A flexible adaptive special-shaped part stacking robot

Abstract

The application discloses a flexible and adaptive palletizing robot of special-shaped parts, and relates to the field of automatic logistics equipment.The robot comprises a base, a mechanical arm base is fixedly installed on the top of the base, a first force arm is rotationally installed on the top of the mechanical arm base, a second force arm is rotationally connected to the end of the first force arm, a deformation mechanism is fixedly installed on the end of the second force arm, and a clamping mechanism is fixedly connected to the bottom of the deformation mechanism.The deformation mechanism is composed of a supporting table, a movable block, an extension rod, a movable rod, a connecting column and a guide support, the supporting table can be adjusted in multiple directions, and the movable block can be finely adjusted, the position and the angle of the clamping mechanism can be adjusted in multiple dimensions by combining the driving of the movable rod with an electric cylinder, the problem that the adjusting dimension of the clamping mechanism of the traditional palletizing equipment is single and the adaptability is poor is solved, and the special-shaped parts with different shapes can be flexibly adapted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automated logistics equipment, in particular to a palletizing robot capable of flexibly adapting to special-shaped parts. BACKGROUND

[0002] In the industrial production and logistics storage link, palletizing operation is a key process to realize efficient transfer and storage of goods.

[0003] In the prior art, such as the "palletizing robot" with publication number CN119098942A, the roller conveying line includes a plurality of conveying rollers arranged side by side, the palletizing robot includes a mechanical arm and a mechanical claw, the mechanical claw includes two oppositely arranged hand claws, a plurality of claw fingers are arranged between each hand claw to extend into the space between the conveying rollers to lift the goods from the bottom, the claw fingers are provided with two contact plates and a reset torsion spring, the two contact plates are symmetrically arranged on both sides of the claw finger and can rotate to make the contact plates vertically retract and horizontally open, and the reset torsion spring is connected to the contact plates to drive the contact plates to vertically retract, and the contact plates are provided with inclined surfaces to guide the contact plates to horizontally open after contacting the goods.

[0004] However, in the prior art, the traditional palletizing equipment can realize relatively stable automatic operation. However, when palletizing special-shaped parts (such as irregularly shaped mechanical parts, special-shaped packaging materials, etc.), the clamping mechanism of most palletizing robots adopts a fixed structure design and can only adapt to goods with specific shapes or size ranges, and cannot flexibly adjust the clamping angle and clamping mode according to the shape of the special-shaped parts. Some palletizing equipment with simple adjustment function has low adjustment accuracy and relies on a single driving structure to realize position or angle adjustment, which is difficult to realize multi-dimensional and accurate adaptive adjustment, resulting in unstable clamping, goods falling and other problems when clamping special-shaped parts, which not only affects the palletizing operation efficiency, but also may cause damage to the special-shaped parts, increases the production and storage cost, and also limits the application range of the palletizing robot in the special-shaped part processing scene. SUMMARY

[0005] The present application aims to provide a palletizing robot capable of flexibly adapting to special-shaped parts to solve the problem of the clamping mechanism of the traditional palletizing robot being mostly fixed structure, only being able to adapt to specific goods, or having low adjustment accuracy and relying on a single driving structure to make it difficult to realize multi-dimensional adaptation, resulting in unstable clamping, goods falling and other problems when clamping special-shaped parts, which affects the operation efficiency and easily damages the goods.

[0006] In order to achieve the above object, the present application provides the following technical scheme: a flexible and adaptive special-shaped part stacking robot, comprising a base, a mechanical arm base fixedly installed on the top of the base, a first force arm rotatably installed on the top of the mechanical arm base, a second force arm rotatably connected to the end of the first force arm, a deformation mechanism fixedly installed on the end of the second force arm, and a clamping mechanism fixedly connected to the bottom of the deformation mechanism, wherein the deformation mechanism comprises a support table, movable blocks, extension rods and movable rods, the movable blocks are movably installed on the top of the support table, a plurality of the movable blocks are connected to each other to form a disc-shaped structure, the extension rods are fixedly installed at the edges of the support table, the extension rods are fixedly connected with the adapter rods at the bottom, and the adapter rods are fixedly connected with the clamping mechanism at the end.

[0007] The clamping mechanism comprises a positioning plate and a fitting rod, the fitting rod is rotatably installed at the end of the positioning plate, the fitting rod is located on the lower surface of the positioning plate, the fitting rods are symmetrically distributed along the extension rods, and the ends of the fitting rods are directed towards the extension rods, one side of the positioning plate is fixedly connected with a bending rod, the bending rod is fixedly connected with the adapter rod, the movable rods determine the angle of the positioning plate, and the fitting rods adjust the contact angle with the special-shaped part through rotation.

[0008] Preferably, the end of the joint of the movable block is provided with an adapter column, the top of the adapter column is fixedly connected with a positioning block, the positioning block is fixedly connected with the end of the second force arm, the bottom of the adapter column is fixedly installed with a fixing frame, the rod body of the adapter column is fixedly installed with a guide bracket, the guide bracket is cross-shaped, and the fixing frame is connected with the guide bracket through bolts.

[0009] Preferably, the bottom of the support table is slidably connected with the guide bracket, a anti-falling groove is formed at the joint of the support table and the guide bracket, a first servo motor is fixedly installed at the end of the support table, a gear is fixedly installed at the output end of the movable block, a strip-shaped tooth groove is formed on the upper surface of the guide bracket, four strip-shaped tooth grooves are perpendicular to each other, and the gear at the output end of the first servo motor is engaged with the strip-shaped tooth groove.

[0010] Preferably, a separation bracket is fixedly installed on the top of the movable block, a second servo motor is fixedly installed on the top of the separation 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 table, an arc-shaped tooth groove is formed on one side of the annular groove, a plurality of annular grooves on the upper surface of the support table are connected, and the gear at the output end of the second servo motor is engaged with the arc-shaped tooth groove.

[0011] Preferably, the inside of the partition support is rotatably provided with an adapter end, the end of the adapter end is fixedly provided with an electric cylinder, the electric cylinder is located above the extension rod, one end of the electric cylinder piston rod is rotatably connected with the movable rod, the output shaft of the second servo motor penetrates the adapter end, and a strip-shaped hole is formed at the joint of the adapter end and the output shaft of the second servo motor.

[0012] Preferably, the top of the movable rod is fixedly provided with a third servo motor, the output end of the third servo motor is fixedly connected with a transmission rod, the transmission rod penetrates the end of the movable rod, the other end of the transmission rod penetrates the joint of the bending rod and the connecting rod, and the transmission rod is rotatably connected with the positioning plate.

[0013] Preferably, the outer wall of the transmission rod is rotatably provided with a push plate, the end of the push plate is fixedly provided with an arc plate, the lower surface of the arc plate is fixedly provided with a tooth plate, and the two tooth plates are staggered.

[0014] Preferably, the end of the fitting rod is fixedly provided with a driven gear shaft, the driven gear shaft is engaged with the tooth plate on the lower surface of the arc plate, and the driven gear shaft is located between the arc plate and the positioning plate.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] 1、In the present application, by setting the deformation mechanism composed of a support table, a movable block, an extension rod, a movable rod, a connecting column, a guide support and the like, the multi-directional sliding adjustment of the support table and the precise fine adjustment of the movable block are realized, and the position and angle of the clamping mechanism can be adjusted in multiple dimensions by combining the driving of the electric cylinder on the movable rod, thereby effectively solving the problem of single adjustment dimension and poor adaptability of the clamping mechanism of the traditional stacking equipment, and the special-shaped workpiece of different shapes can be flexibly adapted.

[0017] 2、In the present application, the clamping mechanism is designed by combining the positioning plate with the rotatable fitting rod, the transmission rod is driven by the third servo motor, the push plate and the arc plate are driven, the meshing transmission of the staggered tooth plates on the lower surface of the arc plate and the driven gear shaft is utilized, the synchronous and stable angle adjustment of the fitting rod is realized, and the fitting rod can be closely fitted to the surface of the special-shaped workpiece, thereby improving the stability of the clamping of the special-shaped workpiece and avoiding the phenomenon of loose clamping and falling of goods of the traditional fixed clamping structure.

[0018] 3、In the present application, the deformation mechanism and the clamping mechanism are stably connected through the connecting rod and the bending rod, the anti-disengagement groove is arranged at the joint of the support table and the guide support, and the strip-shaped hole is formed at the adapter end, so that the structural stability during the action of each component is ensured, the interference between the components is avoided, the overall structure relies on the mechanical arm base, the first force arm and the second force arm to realize large-range operation position adjustment, the operation flexibility and structural reliability are taken into account, and the application scenarios of the stacking robot are expanded. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A perspective view of a flexible palletizing robot for accommodating special-shaped parts according to the present application;

[0020] Figure 2 A front view of a flexible palletizing robot for accommodating special-shaped parts according to the present application;

[0021] Figure 3 A bottom view of a transformation mechanism and a clamping mechanism of a flexible palletizing robot for accommodating special-shaped parts according to the present application;

[0022] Figure 4 A split schematic view of a movable block and a guide bracket structure of a flexible palletizing robot for accommodating special-shaped parts according to the present application;

[0023] Figure 5 A connection and structure schematic view of a transformation mechanism and a clamping mechanism of a flexible palletizing robot for accommodating special-shaped parts according to the present application;

[0024] Figure 6 A bottom view of a support table and a fitting rod of a flexible palletizing robot for accommodating special-shaped parts according to the present application;

[0025] Figure 7 A three-dimensional structure schematic view of a movable rod and a clamping mechanism of a flexible palletizing robot for accommodating special-shaped parts according to the present application;

[0026] Figure 8 A structure enlarged schematic view of part A of the present application. Figure 7

[0027] In the figure: 1, base; 2, mechanical arm base; 3, first force arm; 4, second force arm; 5, transformation mechanism; 6, clamping mechanism; 51, positioning block; 52, connection column; 53, support table; 54, movable block; 55, extension rod; 56, fixed frame; 57, guide bracket; 58, movable rod; 59, connection rod; 510, electric cylinder; 511, annular groove; 512, arc-shaped tooth groove; 513, anti-falling groove; 514, first servo motor; 515, separation bracket; 516, second servo motor; 517, adapter end; 518, strip-shaped hole; 519, strip-shaped tooth groove; 61, positioning plate; 62, push plate; 63, arc-shaped plate; 64, fitting rod; 65, bent rod; 66, third servo motor; 67, transmission rod; 68, driven gear shaft. DETAILED DESCRIPTION

[0028] ​With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0029] Embodiment one: refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 : a flexible adaptive special-shaped part stacking robot, comprising a base 1, a mechanical arm base 2 is fixedly installed on the top of the base 1, a first force arm 3 is rotatably installed on the top of the mechanical arm base 2, a second force arm 4 is rotatably connected to the end of the first force arm 3, a deformation mechanism 5 is fixedly installed on the end of the second force arm 4, a clamping mechanism 6 is fixedly connected to the bottom of the deformation mechanism 5, the deformation mechanism 5 comprises a support table 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 table 53, a plurality of 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 table 53, the extension rod 55 is fixedly connected with a connecting rod 59 at the bottom, the end of the connecting rod 59 is fixedly connected with the clamping mechanism 6, the clamping mechanism 6 comprises a positioning plate 61 and a fitting rod 64, the fitting rod 64 is rotatably installed at the end of the positioning plate 61, the fitting rod 64 is located on the lower surface of the positioning plate 61, the fitting rods 64 are symmetrically distributed along the extension rod 55, and the ends thereof are directed towards the extension rod 55, the positioning plate 61 is fixedly connected with a bending rod 65 on one side, the bending rod 65 is fixedly connected with the connecting rod 59, the movable rod 58 determines the angle of the positioning plate 61, and the fitting rod 64 adjusts the contact angle with the special-shaped part by rotating.

[0030] In this embodiment, the base 1 is used as the overall support foundation, the top fixed mechanical arm base 2 provides installation and rotating support for the first force arm 3, the end of the first force arm 3 is rotatably connected with the second force arm 4, and the overall working position can be adjusted through the coordinated rotation of the first force arm 3 and the second force arm 4. The deforming mechanism 5 fixed at the end of the second force arm 4 and the clamping mechanism 6 fixedly connected with the bottom of the deforming mechanism 5 are transported to the place where the special-shaped parts to be stacked are located. In the deforming mechanism 5, the support table 53 provides an installation carrier for the movable block 54, and a plurality of movable blocks 54 are spliced together to form a disc-shaped structure. The overall shape of the deforming mechanism 5 can be adjusted by the movement of the movable block 54 to adapt to different working requirements. The extension rod 55 fixed at the edge of the support table 53 is fixedly connected with the link rod 59 at the bottom, and the end of the link rod 59 is fixedly connected with the clamping mechanism 6, thereby realizing the stable connection between the deforming 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 installed with the abutting rod 64. The abutting rod 64 is located on the lower surface of the positioning plate 61 and is symmetrically distributed along the extension rod 55, and the end thereof faces the extension rod 55. When the special-shaped part is clamped, the abutting rod 64 can adjust the contact angle between itself and the special-shaped part by rotating, so as to ensure that it can closely abut the surface of the special-shaped part. The position of the positioning plate 61 is fixedly connected with the bending rod 65 on one side of the positioning plate 61 and the link rod 59, thereby assisting the fixation of the position of the positioning plate 61. Finally, the stable clamping and subsequent stacking operation of the special-shaped part are realized. The base 1 provides stable support for the whole robot, thereby ensuring the overall stability during the working process. The combined design of the mechanical arm base 2, the first force arm 3 and the second force arm 4 can flexibly adjust the spatial position of the deforming mechanism 5 and the clamping mechanism 6, thereby expanding the working range of the robot and meeting the stacking requirements of special-shaped parts at different positions. The disc-shaped structure composed of the movable block 54 in the deforming mechanism 5 can be flexibly adjusted in shape. The connection between the extension rod 55 and the link rod 59 ensures the stable transmission of force. The determination of the angle of the positioning plate 61 by the movable rod 58 provides a basis for the accurate clamping of the special-shaped part by the clamping mechanism 6. The rotatable abutting rod 64 in the clamping mechanism 6 can adjust the contact angle according to the shape profile of the special-shaped part, thereby effectively solving the problem that the traditional stacking robot is difficult to adapt to the clamping of special-shaped parts and ensuring the clamping tightness and stability of special-shaped parts of different shapes. The symmetrically distributed abutting rods 64 further improve the stress balance during clamping. The fixation of the bending rod 65 and the link rod 59 enhances the structural stability of the positioning plate 61, thereby avoiding the deviation of the positioning plate 61 during clamping and affecting the clamping effect. The flexible adaptation and stable stacking of the special-shaped part are realized, the flexibility, applicability and reliability of the stacking operation are improved, the risk of falling of the special-shaped part during stacking is reduced, and the stacking efficiency and quality are improved.

[0031] Embodiment two: according to Figure 2 , Figure 3 and Figure 4As shown, the end of the movable block 54 splicing part is provided with a connecting column 52, the top of the connecting column 52 is fixedly connected with a positioning block 51, the positioning block 51 is fixedly connected with the end of the second force arm 4, the bottom of the connecting column 52 is fixedly installed with a fixing frame 56, a guide bracket 57 in cross shape is fixedly installed on the rod body of the connecting column 52, the fixing frame 56 is connected with the guide bracket 57 through bolts, the bottom of the supporting table 53 is slidingly connected with the guide bracket 57, the joint of the supporting table 53 and the guide bracket 57 is provided with an anti-disengagement groove 513, the end of the supporting table 53 is fixedly installed with a first servo motor 514, the output end of the movable block 54 is fixedly installed with a gear, the upper surface of the guide bracket 57 is provided with four strip-shaped tooth grooves 519 perpendicular to each other, and the gear at the output end of the movable block 54 is engaged with the strip-shaped tooth grooves 519.

[0032] In the embodiment, the end of the movable block 54 splicing part is provided with a connecting column 52, the top of the connecting column 52 is fixedly connected with a positioning block 51, the positioning block 51 is fixedly connected with the end of the second force arm 4, the bottom of the connecting column 52 is fixedly installed with a fixing frame 56, a guide bracket 57 in cross shape is fixedly installed on the rod body of the connecting column 52, the fixing frame 56 is connected with the guide bracket 57 through bolts, further strengthening the connection stability of the connecting column 52 and the guide bracket 57, the bottom of the supporting table 53 is slidingly connected with the guide bracket 57, and the joint thereof is provided with an anti-disengagement groove 513, which can prevent the supporting table 53 from disengaging from the guide bracket 57 during sliding, the upper surface of the guide bracket 57 is provided with four strip-shaped tooth grooves 519 perpendicular to each other, the gear at the output end of the first servo motor 514 is engaged with the strip-shaped tooth grooves 519, when the first servo motor 514 drives the movable block 54 to work, the gear at the output end of the movable block 54 will move along the strip-shaped tooth grooves 519, thereby driving the supporting table 53 to slide along the guide bracket 57, realizing the position adjustment of the supporting table 53 to adapt to different operation requirements, the fixed connection of the positioning block 51 and the second force arm 4 ensures the stable connection of the whole structure and the mechanical arm, avoiding loosening during operation, the cross-shaped guide bracket 57 combined with the four strip-shaped tooth grooves 519 perpendicular to each other provides accurate guidance for the movement of the supporting table 53 driven by the movable block 54, and can realize multi-directional position adjustment of the supporting table 53, improving the flexibility of the structure, the fixing frame 56 is connected with the guide bracket 57 through bolts, enhancing the connection strength of the connecting column 52 and the guide bracket 57, ensuring the stability of the whole structure, the anti-disengagement groove 513 effectively prevents the supporting table 53 from disengaging from the guide bracket 57, improving the safety and reliability of the structure operation, the engagement transmission of the gear at the output end of the first servo motor 514 and the strip-shaped tooth grooves 519 can accurately control the moving distance and speed of the supporting table 53, ensuring the accuracy of position adjustment, thereby providing a more accurate position basis for the subsequent deformation mechanism 5 and clamping mechanism 6 to adapt to special-shaped parts, improving the accuracy and efficiency of the stacking operation.

[0033] Embodiment Three: According to Figure 4 , Figure 5 , Figure 6 and Figure 7 , the top of the movable block 54 is fixedly installed with a partition support 515, the top of the partition support 515 is fixedly installed with a second servo motor 516, the output end of the second servo motor 516 is installed with a gear, the upper surface of the support table 53 is provided with an annular groove 511, one side of the annular groove 511 is provided with an arc-shaped tooth groove 512, the annular grooves 511 on the upper surfaces of the plurality of support tables 53 are connected, the gear at the output end of the second servo motor 516 is engaged with the arc-shaped tooth groove 512, the inside of the partition support 515 is rotatably installed with an adapter end 517, the end of the adapter end 517 is fixedly installed with an electric cylinder 510, 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 with the movable rod 58, the output shaft of the second servo motor 516 penetrates through the adapter end 517, and a strip-shaped hole 518 is formed at the joint of the adapter end 517 and the output shaft of the second servo motor 516.

[0034] In this embodiment, when the second servo motor 516 starts, the gear at the output end thereof rotates along the arc-shaped tooth groove 512, drives the partition support 515 and the movable block 54 to move along the annular groove 511, realizes the fine adjustment of the position of the movable block 54, and through the extension and retraction of the piston rod of the electric cylinder 510, the movable rod 58 can be driven to move, thereby adjusting the angle of the positioning plate 61. The strip-shaped hole 518 provides a movement space for the adapter end 517 to act with the electric cylinder 510 and the movable rod 58, avoids the mutual interference between components, the second servo motor 516 is driven to move along the annular groove 511 through the meshing transmission of the gear and the arc-shaped tooth groove 512 and the guiding action of the annular groove 511, realizes the fine adjustment of the position of the movable block 54, improves the precision of the structural position adjustment, the movable rod 58 can be accurately controlled in the movement range through the extension and retraction of the piston rod, thereby accurately adjusting the angle of the positioning plate 61, providing a more accurate angle basis for the clamping mechanism 6 to adapt to the special-shaped workpiece, the partition support 515 not only provides a stable installation carrier for the second servo motor 516 and the adapter end 517, but also separates the components to avoid mutual interference, the rotary installation of the adapter end 517 is matched with the movement space design of the strip-shaped hole 518, effectively prevents the interference between the output shaft of the second servo motor 516 and the adapter end 517 during operation, guarantees the smoothness of the structure operation, further improves the adaptation ability of the deformation mechanism 5 to different special-shaped workpieces, lays a foundation for subsequent stable clamping of special-shaped workpieces, and improves the accuracy and reliability of the stacking operation.

[0035] Embodiment Four: According to Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the top of the movable rod 58 is fixedly provided with a third servo motor 66, the output end of the third servo motor 66 is fixedly connected with a transmission rod 67, the transmission rod 67 penetrates the end of the movable rod 58, the other end of the transmission rod 67 penetrates the joint between the bent rod 65 and the connecting rod 59, the transmission rod 67 is rotatably connected with 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 on the end of the push plate 62, a tooth plate is fixedly installed on the lower surface of the arc plate 63, the two tooth plates are staggered, a driven gear shaft 68 is fixedly installed on the end of the abutting rod 64, the driven gear shaft 68 is engaged with the tooth plate on the lower surface of the arc plate 63, and the driven gear shaft 68 is located between the arc plate 63 and the positioning plate 61.

[0036] In the embodiment, the transmission rod 67 penetrates the end of the movable rod 58 and the other end penetrates the joint between the bent rod 65 and the connecting rod 59, and is rotatably connected with the positioning plate 61. When the third servo motor 66 starts, the transmission rod 67 rotates, a push plate 62 is rotatably installed on the outer wall of the transmission rod 67, the transmission rod 67 rotates to drive the push plate 62 to move synchronously, an arc plate 63 is fixedly installed on the end of the push plate 62, the arc plate 63 moves with the push plate 62, a tooth plate is fixedly installed on the lower surface of the arc plate 63, and the two tooth plates are staggered. When the arc plate 63 moves, the tooth plate on the lower surface of the arc plate 63 drives the driven gear shaft 68 to rotate, thereby driving the abutting rod 64 to rotate, so as to adjust the contact angle of the abutting rod 64 and the special-shaped part. The third servo motor 66 as a power source can accurately control the rotation speed and angle of the transmission rod 67, and provides guarantee for the accuracy of the subsequent movement of each component. The transmission rod 67 penetrates the end of the movable rod 58, the joint between the bent rod 65 and the connecting rod 59, and is rotatably connected with the positioning plate 61, which not only realizes stable transmission of power, but also enhances the connection stability between components. The push plate 62 is rotatably connected with the transmission rod 67, which can convert the rotation of the transmission rod 67 into the movement of the push plate 62, thereby driving the arc plate 63 to move, realizing the conversion of power transmission form. The tooth plates staggered on the lower surface of the arc plate 63 are engaged with the driven gear shaft 68, which can ensure stable transmission of power to the abutting rod 64. The staggered tooth plates can improve the stability of engagement transmission, avoid jamming of the abutting rod 64 during rotation, and ensure that the abutting rod 64 can extend towards or away from the extension rod 55 at the same time. The driven gear shaft 68 is located between the arc plate 63 and the positioning plate 61, which can be protected by the components on both sides, reducing the interference of external factors on transmission, realizing accurate and stable adjustment of the contact angle of the abutting rod 64, and further improving the adaptability and clamping stability of the clamping mechanism 6 to the special-shaped part, so as to ensure the smooth operation of the stacking work.

[0037] The working principle and method of using the device: when using, first take the base 1 as the overall support foundation, start the mechanical arm base 2, make the first force arm 3 rotatingly installed at the top of the mechanical arm base 2 start to rotate, the second force arm 4 rotatingly connected at the end of the first force arm 3 is coordinated to rotate, the position of the second force arm 4 is adjusted through the rotation of the first force arm 3 and the second force arm 4, the deforming mechanism 5 fixedly installed at the end of the second force arm 4 and the clamping mechanism 6 fixedly connected at the bottom of the deforming mechanism 5 are transported to the area above the to-be-piled special-shaped piece, then, start the first servo motor 514 fixedly installed at the end of the support table 53, the gear at the output end of the movable block 54 moves along the strip-shaped tooth groove 519, drives the support table 53 to slide along the guide support 57, adjusts the position of the support table 53, wherein the top of the connecting column 52 is fixed through the positioning block 51 and the end of the second force arm 4, the fixed frame 56 fixed at the bottom of the connecting column 52 is connected with the guide support 57 through bolts, which guarantees the stability of the structure in this process, then, start the second servo motor 516 fixed on the separate support 515 at the top of the movable block 54, the gear at the output end of the second servo motor 516 is engaged with the arc-shaped tooth groove 512 opened at one side of the annular groove 511 on the upper surface of the support table 53, and the annular grooves 511 on the upper surfaces of the plurality of support tables 53 are connected in communication, the second servo motor 516 drives the gear to rotate along the arc-shaped tooth groove 512, drives the separate support 515 and the movable block 54 to move along the annular groove 511, fine adjusts the position of the movable block 54, at the same time, start the electric cylinder 510 fixed at the end of the adapter end 517 rotatingly installed in the separate support 515, the electric cylinder 510 is located above the extension rod 55 and the piston rod at one end thereof is rotatingly connected with the movable rod 58, the electric cylinder 510 drives the movable rod 58 to move through the extension and retraction of the piston rod, adjusts the angle of the positioning plate 61, the strip-shaped hole 518 opened at the joint of the adapter end 517 and the output shaft of the second servo motor 516 provides space for the movement of the adapter end 517 in this process, after that, start the third servo motor 66 fixedly installed at the top of the movable rod 58, the transmission rod 67 fixedly connected at the output end of the third servo motor 66 starts to rotate, the transmission rod 67 penetrates through the joint of the end of the movable rod 58, the bent rod 65 and the connecting rod 59 and is rotatingly connected with the positioning plate 61, the transmission rod 67 drives the push plate 62 rotatingly installed on the outer wall thereof to move when rotating, the arc-shaped plate 63 fixedly installed at the end of the push plate 62 moves with the push plate 62, because the two staggered tooth plates fixedly installed on the lower surface of the arc-shaped plate 63 are engaged with the driven gear shaft 68 fixedly installed at the end of the abutting rod 64, and the driven gear shaft 68 is located between the arc-shaped plate 63 and the positioning plate 61, the arc-shaped plate 63 drives the driven gear shaft 68 to rotate through the tooth plate when moving, makes the abutting rod 64 rotatingly 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, adjusts the contact angle of the abutting rod 64 and the special-shaped piece, after the angle of the abutting rod 64 is adjusted to adapt to the special-shaped piece, the position of the abutting rod 64 is adjusted again through the first force arm 3 and the second force arm 4, then the transmission rod 67 is driven again through the third servo motor 66, drives the push plate 62, the arc-shaped plate 63 to move,Further rotate the fitting rod 64 to clamp the special-shaped part, wherein the fixed connection of the bent rod 65 on one side of the positioning plate 61 and the fixed connection of the link rod 59 on the bottom of the extension rod 55 are fixed, which guarantees the stability of the positioning plate 61, after clamping the special-shaped part, start the first force arm 3 and the second force arm 4 again, transport the clamping mechanism 6 clamping the special-shaped part and the deformation mechanism 5 to the designated stacking position, after reaching the position, reverse start the third servo motor 66, make the transmission rod 67 reverse rotation, drive the push plate 62 and the arc plate 63 to reverse action, the driven gear shaft 68 reverses rotation, the fitting rod 64 rotates to loosen the special-shaped part, complete a stacking operation, if continue to stack, repeat the above steps.

[0038] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can make modifications to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

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 deforming mechanism (5) comprises a support table (53), movable blocks (54), extension rods (55) and movable rods (58), the movable blocks (54) are movably installed on the top of the support table (53), a plurality of the movable blocks (54) are spliced with each other to form a disc-shaped structure, the extension rods (55) are fixedly installed at the edges of the support table (53), the bottom of the extension rod (55) is fixedly connected with a connecting rod (59), and the end of the connecting rod (59) is fixedly connected with the clamping mechanism (6); The clamping mechanism (6) comprises a positioning plate (61) and a fitting rod (64), the fitting rod (64) is rotatably installed at the end of the positioning plate (61), the fitting rod (64) is located on the lower surface of the positioning plate (61), the fitting rods (64) are symmetrically distributed along the extension rod (55) and the ends thereof face the extension rod (55), one side of the positioning plate (61) is fixedly connected with a bent rod (65), the bent rod (65) is fixedly connected with the connecting rod (59), the movable rod (58) determines the angle of the positioning plate (61), and the fitting rod (64) adjusts the contact angle with the special-shaped part through rotation; The top of the movable rod (58) is fixedly installed with a third servo motor (66), the output end of the third servo motor (66) is fixedly connected with a transmission rod (67), the transmission rod (67) penetrates through the end of the movable rod (58), the other end of the transmission rod (67) penetrates through the joint of the bent rod (65) and the connecting rod (59), the transmission rod (67) is rotatably connected with the positioning plate (61), the outer wall of the transmission rod (67) is rotatably installed with a push plate (62), the end of the push plate (62) is fixedly installed with an arc-shaped plate (63), the lower surface of the arc-shaped plate (63) is fixedly installed with a toothed plate, the two toothed plates are staggered, the end of the fitting rod (64) is fixedly installed with a driven gear shaft (68), the driven gear shaft (68) is engaged with the toothed plate on the lower surface of the arc-shaped plate (63), and the driven gear shaft (68) is located between the arc-shaped plate (63) and the positioning plate (61).

2. The palletizing robot of claim 1, wherein: The end of the splicing position of the movable block (54) is provided with a connecting column (52), the top of the connecting column (52) is fixedly connected with a positioning block (51), the end of the positioning block (51) is fixedly connected with the second force arm (4), the bottom of the connecting column (52) is fixedly installed with a fixing frame (56), the rod body of the connecting column (52) is fixedly installed with a guide bracket (57), the guide bracket (57) is cross-shaped, and the fixing frame (56) is connected with the guide bracket (57) through bolts.

3. The palletizing robot of claim 2, wherein: The bottom of the support table (53) is in sliding connection with the guide bracket (57), the intersection of the support table (53) and the guide bracket (57) is provided with an anti-off groove (513), the end of the support table (53) is fixedly installed with a first servo motor (514), the output end of the movable block (54) is fixedly installed with a gear, the upper surface of the guide bracket (57) is provided with a strip-shaped gear slot (519), four strip-shaped gear slots (519) are perpendicular to each other, and the gear of the output end of the first servo motor (514) is in mesh with the strip-shaped gear slot (519).

4. The palletizing robot of claim 3, wherein: The top of the movable block (54) is fixedly installed with a partition bracket (515), the top of the partition bracket (515) is fixedly installed with a second servo motor (516), the output end of the second servo motor (516) is installed with a gear, the upper surface of the support table (53) is provided with an annular groove (511), one side of the annular groove (511) is provided with an arc-shaped gear slot (512), a plurality of annular grooves (511) on the upper surface of the support table (53) are communicated, and the gear of the output end of the second servo motor (516) is in mesh with the arc-shaped gear slot (512).

5. The palletizing robot of claim 4, wherein: The inside of the partition bracket (515) is rotatably installed with an adapter end (517), the end of the adapter end (517) is fixedly installed with an electric cylinder (510), 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 with the movable rod (58), the output shaft of the second servo motor (516) penetrates through the adapter end (517), and the intersection of the adapter end (517) and the output shaft of the second servo motor (516) is provided with a strip-shaped hole (518).

Images