Multifunctional palletizing robot

Abstract

The invention discloses a multifunctional palletizing robot, and relates to the technical field of palletizing equipment, the multifunctional palletizing robot comprises a mechanical arm, a center control mechanism is rotatably arranged at the end part of the mechanical arm, the center control mechanism comprises a center console rotatably mounted at the end part of the mechanical arm, and four uniformly distributed air cavities are symmetrically formed in the middle part of the center console; a first clamping mechanism, an adsorption mechanism and a second clamping mechanism are sequentially arranged on the outer side of the central control mechanism; the first clamping mechanism comprises first shaft rods rotationally installed on the two sides of the center console, and a pair of first clamps is fixedly installed at the end of each first shaft rod. The adsorption mechanism comprises an air exhaust fixedly installed on one side of the center console, and a set of negative pressure air nozzles are installed on the outer side of the air exhaust in a penetrating mode. The multifunctional palletizing robot disclosed by the invention has the effects of universality, flexibility, functionality and high working efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of palletizing equipment, and particularly relates to a multifunctional palletizing robot. BACKGROUND

[0002] The palletizing robot is an automated device combining mechanical and computer programs, widely used in modern industrial production, especially in the palletizing industry. It drives the mechanical arm through a hydraulic system to achieve efficient handling and stacking of goods, significantly improving production efficiency and reducing labor costs. The hydraulic palletizing robot has the characteristics of simple structure, small floor area, strong applicability, etc. Its design makes the failure rate of parts low, easy to maintain, and low energy consumption. In addition, it can quickly adjust parameters through a touch screen to adapt to different sizes and shapes of goods.

[0003] With the development of e-commerce and flexible manufacturing, the types of goods that need to be palletized in production lines or warehouses are increasing, with great differences in shape, size, material, and weight. In order to adapt to the palletizing work of different specifications and types of objects, the existing palletizing method is to use multiple special robots for parallel operation. However, in order to configure special palletizing robots for different goods, the investment cost is usually high, the floor area is large, and the system coordination is complex. Attempts to integrate multiple gripping methods into one end effector often result in overly complex and heavy structures, and lack of universality and flexibility for specific combinations. Therefore, the existing technology has the problems of poor adaptability, low efficiency, high cost, and insufficient flexibility. SUMMARY

[0004] The present application discloses a multifunctional palletizing robot, aiming to solve the technical problems of poor adaptability, single function, low efficiency, high cost, and insufficient flexibility of existing palletizing technology.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] A multifunctional palletizing robot, comprising a mechanical arm, a central control mechanism is rotatably arranged at the end of the mechanical arm, the central control mechanism comprises a central control console rotatably installed at the end of the mechanical arm, and four uniformly distributed air cavities are symmetrically arranged in the middle of the central control console;

[0007] The outer side of the central control mechanism is sequentially provided with a first clamping mechanism, a suction mechanism, and a second clamping mechanism for grabbing and palletizing different objects;

[0008] The first clamping mechanism comprises a first shaft rod rotatably installed on both sides of the central control console, and a pair of first clamps is fixedly installed at the end of each first shaft rod;

[0009] The adsorption mechanism comprises a gas exhaust fixedly installed on one side of the center console, and a group of negative pressure air nozzles are installed through the outside of the gas exhaust;

[0010] The second clamping mechanism comprises a base fixedly installed on the bottom of the center console, and a group of second shaft rods symmetrically distributed are rotatably installed at both ends of the base, and a second clamp is fixedly installed at the bottom of each second shaft rod.

[0011] Through cooperation of the first clamping mechanism, the adsorption mechanism and the second clamping mechanism with the mechanical arm, combined multifunctional clamping and stacking are carried out.

[0012] On the basis of the stacking robot, in order to adapt to the stacking work of different specifications and types of objects, a plurality of grabbing modes are integrated on an end effector, the first clamping mechanism, the adsorption mechanism and the second clamping mechanism are provided, the three are integrated on the outside of the center control mechanism, the center control mechanism is driven to rotate horizontally by the mechanical arm, then the first clamping mechanism, the adsorption mechanism and the second clamping mechanism are driven in turn by changing the gas circuit flow, the functions of clamping large workpieces, flexible material negative pressure adsorption and clamping and stacking small workpieces are realized in turn, the universality and flexibility are achieved, the production cost is reduced, and the working efficiency and functionality of the traditional stacking robot are greatly improved.

[0013] In a preferred scheme, a group of electromagnetic valves are symmetrically installed on both sides of the connection end of the mechanical arm and the center console, and the electromagnetic valves are connected to a plurality of gas cavities.

[0014] The center console structure is provided at the end effector of the mechanical arm, the center console is driven to rotate horizontally by the mechanical arm, then the relative positions of the gas cavities on the top of the center console and a group of electromagnetic valves at the end of the mechanical arm are adjusted, the connection range of the gas cavity gas circuit is adjusted, then the first clamping mechanism, the adsorption mechanism and the second clamping mechanism connected to the center console are driven to operate, the functions of clamping large workpieces, flexible material negative pressure adsorption and clamping and stacking small workpieces are realized in turn, and the functionality of the traditional stacking robot is greatly improved by using the integrated structure.

[0015] In a preferred scheme, a first piston rod is slidably installed in one of the gas cavities, a first pusher is fixedly installed in the middle of one of the first shaft rods, and the first piston rod and the first pusher are in sliding connection.

[0016] By setting the first clamp structure driven by the first piston piece and the first pushing piece on the side of the center console, when the center console rotates horizontally along the end of the mechanical arm, the gas path of the gas cavity distributed by the single electromagnetic valve and the first piston rod is connected, the first piston rod, the first pushing piece and the first clamp are pushed by the gas pressure to rotate, thereby realizing clamping of large workpieces and maintaining normal operation of the stacking equipment.

[0017] In a preferred scheme, a corrugated air pipe is connected through between the gas exhaust and one of the gas cavities, the gas path of the corrugated air pipe and the negative pressure air nozzle is connected, and the corrugated air pipe and the first piston rod are symmetrically distributed.

[0018] By further setting the negative pressure air nozzle structure driven by the corrugated air pipe and the gas exhaust on the side of the center console, when the center console rotates horizontally along the end of the mechanical arm, the gas path of the gas cavity connected by the single electromagnetic valve and the corrugated air pipe is connected, and the negative pressure air nozzle is driven to run by suction, thereby realizing suction clamping of flexible material objects, maintaining normal operation of the stacking equipment and improving its functionality.

[0019] In a preferred scheme, a second pushing piece is fixedly welded to the middle part of each second shaft rod, and a second piston rod is slidingly installed in each of the two symmetrically distributed gas cavities.

[0020] By setting the second clamp structure driven by the second piston piece and the second pushing piece on the bottom of the center console, when the center console rotates horizontally along the end of the mechanical arm, the gas paths of the two gas cavities distributed by the two electromagnetic valves and the second piston rods are connected, the second piston rods, the second pushing pieces and the second clamps are pushed by the gas pressure to rotate, thereby realizing clamping of small workpieces, maintaining normal operation of the stacking equipment and greatly improving the functionality of the traditional stacking robot.

[0021] As can be seen from the above, the multifunctional stacking robot provided by the application has the following technical effects.

[0022] By setting the center console structure at the end of the actuator of the mechanical arm, the center console is driven by the mechanical arm to rotate horizontally, thereby adjusting the relative position of the gas cavity at the top of the center console and the group of electromagnetic valves at the end of the mechanical arm, adjusting the connection range of the gas path of the gas cavity, and driving the first clamping mechanism, the suction mechanism and the second clamping mechanism connected to the center console to run, thereby realizing large workpiece clamping, flexible material negative pressure suction and small workpiece clamping and stacking functions in sequence by the first clamp, the negative pressure suction nozzle and the second clamp, having universality and flexibility, reducing production cost and floor area, and thereby greatly improving the working efficiency and functionality of the traditional stacking robot. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The overall structure diagram of the present application is shown.

[0024] Figure 2 The second clamping mechanism operation state diagram of the present application is shown.

[0025] Figure 3 The first clamping mechanism operation state diagram of the present application is shown.

[0026] Figure 4 The adsorption mechanism operation state diagram of the present application is shown.

[0027] Figure 5 The central control mechanism structure explosion diagram of the present application is shown.

[0028] Figure 6 The electric control push plate structure diagram of the present application is shown.

[0029] Figure 7 The central control console structure diagram of the present application is shown.

[0030] Figure 8 The central control console structure section view of the present application is shown.

[0031] Figure 9 The adsorption mechanism structure diagram of the present application is shown.

[0032] In the figure: 1, mechanical arm; 2, central control mechanism; 201, central control console; 202, air cavity; 203, electromagnetic valve; 204, air pressure pipe; 3, first clamping mechanism; 301, first shaft rod; 302, first clamp; 303, connecting rod; 304, first piston rod; 305, first pusher; 4, adsorption mechanism; 401, air exhaust; 402, negative pressure air nozzle; 403, corrugated air pipe; 404, screw; 5, second clamping mechanism; 501, base; 502, second shaft rod; 503, second clamp; 504, second pusher; 505, second piston rod; 506, adapter; 507, electric control push plate. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments.

[0034] The multifunctional stacking robot disclosed in the present application is mainly applied to the scene of assembling and stacking and transporting different types of workpieces.

[0035] Reference Figures 1 to 9The utility model provides a multifunctional stacking robot, including mechanical arm 1, the end of mechanical arm 1 is rotationally arranged with central control mechanism 2, central control mechanism 2 includes the central console 201 rotationally installed at the end of mechanical arm 1, and the middle part of central console 201 is symmetrically provided with four evenly distributed air chambers 202, and the outside of central control mechanism 2 is sequentially provided with the first clamping mechanism 3 of the different articles to be grabbed and stacked, adsorption mechanism 4 and the second clamping mechanism 5, the first clamping mechanism 3 includes the first shaft rod 301 rotationally installed at the both sides of central console 201, and the end of each first shaft rod 301 is fixedly installed with a pair of first clamps 302, the adsorption mechanism 4 includes the air row 401 fixedly installed at the side of central console 201, and the outside of air row 401 is throughly installed with a group of negative pressure air nozzle 402, and the second clamping mechanism 5 includes the base 501 fixedly installed at the bottom of central console 201, and the both ends of base 501 are rotationally installed with a group of symmetrically distributed second shaft rods 502, and the bottom of each second shaft rod 502 is fixedly installed with a second clamp 503, and through the cooperation of first clamping mechanism 3, adsorption mechanism 4 and second clamping mechanism 5 with the driving of mechanical arm 1, the combined multifunctional clamping stacking is carried out.

[0036] In the embodiment: mechanical arm 1 carries out operation according to the set program, when clamping large workpieces, mechanical arm 1 drives central control mechanism 2 to rotate, causes the air path connected to first clamping mechanism 3 to be connected, at this time, central control mechanism 2 drives first clamping mechanism 3 to operate and clamps and stacks workpieces by using pressurization and negative pressure suction, when stacking flexible workpieces, at this time, mechanical arm 1 drives central control mechanism 2 to rotate, causes the air path connected to adsorption mechanism 4 to be connected, at this time, central control mechanism 2 drives adsorption mechanism 4 to operate and adsorbs flexible workpieces by using negative pressure suction, when clamping small workpieces, mechanical arm 1 drives central control mechanism 2 to rotate, causes the air path connected to second clamping mechanism 5 to be connected, at this time, central control mechanism 2 drives second clamping mechanism 5 to operate and clamps and stacks workpieces by using pressurization and negative pressure suction.

[0037] Referring to Figures 1 to 5 , Figures 7 to 8 In a preferred embodiment, a group of electromagnetic valves 203 are symmetrically installed on both sides of the connecting end of mechanical arm 1 and central console 201, and the electromagnetic valves 203 are connected to the air chambers 202.

[0038] As Figure 5 shown, in the operation process, mechanical arm 1 drives central console 201 to rotate, causing the two electromagnetic valves 203 located at the end of mechanical arm 1 to be aligned with the air chambers 202 at different positions on central console 201, when aligned with the air chambers 202, the electromagnetic valves 203 are individually or synchronously operated according to the program, thereby driving first clamping mechanism 3, adsorption mechanism 4 and second clamping mechanism 5 to operate.

[0039] With reference to Figures 1 to 3 、 Figure 5 、 Figures 7 to 8 In one preferred embodiment, a first piston rod 304 is slidingly installed inside a gas cavity 202, and a first pusher 305 is fixedly installed in the middle of a first shaft 301.

[0040] Specifically, during operation, the mechanical arm 1 drives the center console 201 to rotate, causing the electromagnetic valve 203 at the end of the mechanical arm 1 to align with the gas cavity 202 in which the first piston rod 304 is installed. When aligned with the gas cavity 202, the electromagnetic valve 203 is programmed to operate individually, introducing or sucking high-pressure gas into the gas cavity 202, thereby driving the first piston rod 304 to move horizontally, while the first pusher 305 drives the first shaft 301, thereby causing the first shaft 301 to drive the first clamp 302 to rotate, thereby clamping and stacking large workpieces. The specific operating state is shown in FIG. 4. Figure 3

[0041] The top of the two electromagnetic valves 203 is connected to the air pressure pipe 204, and the air pressure pipe 204 is connected to the external compression pump. It is worth noting that the driving mode can not only be air pressure, but also hydraulic pressure, etc., to ensure that the present application meets different load requirements.

[0042] Further, a connecting rod 303 is rotatably connected between the two first clamps 302 on the same side. When a group of first clamps 302 driven by the first piston rod 304 rotates, the other side of the first clamps 302 will be synchronously driven to rotate in a mirror image by the connecting rod 303, thereby achieving the clamping function. It is worth noting that the connecting point of the connecting rod 303 and the first clamp 302 is not the rotation axis point of the first clamp 302.

[0043] Specifically, there is friction between the first piston rod 304 and the gas cavity 202, so that when the first clamp 302 is not in operation, it can be folded and stored by negative pressure suction, and when the gas pressure is lost, it will be affected by static friction and remain in the folded state. The specific state is shown in FIG. 5. Figure 2

[0044] With reference to Figure 1 、 Figures 4 to 5 、 Figures 7 to 9 In one preferred embodiment, a corrugated air pipe 403 is connected between the air exhaust 401 and the gas cavity 202, the corrugated air pipe 403 is connected to the gas path of the negative pressure air nozzle 402, and the corrugated air pipe 403 and the first piston rod 304 are symmetrically distributed.

[0045] ​​Specifically, in the running process, the mechanical arm 1 drives the central console 201 to rotate, so that the electromagnetic valve 203 located at the end of the mechanical arm 1 and the air cavity 202 internally connected with the corrugated air pipe 403 are aligned, when aligned with the air cavity 202, at this time the electromagnetic valve 203 is operated according to the program, by introducing or sucking high pressure gas into the air cavity 202, and then sequentially through the corrugated air pipe 403, the air exhaust 401 and the negative pressure air nozzle 402 to generate suction force, so as to adsorb and stack the flexible workpiece; the specific operation state is shown in the accompanying Figure 4

[0046] Specifically, the top of the air exhaust 401 is fixedly installed on the top of the central console 201 by the screw 404.

[0047] Referring to Figures 1 to 2 , Figures 5 to 6 In a preferred embodiment, the middle part of each second shaft rod 502 is fixedly welded with a second pushing piece 504, and the inside of the two symmetrical air cavities 202 is slidably installed with a second piston rod 505, and each second piston rod 505 is movably connected with a second pushing piece 504.

[0048] Specifically, in the running process, the mechanical arm 1 drives the central console 201 to rotate, so that the electromagnetic valve 203 located at the end of the mechanical arm 1 and the air cavity 202 internally connected with the corrugated air pipe 403 are aligned, when aligned with the air cavity 202, at this time the electromagnetic valve 203 is operated according to the program, by introducing or sucking high pressure gas into the air cavity 202, and then sequentially through the corrugated air pipe 403, the air exhaust 401 and the negative pressure air nozzle 402 to generate suction force, so as to adsorb and stack the flexible workpiece; the specific operation state is shown in the accompanying Figure 2

[0049] Specifically, as shown in Figure 6 The bottom of the second piston rod 505 is fixedly installed with a connecting piece 506, and is slidably connected with the second pushing piece 504 through the connecting piece 506, so that the second piston rod 505 can adapt to the movement path of the second pushing piece 504 during rotation, and the first piston rod 304 and the first pushing piece 305 are also slidably connected.

[0050] Specifically, the middle part of the base 501 is fixedly installed with a group of symmetrical electric control push plates 507, and the electric control push plates 507 are synchronously stretched during the operation of the second clamp 503, so as to generate extrusion force on the top of the small object and improve the stability during clamping.

[0051] Working principle: when the device is used, it has three operation modes, which are:

[0052] ​​In the process of stacking large workpieces, the mechanical arm 1 operates according to the set program, and in the process of operation, the mechanical arm 1 drives the central console 201 to rotate, so that the electromagnetic valve 203 located at the end of the mechanical arm 1 is aligned with the air cavity 202 on the central console 201 which is installed with the first piston rod 304, when aligned with the air cavity 202, the electromagnetic valve 203 operates individually according to the program at this time, by introducing or sucking high pressure gas into the inside of the air cavity 202, and then driving the first piston rod 304 to move horizontally, while moving through the first push piece 305 to drive the first shaft rod 301, and then causing the first shaft rod 301 to drive the first clamp 302 to rotate, so as to clamp and stack; the specific operation state is shown in the accompanying Figure 3 drawings.

[0053] In the process of stacking flexible workpieces (such as cloth, plastic film, etc.), the mechanical arm 1 operates according to the set program, and in the process of operation, the mechanical arm 1 drives the central console 201 to rotate, so that the electromagnetic valve 203 located at the end of the mechanical arm 1 is aligned with the air cavity 202 on the central console 201 which is connected with the corrugated air pipe 403, when aligned with the air cavity 202, the electromagnetic valve 203 operates individually according to the program at this time, by introducing or sucking high pressure gas into the inside of the air cavity 202, and then generating suction force through the corrugated air pipe 403, air exhaust 401 and negative pressure air nozzle 402 in turn, so as to adsorb and stack flexible workpieces; the specific operation state is shown in the accompanying Figure 4 drawings.

[0054] In the process of stacking small workpieces, the mechanical arm 1 operates according to the set program, and in the process of operation, the mechanical arm 1 drives the central console 201 to rotate, so that the electromagnetic valve 203 located at the end of the mechanical arm 1 is aligned with the air cavity 202 on the central console 201 which is installed with the second piston rod 505, when aligned with the air cavity 202, the two electromagnetic valves 203 operate synchronously according to the program at this time, by introducing or sucking high pressure gas into the inside of the air cavity 202, and then driving the second piston rod 505 to move horizontally, while moving through the second push piece 504 to drive the second shaft rod 502, and then causing the second shaft rod 502 to drive the second clamp 503 to rotate, so as to clamp and stack small workpieces; the specific operation state is shown in the accompanying Figure 2 drawings.

[0055] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A multi-functional palletizing robot comprising a robot arm (1), characterized in that, The end of the mechanical arm (1) is rotationally provided with a central control mechanism (2), the central control mechanism (2) comprises a central control console (201) rotationally installed at the end of the mechanical arm (1), and the middle of the central control console (201) is symmetrically provided with four air cavities (202) uniformly distributed; The outer side of the central control mechanism (2) is sequentially provided with a first clamping mechanism (3) for grabbing and stacking different objects, a suction mechanism (4) and a second clamping mechanism (5); The first clamping mechanism (3) comprises first shaft rods (301) rotationally installed on both sides of the central control console (201), and the end of each first shaft rod (301) is fixedly installed with a pair of first clamps (302); The suction mechanism (4) comprises an air exhaust (401) fixedly installed on one side of the central control console (201), and the outer side of the air exhaust (401) is throughly installed with a group of negative pressure air nozzles (402); The second clamping mechanism (5) comprises a base (501) fixedly installed at the bottom of the central control console (201), both ends of the base (501) are rotationally installed with a group of symmetrically distributed second shaft rods (502), and the bottom of each second shaft rod (502) is fixedly installed with a second clamp (503); Through the cooperation of the first clamping mechanism (3), the suction mechanism (4) and the second clamping mechanism (5) driven by the mechanical arm (1), a multifunctional clamping and stacking is realized.

2. The multi-functional palletizing robot according to claim 1, characterized by A group of electromagnetic valves (203) are symmetrically installed on both sides of the connecting end of the mechanical arm (1) and the central control console (201), and the electromagnetic valves (203) are connected with a plurality of air cavities (202).

3. The multi-functional palletizing robot according to claim 1, characterized by A first piston rod (304) is slidably installed in one air cavity (202), a first pusher (305) is fixedly installed in the middle of one first shaft rod (301), and the first piston rod (304) is slidably connected with the first pusher (305).

4. The multi-functional palletizing robot according to claim 3, characterized by A corrugated air pipe (403) is connected through between the air exhaust (401) and one air cavity (202), the corrugated air pipe (403) is connected with the air path of the negative pressure air nozzle (402), and the corrugated air pipe (403) and the first piston rod (304) are symmetrically distributed.

5. The multi-functional palletizing robot according to claim 1, characterized by A second pusher (504) is fixedly welded in the middle of each second shaft rod (502), a second piston rod (505) is slidably installed in the inside of two symmetrically distributed air cavities (202), and each second piston rod (505) is movably connected with one second pusher (504).

6. The multi-functional palletizing robot according to claim 2, wherein The top of two electromagnetic valves (203) is connected through with an air pressure pipe (204), and the air pressure pipe (204) is connected with an external compression pump.

7. The multi-functional palletizing robot according to claim 1, characterized by A connecting rod (303) is rotationally connected between two first clamps (302) located on the same side.

8. The multi-functional palletizing robot according to claim 1, characterized by The top of the air exhaust (401) is fixedly installed on the top of the central control console (201) through a screw (404).

9. The multi-functional palletizing robot according to claim 5, wherein The bottom of the second piston rod (505) is fixedly installed with a connecting piece (506), and is in sliding connection with the second pusher (504) through the connecting piece (506).

10. The multi-functional palletizing robot according to claim 1, characterized by The middle of the base (501) is fixedly installed with a group of symmetrically distributed electrically-controlled push plates (507).

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