platform (53). A gear is fixedly installed at the output end of the movable block (54). A strip toothed groove (519) is provided on the upper surface of the guide bracket (57). The four strip toothed grooves (519) are perpendicular to each other. The gear at the output end of the first servo motor (514) meshes with the strip toothed groove (519).

4. A palletizing robot for flexible, irregularly shaped parts according to claim 2, characterized in that: A partition bracket (515) is fixedly installed on the top of the movable block (54), and a second servo motor (516) is fixedly installed on the top of the partition bracket (515). A gear is installed at the output end of the second servo motor (516). An annular groove (511) is opened on the upper surface of the support platform (53), and an arc-shaped tooth groove (512) is opened on one side of the annular groove (511). The annular grooves (511) on the upper surfaces of multiple support platforms (53) are connected. The gear at the output end of the second servo motor (516) meshes with the arc-shaped tooth groove (512).

5. A palletizing robot for flexible, adaptable irregularly shaped parts according to claim 4, characterized in that: The internal part of the partition bracket (515) is rotatably mounted with an adapter end (517). An electric cylinder (510) is fixedly mounted at the end of the adapter end (517). The electric cylinder (510) is located above the extension rod (55). One end of the piston rod of the electric cylinder (510) is rotatably connected to the movable rod (58). The output shaft of the second servo motor (516) passes through the adapter end (517). A strip hole (518) is provided at the junction of the adapter end (517) and the output shaft of the second servo motor (516).

6. A palletizing robot for flexible, adaptable irregularly shaped parts according to claim 1, characterized in that: A third servo motor (66) is fixedly installed on the top of the movable rod (58). The output end of the third servo motor (66) is fixedly connected to a transmission rod (67). The transmission rod (67) passes through the end of the movable rod (58). The other end of the transmission rod (67) passes through the junction of the bent rod (65) and the connecting rod (59). The transmission rod (67) is rotatably connected to the positioning plate (61).

7. A palletizing robot for flexible, adaptable irregularly shaped parts according to claim 6, characterized in that: A push plate (62) is rotatably mounted on the outer wall of the transmission rod (67). An arc plate (63) is fixedly mounted on the end of the push plate (62). A toothed plate is fixedly mounted on the lower surface of the arc plate (63). The two toothed plates are arranged alternately.

8. A palletizing robot for flexible, adaptable irregularly shaped parts according to claim 7, characterized in that: The end of the fitting rod (64) is fixedly installed with a driven gear shaft (68), which meshes with the toothed plate on the lower surface of the arc plate (63). The driven gear shaft (68) is located between the arc plate (63) and the positioning plate (61).

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