A double-arm cooperative high-efficiency palletizing robot

Abstract

The application relates to the technical field of industrial robots, and discloses a double-arm cooperative high-efficiency stacking robot, which comprises a rack, two mechanical arms are vertically slidably installed on the rack, a rotating table is rotatably installed on the mechanical arm, two mounting arms are horizontally slidably connected to the rotating table, a connecting mechanism is arranged on the mounting arm, and a clamping assembly is connected to the connecting mechanism; the clamping assembly comprises a main clamping plate, and a sub-clamping plate is hingedly arranged at the upper end and the lower end of the main clamping plate; the clamping assembly further comprises a locking structure, and the clamping assembly is automatically triggered and locks the angle of the current two sub-clamping plates when the main clamping plate is attached to goods. Through the arrangement of the clamping assembly, the main clamping plate and the two sub-clamping plates can adaptively adjust the shape according to the goods contacted, the clamping and carrying requirements of light cartons, heavy cartons and bagged goods can be met, the clamp does not need to be replaced, and the overall stacking operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to a dual-arm collaborative high-efficiency palletizing robot. Background Technology

[0002] In the field of industrial automation, palletizing robots are automated equipment specifically designed for stacking and handling goods. They are widely used in logistics warehousing, food processing, chemical, building materials and other industries. Their core purpose is to replace manual labor in completing repetitive tasks such as neatly stacking, handling and transferring goods, thereby achieving standardization and efficiency in goods storage and transfer. Existing palletizing robots mainly consist of a frame, a robotic arm, an end effector, a drive system and a control system. The frame provides stable support for the entire device. The robotic arm, as the core execution component, can achieve multi-degree-of-freedom movement and rotation. The end effector is used to directly grip and lift goods. The drive system provides power for the movements of the robotic arm and the end effector. The control system is used to receive instructions, plan motion paths and control the coordinated operation of various components.

[0003] However, the existing technology has the following problems:

[0004] The existing goods are mainly divided into cardboard boxes, bags, and pallets. The main types of goods palletized by robotic arms are cardboard boxes and bags. Cardboard boxes are further divided into heavy-duty boxes and light-duty boxes. These different types of goods usually require different grippers. For example, cardboard boxes generally use flat grippers, while bags require gripping grippers. Therefore, when the robot needs to handle gripping multiple different types of goods, the operator needs to change the corresponding grippers in a timely manner, which is quite troublesome and affects the efficiency of the operation. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-arm collaborative high-efficiency palletizing robot to solve the above-mentioned problems. It aims to overcome the shortcomings of existing robots, which require operators to change the corresponding grippers in a timely manner when handling various types of goods, making the operation more cumbersome and affecting the efficiency of the work. Details are described below.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention provides a dual-arm collaborative high-efficiency palletizing robot, comprising a frame on which two robotic arms are vertically slidably mounted. A turntable is rotatably mounted on each robotic arm, and two mounting arms are horizontally slidably connected to the turntable. Each mounting arm is equipped with a connecting mechanism, which is connected to a clamping assembly. The clamping assembly includes a main clamping plate, with secondary clamping plates hinged to its upper and lower ends. The clamping assembly also includes a locking structure, which automatically triggers and locks the angle of the two secondary clamping plates when the main clamping plate is in contact with the goods.

[0008] Preferably, the frame is provided with a drive component for driving the two robotic arms to move vertically, the end of the robotic arm is provided with a drive component for driving the turntable to rotate, and the turntable is provided with a drive component for driving the two mounting arms to move horizontally.

[0009] Preferably, the main clamping plate is connected to the connecting mechanism, and the auxiliary clamping plate is connected to the mounting shaft. The two mounting shafts are rotatably connected to the upper and lower ends of the main clamping plate, respectively. A return coil spring is provided between the two ends of the mounting shaft and the main clamping plate.

[0010] Preferably, the locking structure includes a locking wheel, a pressure block, and two locking blocks. The locking wheel is connected to the outer wall of the mounting shaft, and multiple slots are radially formed on the locking wheel. The pressure block is horizontally slidably installed in the main clamping plate, and a part of the pressure block protrudes from the main clamping plate. The two locking blocks are vertically slidably connected in the main clamping plate, and each of the two locking blocks is hinged to a connecting rod. The ends of the two connecting rods away from the locking blocks are hinged to the pressure block.

[0011] Preferably, a spring is provided between the pressure block and the inner wall of the main clamping plate. When the pressure block compresses the spring, it can drive the two locking blocks to be respectively inserted into one of the slots of the two locking wheels through the two connecting rods.

[0012] Preferably, the connecting mechanism includes a slotted seat and two connecting seats. The slotted seat is connected to the mounting arm, and both connecting seats are mounted on the main clamping plate. The slotted seat is located between the two connecting seats. An inclined groove is formed on the slotted seat. A square shaft is connected through the two connecting seats. The square shaft is slidably connected to the inner wall of the inclined groove. The bottom of the inclined groove is inclined towards the main clamping plate. A spring rod is provided between the square shaft and the top inner wall of the inclined groove.

[0013] Preferably, a limiting mechanism is also included, comprising two slide rods and a limiting block. The two slide rods are movably inserted into both ends of the square shaft, and the limiting block is slidably installed inside the square shaft. Two crank rods are hinged to the square shaft, and the ends of the two crank rods away from the square shaft are respectively hinged to the two slide rods. The mounting shaft located below has levers connected to both ends, and pry bars are rotatably installed at both ends of the main clamping plate. One end of each of the two pry bars is movably connected to the two levers, and the other end of each of the two pry bars is movably connected to a ball joint. The ends of the two ball joints away from the pry bars are movably connected to the two slide rods. When the two slide rods approach each other, the limiting block can be protruded from the bottom of the square shaft through the two crank rods.

[0014] Preferably, an anti-slip mechanism is also included, comprising two sets of anti-slip blocks and two pairs of grooved rods. Both sets of anti-slip blocks are slidably mounted on two sub-clamping plates. Each anti-slip block has multiple protrusions, and each anti-slip block has a sliding shaft connected to both ends. The two pairs of grooved rods are slidably mounted on the two sub-clamping plates. Each grooved rod has a set of guide grooves. The sliding shafts at both ends of the anti-slip blocks are slidably connected to two corresponding guide grooves on a pair of grooved rods. When a pair of grooved rods moves towards the main clamping plate, the sliding cooperation between the guide grooves and the sliding shafts causes the protrusions on one set of anti-slip blocks to protrude from the sub-clamping plates. A spring is provided between the grooved rods and the sub-clamping plates. Two second pull ropes are connected to the grooved seat. Two first pull ropes are connected to the end of each second pull rope away from the grooved seat. The ends of the four first pull ropes away from the second pull ropes are respectively connected to the four grooved rods. The connecting seat has guide holes, and the two second pull ropes pass through the guide holes of the two connecting seats respectively.

[0015] Preferably, the system also includes an extension mechanism, which includes two pairs of stoppers. Each of the two sub-clamps has a cavity, and the two pairs of stoppers are slidably connected to the cavities of the two sub-clamps. The two stoppers of the same pair extend outward from both ends of the sub-clamps. A support block is connected to the end of the stopper away from the cavity. A cylinder is installed in the mounting arm, and the cylinder is connected to two air pipes. The two air pipes communicate with the cavities of the two sub-clamps respectively.

[0016] The beneficial effects are:

[0017] 1. This dual-arm collaborative high-efficiency palletizing robot, through the setting of the gripping components, enables the main gripper and two auxiliary grippers to adaptively adjust their shape according to the goods they are in contact with, meeting the gripping and handling needs of light cartons, heavy cartons, and bagged goods, without the need to change grippers, thereby reducing manual intervention and operation, and improving the overall palletizing efficiency. Through the setting of the locking structure, after the gripping components are in contact with the goods, the locking wheel and locking block work together to lock the current angle of the auxiliary gripper, preventing the auxiliary gripper from shaking during the handling process and causing the goods to fall off, thus improving the gripping stability.

[0018] 2. This dual-arm collaborative high-efficiency palletizing robot, through the setting of the connection mechanism, not only meets the connection function between the mounting arm and the clamping component, but also achieves the gravity self-locking effect that the heavier the goods, the tighter the clamping. This allows the two clamping components to adaptively adjust the clamping force according to the weight of the goods, effectively preventing the goods from slipping during handling, while also avoiding the situation where the goods are deformed due to excessive clamping force.

[0019] 3. This dual-arm collaborative high-efficiency palletizing robot, through the setting of the limiting mechanism, can be triggered according to the deformation state of the clamping component when clamping heavy cartons, thereby limiting the travel of the square axis, thus limiting the clamping force on heavy cartons within a reasonable range, and avoiding excessive clamping force when clamping heavy cartons, which would cause crush damage.

[0020] 4. This dual-arm collaborative high-efficiency palletizing robot, through the setting of the anti-slip mechanism, allows the anti-slip block to adjust the degree of protrusion of its upper protrusions from the sub-clamping plate according to the weight of the goods. The heavier the goods being clamped, the more protrusions there are, and the greater the anti-slip effect of the anti-slip block. While ensuring the anti-slip function, it minimizes the damage to the surface of the goods caused by the protrusions. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the robotic arm structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the clamping component structure of the present invention;

[0025] Figure 4 This is a schematic diagram of the connection mechanism structure of the present invention;

[0026] Figure 5 This is a schematic diagram of the pressing block structure of the present invention;

[0027] Figure 6 This is a schematic diagram of the square shaft structure of the present invention;

[0028] Figure 7 This is a schematic diagram of the limiting mechanism structure of the present invention;

[0029] Figure 8 This is a schematic diagram of the limiting block structure of the present invention;

[0030] Figure 9 This is a schematic diagram of the anti-slip mechanism of the present invention;

[0031] Figure 10 This is a schematic diagram of the anti-slip block structure of the present invention;

[0032] Figure 11This is a schematic diagram of the extension mechanism structure of the present invention;

[0033] Figure 12 This is a schematic diagram of the plug rod structure of the present invention.

[0034] The annotations in the attached figures are explained as follows:

[0035] 1. Frame; 2. Robotic arm; 3. Turntable; 4. Mounting arm;

[0036] 5. Connecting mechanism; 51. Slot seat; 52. Connecting seat; 53. Square shaft;

[0037] 6. Clamping assembly; 61. Main clamping plate; 62. Sub-clamping plate; 621. Mounting shaft; 63. Locking wheel; 64. Pressure block; 65. Connecting rod; 66. Locking block;

[0038] 7. Limiting mechanism; 71. Crowbar; 72. Lever; 73. Ball joint; 74. Slide bar; 75. Crank bar; 76. Limiting block;

[0039] 8. Anti-slip mechanism; 81. Anti-slip block; 82. Sliding shaft; 83. Groove rod; 84. First pull rope; 85. Second pull rope;

[0040] 9. Extension mechanism; 91. Plug rod; 92. Support block; 93. Air pipe; 94. Cylinder. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0042] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0043] Throughout this specification, references to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in one embodiment" or "in another embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0044] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0045] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0046] Please see Figure 1 - Figure 5 In one embodiment:

[0047] A dual-arm collaborative high-efficiency palletizing robot includes a frame 1. Two robotic arms 2 are vertically slidably mounted on the frame 1. A turntable 3 is rotatably mounted on each robotic arm 2. Two mounting arms 4 are horizontally slidably connected to the turntable 3. Each mounting arm 4 is equipped with a connecting mechanism 5, which is connected to a clamping assembly 6. The frame 1 has a drive component for driving the two robotic arms 2 to move vertically. The ends of the robotic arms 2 have drive components for driving the turntable 3 to rotate. The turntable 3 has drive components for driving the two mounting arms 4 to move horizontally. The drive components on the frame 1 can drive the two robotic arms 2 to move vertically, enabling the lifting and handling of goods to meet different palletizing height requirements. The drive components at the ends of the robotic arms 2 can drive the turntable 3 to rotate, thus moving the mounting arms 4. The gripping component 6 can rotate at all angles, flexibly adjusting the gripping and stacking angles of goods to adapt to different palletizing arrangements. The drive component on the turntable 3 can drive the two mounting arms 4 to move closer or further away simultaneously, thereby driving the gripping component 6 to adjust the gripping distance and release the goods to adapt to goods of different sizes. When the two mounting arms 4 move, the gripping component 6 moves synchronously through the connecting mechanism 5, and the gripping component 6 directly contacts the goods to achieve stable gripping or release of the goods, thereby performing handling and palletizing actions. The overall structure achieves synchronous or independent operation of the two arms through the cooperation of multiple components, which greatly improves the efficiency of handling and palletizing. Compared with a single-arm palletizing robot, it can reduce the handling cycle time and increase the palletizing volume per unit time.

[0048] Furthermore, the clamping assembly 6 includes a main clamping plate 61, with auxiliary clamping plates 62 hinged to its upper and lower ends. The main clamping plate 61 is connected to the connecting mechanism 5, and mounting shafts 621 are connected to the auxiliary clamping plates 62. The two mounting shafts 621 are rotatably connected to the upper and lower ends of the main clamping plate 61, respectively. Return springs are provided between both ends of the mounting shafts 621 and the main clamping plate 61. The main clamping plate 61 and the auxiliary clamping plates 62 at its upper and lower ends form an adaptive clamping structure, and the return springs at both ends of the mounting shafts 621... Initially, the two auxiliary clamping plates 62 are kept at an angle to the main clamping plate 61, maintaining a bracket-shaped relationship between the main clamping plate 61 and the two auxiliary clamping plates 62. In this embodiment, the goods are divided into light cartons, heavy cartons, and bagged goods. When clamping light cartons, the main clamping plate 61 and the two auxiliary clamping plates 62 are directly attached to the outer wall of the carton. The auxiliary clamping plates 62 are gradually transformed into a vertical state due to the reaction force of the outer wall of the light cartons. Finally, the main clamping plate 61 and the two auxiliary clamping plates 62 form a vertical state, and the two clamping components 6... The main clamping plate 61 clamps light cartons in a double-clamping manner. When clamping heavy cartons, the lower auxiliary clamping plate 62 must first be placed against the ground or conveyor equipment to make it horizontal before extending into the bottom of the heavy carton. Simultaneously, the upper auxiliary clamping plate 62 and the main clamping plate 61 are placed against the side wall of the heavy carton, ultimately forming an L-shaped structure. This allows the two clamping components 6 to lift the heavy carton while the two lower auxiliary clamping plates 62 support the bottom of the heavy carton, thus improving handling stability. When handling bagged goods, the main clamping plate 61... The main clamp 61 fits the middle area of ​​the bagged goods, while the two auxiliary clamps 62 fit the upper and lower sides respectively, ultimately fitting the two sides of the bagged goods in a bracket shape, thus enabling handling and stacking. Therefore, through the setting of the clamping component 6, the main clamp 61 and the two auxiliary clamps 62 can adaptively adjust their shape according to the goods they are in contact with, meeting the clamping and handling needs of light cartons, heavy cartons and bagged goods, without the need to change clamps, thereby reducing manual intervention and operation, and improving the overall stacking efficiency.

[0049] In addition, the clamping assembly 6 also includes a locking structure. When the main clamping plate 61 is in contact with the goods, the clamping assembly 6 automatically triggers and locks the angle of the two auxiliary clamping plates 62. The locking structure includes a locking wheel 63, a pressure block 64, and two locking blocks 66. The locking wheel 63 is connected to the outer wall of the mounting shaft 621, and multiple slots are radially opened on the locking wheel 63. The pressure block 64 is horizontally slidably installed in the main clamping plate 61, and a part of the pressure block 64 protrudes from the main clamping plate 61. The two locking blocks 66 are both vertically slidably connected in the main clamping plate 61. Each of the two locking blocks 66 is hinged to a connecting rod 65. The ends of the two connecting rods 65 away from the locking block 66 are hinged to the pressure block 64. A spring is provided between the pressure block 64 and the inner wall of the main clamping plate 61. When the pressure block 64 compresses the spring, it can drive the two locking blocks 66 to be respectively inserted into one of the slots of the two locking wheels 63 through the two connecting rods 65. The locking wheel 63 and the mounting shaft 621 rotate synchronously with the auxiliary clamping plate 62. The radial slots on its surface are used to cooperate with the locking block 66 to achieve locking. The part of the pressure block 64 that protrudes from the main clamping plate 61 can contact the goods.

[0050] As can be seen from the above, regardless of the clamping condition, the main clamping plate 61 needs to be in contact with the outer wall of the goods. Therefore, when the main clamping plate 61 is in contact with the goods, the goods exert a horizontal squeezing force on the pressure block 64, pushing the pressure block 64 to slide inward into the main clamping plate 61 and compress the spring. Finally, the pressure block 64 is embedded in the contact surface between the main clamping plate 61 and the goods. When the pressure block 64 slides, it drives the two locking blocks 66 to move towards the two locking wheels 63 through the connecting rods 65 hinged at both ends. Since the two auxiliary clamping plates 62 have already completed adaptive swinging during the previous process of contacting the goods, the two locking wheels 63 also rotate accordingly. One of the slots on the locking wheel 63 also moves into the movement trajectory of the locking block 66, and the edge of the slot is provided with a chamfer to guide the locking block 66 to embed. Therefore, the two locking blocks 66 embed into the two locking wheels 63 respectively during the movement. The mounting shaft 621 is fixed in the corresponding slot of each locking wheel 63, thereby locking the current angle of the sub-clamping plate 62. For example, when clamping a heavy carton, the lower sub-clamping plate 62 can remain in a horizontal state, maintaining the stability of the L-shaped clamping structure. After unloading, the goods are released from the pressure block 64, and the spring releases its elastic force to push the pressure block 64 to reset. When the pressure block 64 resets, the connecting rod 65 drives the locking block 66 to reset, causing the two locking blocks 66 to disengage from the locking wheel 63, thereby releasing the locking state. Subsequently, the two sub-clamping plates 62 also reset using the elastic force of the reset coil spring, returning to the initial bracket shape. Through the setting of the locking structure, after the clamping component 6 is in contact with the goods, the locking wheel 63 and the locking block 66 lock the current angle of the sub-clamping plate 62 by cooperation, preventing the sub-clamping plate 62 from shaking during transportation and causing the goods to fall off, thus improving the clamping stability.

[0051] Please see Figure 3 , Figure 6 , Figure 11 In another embodiment:

[0052] The connecting mechanism 5 includes a slot seat 51 and two connecting seats 52. The slot seat 51 is connected to the mounting arm 4, and the two connecting seats 52 are both mounted on the main clamping plate 61. The slot seat 51 is located between the two connecting seats 52. The slot seat 51 has an inclined groove. A square shaft 53 is connected through the two connecting seats 52. The square shaft 53 is slidably connected to the inner wall of the inclined groove. The bottom of the inclined groove is inclined towards the main clamping plate 61. A spring rod is provided between the square shaft 53 and the top inner wall of the inclined groove. The slot seat 51 is fixed on the mounting arm 4 and serves as the sliding carrier of the square shaft 53. The bottom of the inclined groove is inclined towards the main clamping plate 61 to provide a guide trajectory for the sliding of the square shaft 53. The two connecting seats 52 are symmetrically fixed on the main clamping plate 61 to install the square shaft 53 through it, so as to firmly connect the main clamping plate 61 and the square shaft 53, ensuring that the sliding of the square shaft 53 can synchronously drive the main clamping plate 61 to move. The spring rod on the square shaft 53 is initially in a contracted state and pulls the square shaft 53 to the highest point of its movement trajectory.

[0053] In this embodiment, when the clamping assembly 6 clamps the goods and is lifted by the robotic arm 2, the goods use gravity and friction to drive the main clamping plate 61 to move downwards, thereby causing the square shaft 53 to slide downwards along the inclined groove. The spring rod is stretched. Since the inclined groove is inclined towards the main clamping plate 61, during the downward sliding of the square shaft 53, it will drive the two connecting seats 52 and the main clamping plate 61 to move closer to the goods, thereby reducing the clamping distance between the two clamping assemblies 6. This achieves a gravity self-locking effect where the heavier the goods, the tighter the clamping. This allows the two clamping assemblies 6 to adjust their clamping distance according to the weight of the goods. The clamping force is adaptively adjusted according to its own weight. After unloading, the weight of the goods disappears, the spring rod retracts and pulls the square shaft 53 to return to its original position along the inclined groove, which drives the main clamping plate 61 to return to its initial position, preparing for the next clamping. Through the setting of the connecting mechanism 5, while satisfying the connection function between the mounting arm 4 and the clamping component 6, it also realizes the gravity self-locking effect that the heavier the goods, the tighter the clamping. This allows the two clamping components 6 to adaptively adjust the clamping force according to the weight of the goods, effectively preventing the goods from slipping during handling, and also preventing the goods from deforming due to excessive clamping force.

[0054] Please see Figure 3 , Figure 7 , Figure 8 In another embodiment:

[0055] It also includes a limiting mechanism 7, which comprises two sliding rods 74 and a limiting block 76. The two sliding rods 74 are movably inserted into both ends of the square shaft 53 and can slide along the axial direction of the square shaft 53. The limiting block 76 is slidably installed inside the square shaft 53, and the sliding trajectory of the limiting block 76 coincides with that of the square shaft 53. Two cranks 75 are hinged to the square shaft 53, and the ends of the two cranks 75 away from the square shaft 53 are respectively hinged to the two sliding rods 74. The mounting shaft 621 located below is connected to two levers 72 at both ends. The main clamping plate 61 is rotatably mounted with pry bars 71 at both ends. One end of each pry bar 71 is movably connected to the two levers 72. The levers 72 are provided with slots, and the pry bars 71 are provided with pins. The pins are slidably connected to the slots, so that when the levers 72 swing... The two pry bar 71 can be oscillated by the sliding fit between the slot and the pin. The other ends of the two pry bar 71 are movably connected to ball head rods 73. The ends of the two ball head rods 73 away from the pry bar 71 are movably connected to the two slide rods 74. Ball head sleeves are provided on the pry bar 71 and the slide rods 74. Ball head is provided at both ends of the ball head rod 73. The ball head at both ends of the ball head rod 73 is movably connected to the two ball head sleeves to form a universal joint structure. When the two pry bar 71 swings upward, the two slide rods 74 can be driven to move closer to each other through the two ball head rods 73. When the two slide rods 74 move closer to each other, the two crank rods 75 can drive the limiting block 76 to protrude from the bottom of the square shaft 53. After the limiting block 76 protrudes from the bottom of the square shaft 53, it can limit the distance that the limiting block 76 slides in the inclined groove.

[0056] Specifically, when clamping a heavy cardboard box, the lower auxiliary clamping plate 62 gradually swings to a horizontal position. During this process, the lower mounting shaft 621 rotates, causing the levers 72 at both ends to rotate synchronously. When the levers 72 rotate, they cause the pry bar 71 to swing upward, which in turn causes the two sliding rods 74 to move closer to each other synchronously along the axial direction of the square shaft 53. The two curved rods 75 are distributed in a V-shape. When the two sliding rods 74 move closer to each other, they push the two curved rods 75 closer to each other, thereby reducing the angle between the two curved rods 75. This causes the limiting block 76, which is hinged to the two curved rods 75, to slide downward, making the limiting block 76 protrude from the bottom of the square shaft 53. At the same time, during the downward movement of the square shaft 53, when the limiting block 76 and the inclined... When the inner wall of the slot contacts the carton, the limiting block 76 generates resistance, restricting the square shaft 53 from sliding further downward, thereby limiting the maximum threshold of the clamping force of the two clamping components 6 to prevent the carton from being crushed. At the same time, the locking mechanism has been triggered, locking the lower sub-clamping plate 62, lever 72, pry bar 71, ball head rod 73, and slide bar 74, so that the limiting block 76 can stably maintain its current limiting state. After unloading, the sub-clamping plate 62 resets, the mounting shaft 621 rotates in the opposite direction, the lever 72 drives the pry bar 71 to flip in the opposite direction, the ball head rod 73 pulls the slide bar 74 away from each other, the crank rod 75 resets, the limiting block 76 retracts into the square shaft 53, the limiting is released, and the square shaft 53 can reset normally.

[0057] It is worth noting that the actual sliding stroke of the square shaft 53 is divided into two segments by the limiting block 76. When the limiting mechanism 7 is triggered, the limiting block 76 protrudes from the square shaft 53, so that the square shaft 53 can only slide within the first segment of the sliding stroke and will not exceed the clamping force threshold. The limiting mechanism 7 is only triggered when clamping heavy cardboard boxes. Therefore, the first segment of the stroke of the square shaft 53 is suitable for heavy cardboard boxes, avoiding excessive clamping force from the clamping component 6 when clamping heavy cardboard boxes, which could damage the outside of the cardboard box. However, when clamping bagged goods, since bagged goods are inherently flexible... Therefore, the clamping force is adjusted according to the weight of the bagged goods, so it will not damage the bagged goods. When clamping light cardboard boxes, the weight of the light cardboard boxes usually will not cause the square shaft 53 to exceed the first stroke. Normal clamping operation is sufficient. Therefore, by setting the limiting mechanism 7, the limiting mechanism 7 can be triggered according to the deformation state of the clamping component 6 when clamping heavy cardboard boxes, thereby limiting the movement stroke of the square shaft 53, thus limiting the clamping force on the heavy cardboard boxes to a reasonable range, and avoiding excessive clamping force when clamping heavy cardboard boxes, which may cause crushing damage.

[0058] Please see Figure 3 , Figure 9 , Figure 10 In another embodiment:

[0059] It also includes an anti-slip mechanism 8, which comprises two sets of anti-slip blocks 81 and two pairs of grooved rods 83. Both sets of anti-slip blocks 81 are slidably mounted on two auxiliary clamping plates 62. Each auxiliary clamping plate 62 has a through mounting groove, and each set of anti-slip blocks 81 is embedded and slidably mounted within the mounting groove. Each anti-slip block 81 has multiple protrusions evenly distributed on it. When these protrusions contact the goods, they significantly increase friction. Each anti-slip block 81 has a sliding shaft 82 connected to both ends. The two pairs of grooved rods 83 are slidably mounted on the two auxiliary clamping plates 62. Each grooved rod 83 has a set of guide grooves. The sliding shafts 82 at both ends of each anti-slip block 81 are slidably connected to two corresponding guide grooves on each pair of grooved rods 83. In other words, the sliding shafts 82 at both ends of each anti-slip block 81 are slidably connected to two mirror-shaped guide grooves. When a pair of grooved rods 83 move toward the main clamping plate 61, the sliding engagement between the guide groove and the sliding shaft 82 drives the protrusions on a set of anti-slip blocks 81 to protrude from the contact surface between the auxiliary clamping plate 62 and the goods. Under normal conditions, the protrusions of the anti-slip blocks 81 only slightly protrude from the auxiliary clamping plate 62, forming a certain friction force. However, in the extreme state of the auxiliary clamping plate 62, the protrusions completely protrude from the contact surface between the auxiliary clamping plate 62 and the goods. A spring is provided between the grooved rods 83 and the auxiliary clamping plate 62. Two second pull ropes 85 are connected to the groove seat 51. Two first pull ropes 84 are connected to the end of the second pull ropes 85 away from the groove seat 51. The ends of the four first pull ropes 84 away from the second pull ropes 85 are respectively connected to the four grooved rods 83. The connecting seat 52 has guide holes. The two second pull ropes 85 pass through the guide holes of the two connecting seats 52 respectively. The guide holes guide the second pull ropes 85.

[0060] More specifically, when the main clamping plate 61 and its upper connecting seat 52 move downward relative to the slot seat 51 during clamping, the first pull rope 84 on the main clamping plate 61 and the second pull rope 85 on the slot seat 51 generate relative movement, causing the slot seat 51 to pull the first pull rope 84 through the second pull rope 85. This causes the four first pull ropes 84 to simultaneously pull the four slot rods 83 towards the main clamping plate 61. The springs on the four slot rods 83 are compressed synchronously. As the four slot rods 83 move, each guide slot guides the sliding shaft 82 in contact with it to slide towards the cargo, thereby driving the two sets of anti-slip blocks 81 to move towards the cargo simultaneously. The movement towards the cargo causes the anti-slip blocks 81 on each sub-clamping plate 62 to approach the cargo, causing multiple protrusions to protrude further. As mentioned above, the relative movement between the slot seat 51 and the main clamping plate 61 depends on the weight of the cargo being clamped. Therefore, the lighter the cargo being clamped, the fewer the protrusions; the heavier the cargo being clamped, the more the protrusions. The more protrusions, the better the anti-slip effect. After unloading, the square shaft 53 and the connecting seat 52 move upward to reset, the pull rope loosens, the spring releases its elasticity to push the slot rod 83 to reset, and the anti-slip blocks 81 retract into the sub-clamping plate 62 with the cooperation of the sliding shaft 82 and the guide groove.

[0061] It is worth mentioning that when clamping heavy cartons, the more the protrusions extend, the more likely the cartons will be marked with pinholes, affecting their appearance. However, considering the function of the limiting mechanism 7, the relative movement between the slot 51 and the main clamping plate 61 is restricted during clamping. Therefore, the protrusions will not extend to the point of easily causing pinholes on the outer wall of the cartons. Thus, the fully protruding and nearly fully protruding states of the auxiliary clamping plate 62 are primarily for bagged goods. Because the surface of bagged goods is flexible, the fully protruding protrusions can press into the surface of the bagged goods, increasing... Increasing the contact area and thus improving friction will not affect the appearance quality of the bagged goods. Furthermore, the bagged goods are prone to deformation when clamped, increasing the risk of falling off. Therefore, by increasing the protrusion, the anti-slip effect can be further improved, preventing the bagged goods from falling off. Thus, through the setting of the anti-slip mechanism 8, the anti-slip block 81 can adjust the degree of protrusion of its upper protrusion from the sub-clamping plate 62 according to the weight of the goods. The heavier the goods being clamped, the more the protrusion protrudes, and the greater the anti-slip effect of the anti-slip block 81 becomes. While ensuring the anti-slip function, it minimizes the pressure damage of the protrusion on the surface of the goods.

[0062] Please see Figure 3 , Figure 11 , Figure 12 In another embodiment:

[0063] It also includes an extension mechanism 9, which includes two pairs of stoppers 91. Each of the two sub-clamping plates 62 has a cavity, and the two pairs of stoppers 91 are slidably connected within the cavities of the two sub-clamping plates 62. Each pair of stoppers 91 extends outward from both ends of the sub-clamping plate 62. A support block 92 is connected to the end of each stopper 91 away from the cavity. A cylinder 94 is installed inside the mounting arm 4, and the cylinder 94 is connected to two air pipes 93, which are respectively connected to the cavities of the two sub-clamping plates 62. The stoppers 91 can flexibly extend and retract along the axial direction of the cavity. The support block 92 is fixed to the outer end of the stopper 91 to increase the contact area with the cargo. The cylinder 94 is the power source of the extension mechanism 9, and it is connected to the cavities of the two sub-clamping plates 62 through the air pipes 93 to control the air pressure within the cavities. When clamping long cargo, the cylinder 94 is activated. 4. Cylinder 94 introduces compressed air into the cavity of the sub-clamping plate 62 through air pipe 93. The compressed air pushes two stoppers 91 to extend to both ends of the sub-clamping plate 62. The two stoppers 91 drive the two support blocks 92 to move outward synchronously, thereby extending the clamping range. The extended support blocks 92 cooperate with the sub-clamping plate 62 to clamp long goods, forming multi-point support to prevent the goods from collapsing or tilting and to maintain the stability of the clamping. When clamping goods of ordinary size, cylinder 94 draws back the compressed air in the cavity through air pipe 93. The stoppers 91 retract into the cavity using negative pressure, returning to the normal clamping range. Through the setting of the extension mechanism 9, the two pairs of stoppers 91 cooperate with cylinder 94 to flexibly adjust the support range according to the size of the goods, adapting to goods of various lengths and improving the clamping adaptability range.

[0064] Please see Figure 1 - Figure 3 In another embodiment:

[0065] This dual-arm collaborative high-efficiency palletizing robot also includes a vision recognition system and an execution control module. The vision recognition system is used for cargo identification and positioning. The execution control module is electrically connected to the vision recognition system, the drive component of the frame 1, the drive component at the end of the robotic arm 2, the drive component of the turntable 3, and the cylinder 94. Its core function is to receive vision recognition signals, plan the operation path, and drive the various mechanical components to work together to achieve automated control of the palletizing operation.

[0066] In actual operation, the visual recognition system scans the goods in the warehouse, identifies the type, size, and location of the goods, and transmits the signals to the execution control module. The execution control module plans the optimal path and drives the frame 1, robotic arm 2, turntable 3, and mounting arm 4 to move in coordination, adjusting the clamping component 6 to align with the goods and adapt to their size. During gripping, the execution control module controls the clamping component 6 to move closer to the goods, the main clamping plate 61 adheres to the goods to trigger the locking structure, the robotic arm 2 rises, and relies on the square shaft 53 to slide down and link anti-slip, limiting, and extension mechanisms to adapt to different goods characteristics. During the handling stage, the execution control module controls each component to move smoothly along the planned path, monitors the posture of the goods in real time, and makes fine adjustments. After the goods are placed in place, the execution control module controls the robotic arm 2 to lower the goods. After the goods land, each component automatically resets and enters the next cycle. Through the collaboration of the visual recognition system and the execution control module, the entire palletizing process is automated, and precise linkage with each mechanical component ensures high-speed and accurate palletizing, reduces goods damage, and adapts to the diverse needs of the warehouse.

[0067] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A dual-arm collaborative high-efficiency palletizing robot, comprising a frame (1), characterized in that: Two robotic arms (2) are vertically slidably mounted on the frame (1). A turntable (3) is rotatably mounted on the robotic arms (2). Two mounting arms (4) are horizontally slidably connected on the turntable (3). A connecting mechanism (5) is provided on the mounting arms (4). A clamping assembly (6) is connected to the connecting mechanism (5). The clamping assembly (6) includes a main clamping plate (61), and the upper and lower ends of the main clamping plate (61) are respectively hinged with auxiliary clamping plates (62). The clamping assembly (6) also includes a locking structure, which automatically triggers and locks the angle of the two sub-clamping plates (62) when the main clamping plate (61) is in contact with the goods; The main clamping plate (61) is connected to the connecting mechanism (5), and the auxiliary clamping plate (62) is connected to the mounting shaft (621). The two mounting shafts (621) are rotatably connected to the upper and lower ends of the main clamping plate (61) respectively. A reset coil spring is provided between the two ends of the mounting shaft (621) and the main clamping plate (61). The locking structure includes a locking wheel (63), a pressure block (64), and two locking blocks (66). The locking wheel (63) is connected to the outer wall of the mounting shaft (621). Multiple slots are radially provided on the locking wheel (63). The pressure block (64) is horizontally slidably installed in the main clamping plate (61). A part of the pressure block (64) protrudes from the main clamping plate (61). The two locking blocks (66) are vertically slidably connected in the main clamping plate (61). The two locking blocks (66) are respectively hinged to connecting rods (65). The ends of the two connecting rods (65) away from the locking blocks (66) are hinged to the pressure block (64). A spring is provided between the pressure block (64) and the inner wall of the main clamping plate (61). When the pressure block (64) compresses the spring, it can drive the two locking blocks (66) to be respectively embedded in one of the slots of the two locking wheels (63) through the two connecting rods (65). The connecting mechanism (5) includes a slot seat (51) and two connecting seats (52). The slot seat (51) is connected to the mounting arm (4). Both connecting seats (52) are mounted on the main clamping plate (61). The slot seat (51) is located between the two connecting seats (52). An inclined groove is provided on the slot seat (51). A square shaft (53) is connected through the two connecting seats (52). The square shaft (53) is slidably connected to the inner wall of the inclined groove. The bottom of the inclined groove is inclined towards the main clamping plate (61). A spring rod is provided between the square shaft (53) and the top inner wall of the inclined groove. It also includes a limiting mechanism (7), which includes two slide rods (74) and a limiting block (76). The two slide rods (74) are movably inserted into both ends of the square shaft (53), and the limiting block (76) is slidably installed inside the square shaft (53). Two crank rods (75) are hinged on the square shaft (53), and the ends of the two crank rods (75) away from the square shaft (53) are respectively hinged to the two slide rods (74). The mounting shaft (621) located below is connected to levers (72) at both ends. The main clamping plate (61) is rotatably mounted with pry bars (71) at both ends. One end of each pry bar (71) is movably connected to two levers (72), and the other end of each pry bar (71) is movably connected to a ball head rod (73). The end of each ball head rod (73) away from the pry bar (71) is movably connected to two slide rods (74). When the two slide rods (74) approach each other, they can drive the limiting block (76) to protrude from the bottom of the square shaft (53) through two curved rods (75).

2. The dual-arm collaborative high-efficiency palletizing robot according to claim 1, characterized in that: The frame (1) is provided with a drive component for driving two robotic arms (2) to move vertically, and the end of the robotic arm (2) is provided with a drive component for driving the turntable (3) to rotate. The turntable (3) is provided with a drive component for driving two mounting arms (4) to move horizontally.

3. The dual-arm collaborative high-efficiency palletizing robot according to claim 1, characterized in that: It also includes an anti-slip mechanism (8), which includes two sets of anti-slip blocks (81) and two pairs of grooved rods (83). The two sets of anti-slip blocks (81) are slidably mounted on the two auxiliary clamping plates (62). The anti-slip blocks (81) are provided with multiple protrusions. The two ends of the anti-slip blocks (81) are respectively connected to sliding shafts (82). The two pairs of grooved rods (83) are slidably mounted on the two auxiliary clamping plates (62). The grooved rods (83) are provided with a set of guide grooves. The sliding shafts (82) at both ends of the anti-slip blocks (81) are respectively connected to two guide grooves on a pair of grooved rods (83). When the pair of groove rods (83) move toward the main clamping plate (61), the guide groove and the sliding shaft (82) drive the protrusions on a set of anti-sliding blocks (81) to protrude out of the sub-clamping plate (62). A spring is provided between the groove rod (83) and the sub-clamping plate (62). Two second pull ropes (85) are connected to the groove seat (51). Two first pull ropes (84) are connected to the end of the second pull rope (85) away from the groove seat (51). The ends of the four first pull ropes (84) away from the second pull ropes (85) are respectively connected to the four groove rods (83).

4. The dual-arm collaborative high-efficiency palletizing robot according to claim 1, characterized in that: It also includes an extension mechanism (9), which includes two pairs of plungers (91). The two sub-clamps (62) are respectively provided with cavities. The two pairs of plungers (91) are slidably connected in the cavities of the two sub-clamps (62). The two plungers (91) that are in the same pair extend outward from both ends of the sub-clamps (62). The end of the plunger (91) away from the cavity is connected to a support block (92). A cylinder (94) is installed in the mounting arm (4). The cylinder (94) is connected to two air pipes (93). The two air pipes (93) are respectively connected to the cavities of the two sub-clamps (62).

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