A self-adapting hierarchical clamping palletizing robot

Abstract

The application discloses a kind of self-adapting layer clamping's stacking robot, it is related to stacking robot technical field, stacking robot includes mounting frame, clamping device and layering device, clamping device is located layering device outside, clamping device includes outer clamp and transverse moving cylinder, transverse moving cylinder output end and outer clamp are connected, outer clamp is rotated and clamped to inside, layering device includes suction clamp, suction clamp both sides are respectively equipped with inner clamp, suction clamp suction direction is upwards, inner clamp clamping direction is arranged along horizontal direction, inner clamp inside is equipped with offset component, transverse moving cylinder and mounting frame are connected, outer clamp and mounting frame are movably connected, inner clamp and mounting frame are connected, suction clamp and mounting frame are connected, offset component and transverse moving cylinder are electrically connected.

Description

Technical Field

[0001] This invention relates to the field of palletizing robot technology, specifically an adaptive layered clamping palletizing robot. Background Technology

[0002] Palletizing robots, as a standard handling device in industrial applications, are widely used in automated palletizing scenarios across multiple fields. Whether in industrial processing plants or agricultural product packaging processes, replacing manual labor with palletizing robots greatly improves production efficiency.

[0003] With the continuous development of automation technology in industrial sites, palletizing robots are used to transport materials to designated locations for subsequent processing. This has led to a wide variety of product specifications and types that need to be clamped. However, existing palletizing robots have relatively simple functions, and most can only automatically palletize simple items. Due to the limitation of the clamping method, i.e., when clamping in one direction, they can only handle one object at a time during the palletizing process.

[0004] In addition, during the operation of the palletizing robot, the force on the body and clamping parts is relatively fixed. Unidirectional force can easily cause excessive local pressure, which will affect the service life. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive layered clamping palletizing robot to solve the problems of clamping methods and single local force in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: The palletizing robot includes a mounting frame, a gripping device, and a layering device, with the gripping device located outside the layering device; The clamping device includes an outer clamp and a transverse cylinder. The output end of the transverse cylinder is connected to the outer clamp, and the outer clamp rotates inward to clamp. The layering device includes an adsorption clamp, with inner clamps on both sides of the adsorption clamp. The adsorption direction of the adsorption clamp is upward, and the clamping direction of the inner clamps is arranged horizontally. An offset component is provided on the inner side of the inner clamp. The transverse cylinder is connected to the mounting bracket, the outer clamp is movably connected to the mounting bracket, the inner clamp is connected to the mounting bracket, the adsorption clamp is connected to the mounting bracket, and the offset assembly is electrically connected to the transverse cylinder.

[0007] The clamping device and the layering device are installed via a mounting bracket. The clamping device, located on the outer layer, provides external clamping for the items to be clamped, while the layering device clamps the inner layer. The outer clamps are movable and can hold the items. They can also move laterally, driven by a horizontal movement cylinder. The suction clamps are used to apply negative pressure to the items, capable of holding a single item or assisting in the inner clamping process, reducing the force exerted by the inner clamps on the items. The horizontal movement cylinder is fixed to the mounting bracket. During layered clamping, the suction clamps apply an upward force to the items, while the inner clamps, located on the upper layer, move horizontally to hold the items. The two outer clamps, rotating in a centered manner, clamp the lower layer items. An offset component detects the weight of the items held by the inner clamps and automatically controls the horizontal movement cylinder to move the outer clamps. The torsional force generated by the eccentricity helps to distribute the structural stress, partially offsetting the downward force generated by the inner clamps and preventing excessive local stress.

[0008] Furthermore, the external clamps are provided in two sets. Each set of external clamps includes a clamping arm and a deflection cylinder. The two clamping arms are connected on both sides by an offset frame. The deflection cylinder and the offset frame are rotatably connected. The output end of the deflection cylinder is rotatably connected to the clamping arm through a rotating shaft. The self-locking assembly includes a moon disc, with pull rods on both sides of the moon disc, and the moon disc and pull rods are rotatably connected. The offset frame is equipped with clamping grooves; The transverse cylinder is connected to the offset frame, the offset frame is slidably connected to the offset groove, the end of the pull rod away from the lunette is rotatably connected to the moving shaft, and the upper end of the clamping arm is rotatably connected to the clamping groove.

[0009] Two sets of external clamps are provided for easy centering and clamping. The upper end of the clamping arm adopts a fixed-axis rotation form. During clamping, the output end of the deflection cylinder is rotatably connected to the middle of the clamping arm through a movable shaft, driving the axis of rotation of the fixed axis at the upper end of the clamping arm to rotate, thereby achieving centering and clamping. The cylinder body and the offset frame rotate for angle compensation. The offset frame limits the rotation of the upper end of the clamping arm through a clamping groove. Each external clamp has at least two clamping arms, and different external clamps are limited by a self-locking component to ensure the synchronization of clamping. Two pull rods are rotatably installed on both sides of the meniscus. The far end of the pull rod is rotatably connected to the movable shaft in the middle of the clamping arm, so that when the clamping arm rotates, it is limited by the pull rods and the meniscus, while ensuring transmission between the two clamping arms and ensuring uniform force distribution. When the lateral cylinder drives the offset frame to move, it is guided by the offset groove.

[0010] Furthermore, a fixed clamping plate is provided at the lower end of the clamping arm, and movable clamping plates are provided on both sides of the fixed clamping plate; The clamping arm is equipped with a slot; The moving clamp and the slot are slidably connected.

[0011] The clamping arm is equipped with a fixed clamping plate and a movable clamping plate. The fixed clamping plate is fixed to the clamping arm, while the movable clamping plate is movably positioned in the groove. Generally, the base used for support has a groove-like structure to facilitate transportation. Since the clamping arm adopts a rotating clamping structure, when performing layered clamping, because the specifications of the groove-like structure on the base are not fixed, in the misaligned state, during rotation, the fixed clamping plate is ensured to be inserted into the groove-like structure of the base, while the movable clamping plate slides along the groove under the reverse force to avoid interference. In the aligned state, as the clamping arm rotates from top to bottom, the fixed clamping plate and the movable clamping plate are respectively inserted into the groove-like structure of the base. Since the fixed clamping plate and the movable clamping plate mainly bear the weight of the item during the support process, i.e., the downward force, the movable clamping plate will not retract during insertion, improving the support stability.

[0012] Furthermore, the inner clamp includes a sliding cylinder, and the output end of the sliding cylinder is provided with an inner clamping plate; An offset cavity is provided on the inner clamping plate; The offset assembly includes a friction plate, and an elastic element is provided at the lower end of the friction plate; The mounting bracket is equipped with a sliding groove; The sliding cylinder is connected to the mounting bracket, the inner clamping plate is slidably connected to the slide groove, a weighing coil is provided in the offset cavity, the friction plate is slidably connected to the offset cavity, and the side wall of the friction plate faces the object to be clamped.

[0013] The sliding cylinder, fixed to the mounting frame, outputs displacement, causing the inner clamping plate to move linearly along the horizontal plane. The mounting frame guides the horizontal movement of the inner clamping plate via a sliding groove. The inner clamping plate houses the weighing coil, friction plate, and elastic element through an offset cavity. The offset cavity is single-sided open to facilitate the sliding of the friction plate. The elastic element deforms under force and returns to its original shape after the external force is removed; for example, a spring is used, with the deformation and specifications selected based on the weight of the object to be clamped. When the sliding cylinder drives the inner clamping plates to move in opposite directions, it clamps the object. As the object is lifted, the clamping force is gradually increased, causing the object to move downwards. Friction drives the friction plate downwards. The greater the weight of the object, the greater the required clamping force, meaning the longer the clamping process takes and the longer the friction plate moves downwards. This increases the current generated by the weighing coil cutting magnetic lines of force, thus automatically detecting the object clamped by the inner clamping plate in real time.

[0014] Furthermore, the weighing coil and the transverse cylinder are electrically connected; During adjustment: The center of gravity of the item held by the clamping arm and the center of gravity of the item held by the inner clamping plate are not on the same vertical line.

[0015] Based on the weight signal of the item held by the inner clamping plate detected by the weighing coil, the horizontal displacement cylinder is controlled to output displacement. The horizontal distance between the center of gravity of the item held by the clamping arm and the center of gravity of the item held by the inner clamping plate is the offset distance. When the weight held by the inner clamping plate increases, the weighing coil controls the horizontal displacement cylinder to increase the output distance accordingly, thereby increasing the offset distance and making the outer layer balance the increase in the weight of the inner layer.

[0016] Furthermore, the adsorption clamp includes a lifting cylinder, which is connected to a mounting frame. The lower end of the lifting cylinder is provided with an adsorption plate, which faces the upper side of the item to be clamped.

[0017] The lifting cylinder is fixed on the mounting frame and is used to output distance, drive the adsorption plate to move, thereby adsorbing the upper side of the item, which is convenient for layered clamping or auxiliary clamping.

[0018] As an optimization, the adsorption plate is provided with several adsorption holes, and these holes are connected to a negative pressure gas source. The adsorption plate has several adsorption holes connected to a negative pressure gas source, and independent pipes can be used for each adsorption hole to improve adsorption stability.

[0019] As an optimization, the palletizing robot also includes a body, a moving end, and a mounting frame connection. The body can be a conventional robot, providing torque with multiple degrees of freedom to adapt to different palletizing scenarios.

[0020] Compared with the prior art, the beneficial effects of this invention are as follows: The transverse cylinder is fixed on the mounting frame. During layered clamping, the adsorption clamp applies an upward force to the item. The inner clamp moves horizontally to clamp the item, located on the upper layer. Meanwhile, the two outer clamps rotate in a centered manner to clamp the lower layer item. The offset component detects the weight of the item clamped by the inner clamp and automatically controls the output displacement of the transverse cylinder, causing the outer clamps to move. The torsional force generated by the eccentricity provides structural stress, offsetting part of the downward force generated by the inner clamp clamping the item, thus avoiding excessive local stress. When the sliding cylinder drives the inner clamping plates to move towards each other, the item... The clamping mechanism gradually increases the clamping force as the object is lifted, causing it to move downwards. This movement, along with friction, causes the friction plate to move downwards. The greater the weight of the object, the greater the clamping force required, meaning the clamping process takes longer and the friction plate takes longer to move downwards. This increases the current generated by the weighing coil cutting the magnetic field lines, thus automatically detecting the object being clamped by the inner clamping plate in real time. The horizontal distance between the center of gravity of the object held by the clamping arm and the center of gravity of the object held by the inner clamping plate is used as the offset distance. When the weight held by the inner clamping plate increases, the weighing coil controls the horizontal movement cylinder to increase the output distance accordingly, thereby increasing the offset distance and balancing the weight increase of the inner layer on the outer layer. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the clamping device structure of the present invention; Figure 3 This is a schematic diagram of the layering device structure of the present invention; Figure 4 This is a schematic diagram of the clamping arm interlock of the present invention; Figure 5 for Figure 4 A magnified view of a portion of the view; Figure 6 This is a schematic diagram of the offset component structure of the present invention; Figure 7 This is a schematic diagram of the adsorption fixture structure of the present invention.

[0022] In the diagram: 1. Mounting frame; 11. Slide groove; 12. Offset groove; 2. Clamping device; 21. External clamp; 211. Offset frame; 212. Clamping arm; 213. Moving clamp; 214. Fixed clamp; 215. Deflection cylinder; 22. Lateral movement cylinder; 23. Self-locking assembly; 231. Rotating disc; 232. Pull rod; 3. Layering device; 31. Internal clamp; 311. Sliding cylinder; 312. Internal clamp; 3121. Offset cavity; 32. Offset assembly; 321. Friction plate; 322. Weighing coil; 323. Elastic element; 33. Adsorption clamp; 331. Lifting cylinder; 332. Adsorption plate; 4. Machine body. Detailed Implementation

[0023] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example: Figure 1 - Figure 7 As shown, the present invention provides a palletizing robot technology solution with adaptive layered clamping.

[0025] The palletizing robot includes a mounting frame 1, a gripping device 2, and a layering device 3, with the gripping device 2 located outside the layering device 3; The clamping device 2 includes an outer clamp 21 and a transverse cylinder 22. The output end of the transverse cylinder 22 is connected to the outer clamp 21, and the outer clamp 21 rotates inward to clamp. The layering device 3 includes an adsorption clamp 33, with inner clamps 31 on both sides of the adsorption clamp 33. The adsorption direction of the adsorption clamp 33 is upward, and the clamping direction of the inner clamps 31 is arranged horizontally. An offset component 32 is provided inside the inner clamp 31. The transverse cylinder 22 is connected to the mounting bracket 1, the outer clamp 21 is movably connected to the mounting bracket 1, the inner clamp 31 is connected to the mounting bracket 1, the adsorption clamp 33 is connected to the mounting bracket 1, and the offset assembly 32 is electrically connected to the transverse cylinder 22.

[0026] The clamping device 2 and the layering device 3 are installed by the mounting bracket 1. The clamping device 2 is used to clamp the item to be clamped from the outside and is located on the outer layer, while the layering device 3 clamps the item on the inner layer. The outer clamp 21 adopts a movable design and can clamp the item. At the same time, it can be driven by the transverse cylinder 22 to move laterally. The adsorption clamp 33 is used to adsorb the item with negative pressure. It can adsorb a single item, or it can assist in adsorption and clamping when the inner clamp 31 is clamping, reducing the force of the inner clamp 31 on the item. The transverse cylinder 22 is fixed on the mounting bracket 1. During layered clamping, the adsorption clamp 33 applies an upward force to the item, and the inner clamp 31 clamps the item by moving horizontally and is located on the upper layer. The two outer clamps 21 clamp the lower layer items by rotating in the center. The offset component 32 detects the weight of the item clamped by the inner clamp 31 and automatically controls the output displacement of the transverse cylinder 22, so that the outer clamps 21 move. The torsional force formed by the eccentricity is used to bear the structural stress and offset part of the downward force generated by the inner clamp 31 clamping the item, so as to avoid excessive local stress.

[0027] Furthermore, the external clamp 21 is provided in two sets. Each set of external clamp 21 includes a clamping arm 212 and a deflection cylinder 215. The two clamping arms 212 are connected on both sides by an offset frame 211. The deflection cylinder 215 is rotatably connected to the offset frame 211. The output end of the deflection cylinder 215 is rotatably connected to the clamping arm 212 through a rotating shaft. The self-locking assembly 23 includes a moon disc 231, and pull rods 232 are respectively provided on both sides of the moon disc 231. The moon disc 231 and the pull rods 232 are rotatably connected. The offset bracket 211 is provided with a clamping groove; The transverse cylinder 22 is connected to the offset frame 211, the offset frame 211 is slidably connected to the offset groove 12, the end of the pull rod 232 away from the lunette 231 is rotatably connected to the moving shaft, and the upper end of the clamping arm 212 is rotatably connected to the clamping groove.

[0028] Two sets of external clamps 21 are provided for easy centering and clamping. The upper end of the clamping arm 212 adopts a fixed-axis rotation form. During clamping, the output end of the deflection cylinder 215 and the middle part of the clamping arm 212 are rotatably connected through a moving shaft, which drives the axis of the fixed-axis rotation of the upper end of the clamping arm 212 to rotate, thereby performing centering and clamping. The cylinder body and the offset frame 211 rotate to perform angle compensation. The offset frame 211 limits the rotation of the upper end of the clamping arm 212 through the clamping groove. Each external clamp 21 has at least two clamping arms 212. Different external clamps 21 are limited by a self-locking component 23 to ensure synchronous clamping. Two pull rods 232 are rotatably mounted on both sides of the swivel disk 231. The distal end of the pull rod 232 is rotatably connected to the rotating shaft in the middle of the clamping arm 212, so that when the clamping arm 212 rotates, it is limited by the pull rod 232 and the swivel disk 231, while ensuring transmission between the two clamping arms 212 and ensuring uniform force distribution. When the transverse cylinder 22 drives the offset frame 211 to move, it is guided by the offset groove 12.

[0029] Furthermore, a fixed clamping plate 214 is provided at the lower end of the clamping arm 212, and movable clamping plates 213 are provided on both sides of the fixed clamping plate 214. The clamping arm 212 is provided with a slot; The movable clamp 213 and the card slot are slidably connected.

[0030] The clamping arm 212 is respectively equipped with a fixed clamping plate 214 and a movable clamping plate 213. The fixed clamping plate 214 is fixed on the clamping arm 212, while the movable clamping plate 213 is movably disposed in the groove. Generally, the base used for support has a groove-shaped structure to facilitate transportation. Since the clamping arm 212 adopts a rotating clamping structure, when performing layered clamping, because the specifications of the groove-shaped structure on the base are not fixed, in the misaligned state, during rotation, the fixed clamping plate 214 is ensured to be inserted into the groove-shaped structure of the base, while the movable clamping plate 213 slides along the groove under the reverse force to avoid interference. In the aligned state, during the downward rotation of the clamping arm 212, the fixed clamping plate 214 and the movable clamping plate 213 are respectively inserted into the groove-shaped structure of the base. Since the fixed clamping plate 214 and the movable clamping plate 213 mainly bear the weight of the item during the support process, that is, the downward force, the movable clamping plate 213 will not retract during the insertion process, thus improving the support stability.

[0031] Furthermore, the inner clamp 31 includes a sliding cylinder 311, and the output end of the sliding cylinder 311 is provided with an inner clamping plate 312; An offset cavity 3121 is provided on the inner clamping plate 312; The offset assembly 32 includes a friction plate 321, and an elastic element 323 is provided at the lower end of the friction plate 321; The mounting bracket 1 is provided with a sliding groove 11; The sliding cylinder 311 is connected to the mounting bracket 1, the inner clamping plate 312 is slidably connected to the sliding groove 11, the offset cavity 3121 is provided with a weighing coil 322, the friction plate 321 is slidably connected to the offset cavity 3121, and the side wall of the friction plate 321 faces the object to be clamped.

[0032] The sliding cylinder 311 is fixed on the mounting frame 1 and is used to output displacement, adjusting the inner clamping plate 312 to make linear displacement along the horizontal plane. The mounting frame 1 guides the horizontal movement of the inner clamping plate 312 through the sliding groove 11. The inner clamping plate 312 installs the weighing coil 322, the friction plate 321 and the elastic element 323 through the offset cavity 3121 respectively. The offset cavity 3121 is set with a single-sided opening to facilitate the sliding of the friction plate 321. The elastic element 323 deforms under force and can recover its deformation after the external force is removed. For example, a spring is used. The deformation and specifications are selected according to the weight of the item to be clamped. When the sliding cylinder 311 drives the inner clamping plate 312 to move towards each other, it clamps the item. When the item is lifted, the clamping force is gradually increased, the item moves down, and the friction plate 321 moves down through friction. The greater the weight of the item, the greater the clamping force required, that is, the longer the clamping process takes, and the longer the friction plate 321 moves down. The current generated by the weighing coil 322 cutting the magnetic field lines increases, thereby automatically detecting the item clamped by the inner clamping plate 312 in real time.

[0033] Furthermore, the weighing coil 322 and the transverse cylinder 22 are electrically connected; During adjustment: The center of gravity of the item held by the clamping arm 212 and the center of gravity of the item held by the inner clamping plate 312 are not on the same vertical line.

[0034] Based on the self-weight signal of the item held by the inner clamping plate 312 detected by the weighing coil 322, the horizontal displacement cylinder 22 is controlled to output displacement. The horizontal distance between the center of gravity of the item held by the clamping arm 212 and the center of gravity of the item held by the inner clamping plate 312 is the offset distance. When the weight held by the inner clamping plate 312 increases, the weighing coil 322 controls the horizontal displacement cylinder 22 to increase the output distance accordingly, thereby increasing the offset distance and making the outer layer balance the increase in the weight of the inner layer.

[0035] Furthermore, the adsorption clamp 33 includes a lifting cylinder 331, which is connected to the mounting frame 1. The lower end of the lifting cylinder 331 is provided with an adsorption plate 332, which faces the upper side of the item to be clamped.

[0036] The lifting cylinder 331 is fixed on the mounting frame 1 and is used to output distance to drive the adsorption plate 332 to move, thereby adsorbing the upper side of the item, which is convenient for layered clamping or auxiliary clamping.

[0037] As an optimization, the adsorption plate 332 is provided with several adsorption holes, and these holes are connected to a negative pressure gas source. The adsorption plate 332 has several adsorption holes connected to a negative pressure gas source, and independent pipes can be used for each adsorption hole to improve adsorption stability.

[0038] As an optimization, the palletizing robot also includes a body 4, with the moving end of the body 4 connected to the mounting frame 1. The body 4 can be a conventional robot, providing torque with multiple degrees of freedom to adapt to different palletizing scenarios.

[0039] The working principle of this invention is as follows: The transverse cylinder 22 is fixed on the mounting frame 1. During layered clamping, the adsorption clamp 33 applies an upward force to the item. The inner clamp 31 clamps the item by moving horizontally and is located on the upper layer. The two outer clamps 21 clamp the lower layer item by rotating in a centered manner. The offset component 32 detects the weight of the item clamped by the inner clamp 31 and automatically controls the transverse cylinder 22 to output displacement, causing the outer clamps 21 to move. The torsional force generated by the eccentricity is used to distribute the structural stress, offsetting part of the downward force generated by the inner clamps 31 clamping the item, thus avoiding excessive local stress. When the sliding cylinder 311 drives the inner clamping plates 312 to move towards each other, the item is clamped. When the object is lifted, the clamping force is gradually increased, the object moves downward, and the friction plate 321 moves downward through friction. The greater the weight of the object, the greater the clamping force required, that is, the longer the clamping process takes, and the longer the friction plate 321 moves downward. The current generated by the weighing coil 322 cutting the magnetic field lines increases, thereby automatically detecting the object held by the inner clamping plate 312 in real time. The horizontal distance between the center of gravity of the object held by the clamping arm 212 and the center of gravity of the object held by the inner clamping plate 312 is the offset distance. When the weight held by the inner clamping plate 312 increases, the weighing coil 322 controls the transverse cylinder 22 to increase the output distance accordingly, thereby increasing the offset distance and making the outer layer correspondingly balance the increase in the weight of the inner layer.

[0040] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive layered gripping palletizing robot, characterized in that: The palletizing robot includes a mounting frame, a clamping device, and a layering device, with the clamping device located outside the layering device. The clamping device includes an outer clamp and a transverse cylinder. The output end of the transverse cylinder is connected to the outer clamp. A self-locking component is provided between adjacent outer clamps. The outer clamp rotates inward to clamp. The layering device includes an adsorption clamp, with inner clamps on both sides of the adsorption clamp. The adsorption direction of the adsorption clamp is upward, and the clamping direction of the inner clamps is arranged horizontally. An offset component is provided on the inner side of the inner clamp. The transverse cylinder is connected to the mounting bracket, the outer clamp is movably connected to the mounting bracket, the inner clamp is connected to the mounting bracket, the adsorption clamp is connected to the mounting bracket, and the offset component is electrically connected to the transverse cylinder; The external clamp is provided in two sets. Each set of external clamps includes a clamping arm and a deflection cylinder. The two clamping arms are connected on both sides by an offset frame. The deflection cylinder and the offset frame are rotatably connected. The output end of the deflection cylinder is rotatably connected to the clamping arm through a rotating shaft. The self-locking component includes a moon disc, and pull rods are respectively provided on both sides of the moon disc, with the moon disc and pull rods being rotatably connected. The offset frame is provided with a clamping groove; The transverse cylinder is connected to the offset frame, the offset frame is slidably connected to the offset groove, the end of the pull rod away from the lunette is rotatably connected to the moving shaft, and the upper end of the clamping arm is rotatably connected to the clamping groove. The inner clamp includes a sliding cylinder, and the output end of the sliding cylinder is provided with an inner clamping plate; The inner clamping plate is provided with an offset cavity; The offset component includes a friction plate, and an elastic element is provided at the lower end of the friction plate; The mounting bracket is provided with a sliding groove; The sliding cylinder is connected to the mounting bracket, the inner clamping plate is slidably connected to the sliding groove, a weighing coil is provided in the offset cavity, the friction plate is slidably connected to the offset cavity, and the side wall of the friction plate faces the object to be clamped. When the sliding cylinder drives the inner clamping plates to move towards each other, it clamps the item. When the item is lifted, the clamping force is gradually increased, the item moves down, and the friction plate moves down through friction. The greater the weight of the item, the greater the clamping force required, that is, the longer the clamping process takes, and the longer the friction plate moves down. The current generated by the weighing coil cutting the magnetic field lines increases, thereby automatically detecting the item clamped by the inner clamping plates in real time. The weighing coil and the transverse cylinder are electrically connected; During adjustment: The center of gravity of the item held by the clamping arm and the center of gravity of the item held by the inner clamping plate are not on the same vertical line.

2. The adaptive layered gripping palletizing robot according to claim 1, characterized in that: The lower end of the clamping arm is provided with a fixed clamping plate, and movable clamping plates are provided on both sides of the fixed clamping plate; The clamping arm is provided with a slot; The movable clamp and the slot are slidably connected.

3. A palletizing robot with adaptive layered gripping according to any one of claims 1 to 2, characterized in that: The adsorption clamp includes a lifting cylinder, which is connected to a mounting frame. An adsorption plate is provided at the lower end of the lifting cylinder, and the adsorption plate faces the upper side of the item to be clamped.

4. The adaptive layered gripping palletizing robot according to claim 3, characterized in that: The adsorption plate is provided with a number of adsorption holes, and the adsorption holes are connected to a negative pressure gas source.

5. The adaptive layered gripping palletizing robot according to claim 4, characterized in that: The palletizing robot also includes a body, the mobile end of which is connected to a mounting frame.

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