An automated palletizing robot and automated palletizing system

Abstract

This invention belongs to the field of palletizing equipment technology, and particularly relates to an automatic palletizing robot and automatic palletizing system, including a robotic arm and its end effector; the effector includes a mounting base, a lifting mechanism, a first gripping mechanism, two telescopic mechanisms, two second gripping mechanisms, and two drive mechanisms; the lifting mechanism is located on the mounting base and has the first gripping mechanism at its bottom end; the two telescopic mechanisms are located on opposite sides of the mounting base, each telescopic mechanism has two telescopic ends with opposite directions of movement, and each telescopic end has a second gripping mechanism; the second gripping mechanism includes multiple outer slide cylinders, and a telescopic inner slide cylinder is provided inside the outer slide cylinder, with a clamping rod fixed to the end of the inner slide cylinder; the drive mechanism can drive the clamping rod to switch between vertical and horizontal directions; the effector can selectively grip materials in three modes: a first mode of negative pressure adsorption, a second mode of vertical clamping, and a third mode of horizontal adjustable range clamping, solving the problem of the single gripping method in the prior art.

Description

Technical Field

[0001] This invention belongs to the field of palletizing equipment technology, and particularly relates to an automatic palletizing robot and an automatic palletizing system. Background Technology

[0002] In the fields of automated logistics packaging, warehousing, and manufacturing, palletizing is a crucial step in material handling. Automated palletizing robots, through their end effectors, grasp, transport, and stack various materials, significantly improving production efficiency and reducing manual labor intensity. However, the diverse types and significant differences in characteristics of materials in actual production place higher demands on the gripping adaptability of the end effectors.

[0003] Currently, common palletizing robot end effectors primarily employ two basic gripping methods: one is a suction cup gripping mechanism based on negative pressure adsorption, suitable for materials with flat surfaces, no air permeability, and light weight; the other is a clamping gripping mechanism based on mechanical holding, suitable for materials with regular shapes and lateral compressibility. It is evident that existing end effectors are mostly single-function designs, with each mechanism only adaptable to specific types of materials. When different types of products need to be processed alternately on the production line, the limitation of the single gripping method often necessitates stopping the machine to replace the entire end effector, resulting in poor equipment flexibility and low palletizing efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide an automated palletizing robot and an automated palletizing system to solve the above-mentioned problems.

[0005] To achieve the above objectives, the present invention provides the following solution: An automated palletizing robot includes a robotic arm and an actuator connected to the end effector of the robotic arm, the actuator comprising: Installation foundation; A lifting mechanism is mounted on the mounting base, and a first gripping mechanism is provided at the bottom end of the lifting mechanism; Two telescopic mechanisms are located on opposite sides of the mounting base, and each telescopic mechanism has two telescopic ends with opposite directions of movement. Two second gripping mechanisms are respectively disposed at the two telescopic ends of the telescopic mechanism; Two drive mechanisms are respectively disposed at the two telescopic ends of the telescopic mechanism, and the drive mechanisms are connected to the second gripping mechanism in a transmission manner. The second gripping mechanism includes multiple outer sliding cylinders arranged sequentially between the two telescopic mechanisms. One end of each outer sliding cylinder is rotatably connected to the telescopic end of the telescopic mechanism, and the other end of each outer sliding cylinder is connected to the driving mechanism. An inner sliding cylinder is provided inside each outer sliding cylinder. Under the action of an external driving force, the inner sliding cylinder moves along the length of the outer sliding cylinder. A clamping rod is fixedly connected to one end of the inner sliding cylinder that extends out of the outer sliding cylinder. The clamping rod is perpendicular to the inner sliding cylinder, and the clamping rods located on the two second gripping mechanisms are far apart from each other. The execution unit can switch between a first mode, a second mode, and a third mode: In the first mode, the first gripping mechanism grips the material by adsorbing it with negative pressure; In the second mode, the clamping rod is set vertically, the outer slide cylinder and the inner slide cylinder are fixedly arranged, and the telescopic mechanism drives the two second gripping mechanisms to move closer to each other, so that the clamping rods on the two second gripping mechanisms can clamp the material. In the third mode, the drive mechanism drives the clamping rod to switch between vertical and horizontal directions, gripping materials by clamping, and the gripping range is adjusted by the telescopic mechanism, the outer slide cylinder and the inner slide cylinder.

[0006] Preferably, the mounting base includes a connecting frame, a horizontal plate is fixedly connected to the bottom end of the connecting frame, the lifting mechanism and the telescopic mechanism are both mounted on the horizontal plate, and a rotating platform is provided at the top end of the connecting frame, the rotating platform being fixedly mounted on the tail end of the robotic arm.

[0007] Preferably, the lifting mechanism includes a sliding frame fixed to the top of the horizontal plate. Slide tracks are provided on opposite side walls of the sliding frame. A slider is vertically slidably connected within each slide track. One of the sliders extends out of the slide track and is threadedly connected to a threaded rod. The threaded rod is vertically positioned, and its top end extends out of the top of a fixed frame and is coaxially fixed to the output shaft of a rotating drive component. The fixed frame is fixed to the top of the horizontal plate, and the rotating drive component is fixed to the fixed frame. A perforated mesh frame is slidably connected within the sliding frame. The perforated mesh frame is fixed to the two sliders, and its bottom end extends out of the horizontal plate and is fixedly connected to the first gripping mechanism.

[0008] Preferably, the first gripping mechanism includes an air equalization plate, which is horizontally arranged. Multiple suction cups are connected to the bottom surface of the air equalization plate. The multiple suction cups are arranged in an array. The suction cups are connected to the air equalization chamber of the air equalization plate. The air equalization chamber of the air equalization plate is connected to a negative pressure device through a pipeline.

[0009] Preferably, the telescopic mechanism includes a first telescopic member, two first telescopic members are respectively fixed to opposite sides of the horizontal plate, the telescopic ends of the two first telescopic members on the same side move in parallel directions, and the driving mechanism and the plurality of outer sliding cylinders are all disposed between the telescopic ends of the two first telescopic members on the same side.

[0010] Preferably, two adjacent outer slide cylinders within the same second gripping mechanism are fixedly connected by a short shaft. The short shaft is located at one end of the outer slide cylinder, and the outer slide cylinders at both ends are rotatably connected to the bottom end of the upright through the short shaft. The top end of the upright is fixed to the telescopic end of the first telescopic member and is set perpendicular to the first telescopic member. The driving mechanism includes a longitudinal rod fixed to the telescopic end of the first telescopic member. The longitudinal rod is coaxially arranged with the first telescopic member. A crossbar is fixed between the two longitudinal rods on the same side. The power end of the second telescopic member is hinged to the crossbar. The telescopic end of the second telescopic member is hinged to the other end of one of the outer sliding cylinders.

[0011] Preferably, the outer slide cylinder has a sliding cavity inside, the sliding cavity is arranged along the length direction of the outer slide cylinder, the inner slide cylinder is coaxially arranged in the sliding cavity and one end extends out of the sliding cavity, the other end of the inner slide cylinder is axially fixed to a slip ring, the outer edge of the slip ring slides in contact with the inner wall of the sliding cavity, an air inlet connector is connected to the side wall of the outer slide cylinder, the air inlet connector is close to the end of the inner slide cylinder that extends out of the sliding cavity, and a second limiting block is fixed to the inner side wall of the outer slide cylinder, the second limiting block is located between the slip ring and the air inlet connector.

[0012] Preferably, a first air chamber is coaxially formed inside the inner sliding cylinder, and a second air chamber is formed inside the clamping rod. The second air chamber communicates with the first air chamber. A plurality of air holes are formed on the side of the clamping rod facing the material. The plurality of air holes communicate with the second air chamber and are arranged sequentially at intervals along the length direction of the clamping rod. One end of the first air chamber is fixedly connected to and connected to an insertion tube. A sleeve is detachably connected to the outside of the insertion tube. The sleeve is fixedly connected to the end of the outer sliding cylinder and connected to a branch pipe of the diversion pipe. The diversion pipe is fixedly connected to multiple outer sliding cylinders of the same second gripping mechanism. Two diversion pipes are arranged close to each other. The main pipe of the diversion pipe is connected to an external air supply device. A valve is provided between the main pipe of the diversion pipe and the external air supply device.

[0013] Preferably, a first limiting block is fixedly connected inside the sliding cavity, and the first limiting block is disposed between the sleeve and the slip ring.

[0014] An automated palletizing system, comprising the automated palletizing robot described in any one of the claims.

[0015] Compared with the prior art, the present invention has the following advantages and technical effects: The automatic palletizing robot provided by this invention integrates a lifting mechanism and its bottom first gripping mechanism, telescopic mechanisms on both sides of the mounting base and their two telescopic ends second gripping mechanisms into the execution unit. Combined with a drive mechanism, an outer slide cylinder, an inner slide cylinder, and a rotatable and telescopic structure of the gripping rod, the execution unit can selectively operate in three modes. In the first mode, negative pressure is used to grip lightweight materials with flat surfaces. In the second mode, the gripping rod is vertically fixed, and the telescopic mechanism drives the two gripping rods to move closer together, achieving stable vertical gripping of regular materials. In the third mode, the drive mechanism drives the gripping rod to switch between vertical and horizontal directions, and combined with the telescopic mechanism, the outer slide cylinder, and the inner slide cylinder's telescopic adjustment, the gripping range and posture can be flexibly adjusted, thus gripping materials of different sizes and shapes in either horizontal or vertical directions. This design effectively overcomes the shortcomings of existing execution units that require frequent shutdowns and replacements due to a single gripping method, achieving compatible gripping of various materials such as bags, boxes, and barrels, significantly improving the flexibility and operational efficiency of the palletizing robot. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments 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: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a top view of the present invention; Figure 3 for Figure 1 A magnified view of a section at point A in the middle; Figure 4 for Figure 1 A magnified view of a section at point B in the middle; The components include: 1. Robotic arm; 2. Rotary table; 3. Connecting frame; 4. Sliding frame; 5. Slide rail; 6. Slider; 7. Fixed frame; 8. Rotation drive component; 9. Threaded rod; 10. Hollowed-out mesh frame; 11. Air distribution plate; 12. Suction cup; 13. Horizontal plate; 14. First telescopic component; 15. Vertical rod; 16. Horizontal rod; 17. Second telescopic component; 18. Vertical pole; 19. Valve; 20. Diverter pipe; 21. Sleeve; 22. Insertion tube; 23. First limiting block; 24. Slip ring; 25. Outer slide cylinder; 26. Inner slide cylinder; 27. First air chamber; 28. Air hole; 29. ​​Air inlet connector; 30. Second limiting block; 31. Short shaft; 32. Clamping rod; 33. Second air chamber. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Reference Figures 1 to 4 This invention discloses an automated palletizing robot, including a robotic arm 1 and an actuator connected to the end of the robotic arm 1. The actuator includes: Installation foundation; The lifting mechanism is installed on the mounting base, and the bottom end of the lifting mechanism is equipped with a first gripping mechanism. Two telescopic mechanisms are located on opposite sides of the mounting base, and each telescopic mechanism has two telescopic ends with opposite directions of movement. Two second gripping mechanisms are respectively installed at the two telescopic ends of the telescopic mechanism; Two drive mechanisms are respectively set at the two telescopic ends of the telescopic mechanism, and the drive mechanisms are connected to the second gripping mechanism in a transmission manner. The second gripping mechanism includes multiple outer slide cylinders 25, which are arranged sequentially between two telescopic mechanisms. One end of the outer slide cylinder 25 is rotatably connected to the telescopic end of the telescopic mechanism, and the other end of the outer slide cylinder 25 is connected to the drive mechanism. An inner slide cylinder 26 is provided inside the outer slide cylinder 25. The inner slide cylinder 26 moves along the length of the outer slide cylinder 25 under the action of external driving force. A clamping rod 32 is fixedly connected to one end of the inner slide cylinder 26 that extends out of the outer slide cylinder 25. The clamping rod 32 is perpendicular to the inner slide cylinder 26, and the clamping rods 32 located on the two second gripping mechanisms are far apart from each other. The execution unit can switch between the first mode, the second mode, and the third mode: In the first mode, the first gripping mechanism grips the material by using negative pressure adsorption; In the second mode, the clamping rod 32 is set vertically, the outer slide cylinder 25 and the inner slide cylinder 26 are fixedly set together, and the telescopic mechanism drives the two second gripping mechanisms to move closer to each other, so that the clamping rod 32 on the two second gripping mechanisms can clamp the material. In the third mode, the drive mechanism drives the clamping rod 32 to switch between vertical and horizontal directions, grabbing materials by clamping, and adjusting the grabbing range by telescopic mechanism, outer slide cylinder 25 and inner slide cylinder 26.

[0020] The actuator is driven by robotic arm 1. The actuator integrates a lifting mechanism, a first gripping mechanism, two telescopic mechanisms, two second gripping mechanisms, and two drive mechanisms. The lifting mechanism controls the first gripping mechanism to move up and down to achieve negative pressure adsorption. The two telescopic mechanisms are located on both sides of the mounting base, each with two telescopic ends moving in opposite directions, thus driving the two second gripping mechanisms to move closer or further apart. The second gripping mechanism consists of multiple outer sliding cylinders 25 and an inner sliding cylinder 26. The inner sliding cylinder 26 can move along the length of the outer sliding cylinder 25, and its end is fixed with a vertical clamping rod 32, with the clamping rods 32 on both sides positioned far apart from each other. One end of the outer sliding cylinder 26 is rotatably connected to the telescopic end, and the other end is connected to the drive mechanism. By selecting different modes: the first mode activates the negative pressure adsorption of the first gripping mechanism; the second mode fixes the clamping rod 32 in a vertical direction, and the outer slide cylinder 25 and inner slide cylinder 26 are fixed relative to each other, and the telescopic mechanism is used to make the clamping rods 32 on both sides close horizontally to clamp the material; the third mode is driven by the drive mechanism to rotate the outer slide cylinder 25, so that the clamping rod 32 switches between vertical and horizontal postures, while the telescopic mechanism adjusts the spacing and the outer slide cylinder 25 and inner slide cylinder 26 adjust the extension length to achieve a variable range of horizontal clamping.

[0021] This structure allows the actuator to flexibly switch between three gripping modes—negative pressure adsorption, vertical fixed clamping, and horizontal / vertical adjustable clamping—without changing the end effector. This effectively solves the problem of frequent downtime for actuator replacement caused by the single gripping method in existing technologies, and significantly improves the palletizing robot's adaptability to different materials and its operational efficiency.

[0022] The design was further optimized. The installation base includes a connecting frame 3. A horizontal plate 13 is fixedly connected to the bottom of the connecting frame 3. The lifting mechanism and the telescopic mechanism are both set on the horizontal plate 13. A rotating platform 2 is set at the top of the connecting frame 3. The rotating platform 2 is fixedly installed at the tail end of the robotic arm 1.

[0023] The mounting base consists of a connecting frame 3, a horizontal plate 13, and a rotating platform 2. The rotating platform 2 is fixed to the tail end of the robotic arm 1, serving as the connection hub between the actuator and the robotic arm 1. The top end of the connecting frame 3 is connected to the rotating platform 2, and the bottom end is fixed to the horizontal plate 13. Both the lifting mechanism and the telescopic mechanism are mounted on the horizontal plate 13, thus obtaining stable support.

[0024] The rotary table 2 enables the actuator to rotate relative to the robotic arm 1, thus expanding the working range. The horizontal plate 13 provides a flat and stable mounting base for the lifting and telescopic mechanisms, ensuring the positioning accuracy and overall rigidity of each mechanism during operation, which helps to improve the stability of palletizing.

[0025] Further optimization of the scheme: The lifting mechanism includes a sliding frame 4 fixed to the top of the horizontal plate 13. Slide tracks 5 are provided on the opposite side walls of the sliding frame 4. A slider 6 is vertically slidably connected in the slide track 5. One of the sliders 6 passes through the slide track 5 and is threadedly connected to a threaded rod 9. The threaded rod 9 is vertically set. The top end of the threaded rod 9 passes through the top end of the fixed frame 7 and is coaxially fixed to the output shaft of the rotation drive 8. The fixed frame 7 is fixed to the top of the horizontal plate 13. The rotation drive 8 is fixed to the fixed frame 7. A hollow mesh frame 10 is slidably connected in the sliding frame 4. The hollow mesh frame 10 is fixed to the two sliders 6. The bottom end of the hollow mesh frame 10 passes through the horizontal plate 13 and is fixedly connected to the first gripping mechanism.

[0026] The rotating drive component 8 can be a motor or other rotating drive mechanism.

[0027] The rotating drive component 8 drives the threaded rod 9 to rotate. The threaded rod 9 is threadedly engaged with a slider 6. Since the slider 6 is confined within the slide rail 5 and can only slide vertically, the rotation of the threaded rod 9 drives the slider 6 to move up and down along the slide rail 5. This slider 6 drives the other slider 6 and the hollow mesh frame 10 fixed to the two sliders 6 to rise and fall synchronously. The bottom end of the hollow mesh frame 10 passes through the horizontal plate 13 and connects to the first gripping mechanism, thereby converting the rotational motion into the vertical linear motion of the first gripping mechanism.

[0028] The screw drive system, consisting of threaded rod 9 and slider 6, enables precise and controllable lifting of the first gripping mechanism, and features self-locking capability to reliably maintain the gripping height. The perforated mesh frame 10 slides within the sliding frame 4, reducing the weight of the moving parts while ensuring stable support for the first gripping mechanism, which is beneficial for smooth contact with materials during negative pressure adsorption.

[0029] Further optimization of the scheme: the first gripping mechanism includes an air equalization plate 11, which is horizontally set. Multiple suction cups 12 are connected to the bottom surface of the air equalization plate 11. The multiple suction cups 12 are arranged in an array and are connected to the air equalization chamber of the air equalization plate 11. The air equalization chamber of the air equalization plate 11 is connected to a negative pressure device through a pipeline.

[0030] The gas equalization plate 11 has a gas equalization chamber inside, which is connected to an external negative pressure device through a pipeline. Multiple suction cups 12 are arrayed on the bottom surface of the gas equalization plate 11, and each suction cup 12 is connected to the gas equalization chamber. When the negative pressure device is started, a negative pressure is formed in the gas equalization chamber and all suction cups 12. After the suction cups 12 contact the material surface, they can adsorb and grab the material through the atmospheric pressure difference.

[0031] Multiple arrays of suction cups 12 increase the adsorption area and distribution uniformity, enabling stable adsorption of lightweight materials with flat, airtight surfaces. The air distribution plate 11 ensures consistent negative pressure across all suction cups 12, preventing insufficient local adsorption force. This compact structure is suitable for quickly and non-destructively gripping materials such as cardboard boxes and plastic containers in the first mode.

[0032] The scheme is further optimized. The telescopic mechanism includes a first telescopic member 14. Two first telescopic members 14 are respectively fixed on opposite sides of the horizontal plate 13. The telescopic ends of the two first telescopic members 14 located on the same side move in parallel directions. The drive mechanism and multiple outer sliding cylinders 25 are all arranged between the telescopic ends of the two first telescopic members 14 located on the same side.

[0033] The first telescopic component 14 is a cylinder or an electric push rod, or other telescopic mechanism.

[0034] Two first telescopic members 14 are installed on each side of the horizontal plate 13, and the telescopic ends of the two first telescopic members 14 on the same side move in parallel directions. The drive mechanism and a plurality of outer slide cylinders 25 are arranged between the telescopic ends of the two first telescopic members 14 on the same side, and the telescopic ends of the first telescopic members 14 can drive these components to move horizontally as a whole.

[0035] The use of two parallel first telescopic members 14 on each side ensures the smoothness and directional consistency of the second gripping mechanism during the telescopic process, preventing skewing. The drive mechanism and outer slide cylinder 25 are positioned between the two telescopic ends, resulting in a compact structure.

[0036] In a further optimized scheme, two adjacent outer slide cylinders 25 within the same second gripping mechanism are fixedly connected by a short shaft 31. The short shaft 31 is located at one end of the outer slide cylinder 25, and the outer slide cylinders 25 at both ends are rotatably connected to the bottom end of the upright 18 through the short shaft 31. The top end of the upright 18 is fixed to the telescopic end of the first telescopic member 14 and is set perpendicular to the first telescopic member 14. The drive mechanism includes a longitudinal rod 15 fixed to the telescopic end of the first telescopic member 14. The longitudinal rod 15 is coaxially arranged with the first telescopic member 14. A crossbar 16 is fixed between the two longitudinal rods 15 on the same side. The power end of the second telescopic member 17 is hinged to the crossbar 16. The telescopic end of the second telescopic member 17 is hinged to the other end of one of the outer slide cylinders 25.

[0037] The second telescopic component 17 is a cylinder, an electric push rod, or other telescopic mechanism.

[0038] Multiple outer sliding cylinders 25 in the same second gripping mechanism are sequentially fixedly connected by short shafts 31 to form a linked group. The short shafts 31 at both ends are rotatably connected to the bottom end of the upright 18, and the top end of the upright 18 is fixed to the telescopic end of the first telescopic member 14. In the driving mechanism, the telescopic end of the first telescopic member 14 is fixedly connected to the longitudinal rod 15, and the two longitudinal rods 15 on the same side are connected by a crossbar 16. The power end of the second telescopic member 17 is hinged to the crossbar 16, and the telescopic end of the second telescopic member 17 is hinged to the other end of one of the outer sliding cylinders 25. When the second telescopic member 17 extends or retracts, it pushes and pulls the outer sliding cylinder 25 to rotate around the axis of the short shaft 31 at the bottom end of the upright 18, thereby driving the entire group of outer sliding cylinders 25 to rotate synchronously.

[0039] This allows multiple outer sliding cylinders 25 to rotate in unison, enabling the clamping rod 32 to switch between vertical and horizontal postures. All movements are uniformly driven by the second telescopic component 17, resulting in simple and reliable control. The frame formed by the longitudinal bar 15 and the transverse bar 16 enhances the rigidity of the telescopic end of the first telescopic component 14, ensuring the installation stability of the drive mechanism.

[0040] In a further optimized design, a sliding cavity is provided inside the outer sliding cylinder 25, which is arranged along the length of the outer sliding cylinder 25. The inner sliding cylinder 26 is coaxially arranged inside the sliding cavity and one end extends out of the sliding cavity. A slip ring 24 is axially fixed to the other end of the inner sliding cylinder 26. The outer edge of the slip ring 24 slides in contact with the inner wall of the sliding cavity. An air inlet connector 29 is connected to the side wall of the outer sliding cylinder 25. The air inlet connector 29 is close to the end of the inner sliding cylinder 26 that extends out of the sliding cavity. A second limiting block 30 is fixed to the inner side wall of the outer sliding cylinder 25. The second limiting block 30 is located between the slip ring 24 and the air inlet connector 29.

[0041] The outer slide cylinder 25 has a cylindrical sliding cavity inside, and the inner slide cylinder 26 is coaxially mounted and can slide axially. A slip ring 24 is fixed to the end of the inner slide cylinder 26, and the slip ring 24 slides in contact with the wall of the sliding cavity to ensure coaxial movement. An air inlet connector 29 is connected to the side wall of the outer slide cylinder 25 near the opening end for introducing compressed gas. A second limiting block 30 is fixed to the inner wall of the sliding cavity, located between the slip ring 24 and the air inlet connector 29. When air is pumped out, the air pressure pushes the slip ring 24, causing the inner slide cylinder 26 to extend outwards, and the second limiting block 30 limits the maximum extension position of the inner slide cylinder 26. When gas is introduced through the air inlet connector 29, the air pressure pushes the slip ring 24, causing the inner slide cylinder 26 to retract.

[0042] The inner sliding cylinder 26 is pneumatically driven to extend and retract, resulting in a simple structure and rapid response. This allows for easy adjustment of the extension length of the clamping rod 32, thereby changing the gripping range. The sliding engagement between the slip ring 24 and the sliding cavity ensures smooth movement; the second limiting block 30 prevents the inner sliding cylinder 26 from over-extending or dislodging, improving safety.

[0043] The scheme is further optimized. A first air chamber 27 is coaxially opened in the inner slide cylinder 26, and a second air chamber 33 is opened in the clamping rod 32. The second air chamber 33 is connected to the first air chamber 27. Multiple air holes 28 are opened on the side of the clamping rod 32 facing the material. The multiple air holes 28 are connected to the second air chamber 33 and are arranged in a sequentially spaced manner along the length of the clamping rod 32. One end of the first air chamber 27 is fixedly connected to and connected to an insertion tube 22. A sleeve 21 is detachably connected to the outside of the insertion tube 22. The sleeve 21 is fixedly connected to the end of the outer slide cylinder 25 and connected to a branch pipe of the diversion pipe 20. The diversion pipe 20 is fixedly connected to multiple outer slide cylinders 25 of the same second gripping mechanism. The two diversion pipes 20 are arranged close to each other. The main pipe of the diversion pipe 20 is connected to an external air supply device. A valve 19 is provided between the main pipe of the diversion pipe 20 and the external air supply device.

[0044] The first air chamber 27 inside the inner slide cylinder 26 is connected to the second air chamber 33 inside the clamping rod 32. The second air chamber 33 is connected to the outside through multiple air holes 28 on the side of the clamping rod 32 facing the material. The end of the first air chamber 27 is fixedly connected to the insertion tube 22, which is detachably connected to the sleeve 21. The sleeve 21 is fixedly connected to the end of the outer slide cylinder 25 and is connected to the branch pipe of the diversion pipe 20. The diversion pipe 20 connects the air paths of multiple outer slide cylinders 25 in the same second gripping mechanism in parallel, and its main pipe is connected to the negative pressure source of the external air supply equipment through the valve 19. When the valve 19 is opened, gas is drawn in through the air holes 28 and enters the external air supply equipment through the second air chamber 33, the first air chamber 27, the insertion tube 22, and the diversion pipe 20.

[0045] With this configuration, when performing the clamping action in the second mode, the force between the material and the clamping rod 32 is increased by negative pressure, thereby improving the reliability of clamping.

[0046] The scheme is further optimized by fixing a first limiting block 23 inside the sliding cavity, and the first limiting block 23 is set between the sleeve 21 and the slip ring 24.

[0047] This design prevents the inner slide cylinder 26 from overshooting during retraction. The first limit block 23 and the second limit block 30 work together to limit the maximum retraction and maximum extension positions of the inner slide cylinder 26, respectively, preventing the inner slide cylinder 26 from being damaged or falling off due to excessive movement. This ensures the controllability and safety of the extension and retraction stroke, while also improving the repeatability accuracy.

[0048] An automated palletizing system includes an automated palletizing robot.

[0049] The working process is as follows: First, select the appropriate operating mode according to the type of material to be grasped. If the material is a flat, airtight, lightweight material such as a cardboard box, then execute the first mode: the robotic arm 1 moves the execution unit to directly above the material, the lifting mechanism is activated, the rotating drive 8 drives the threaded rod 9 to rotate, the threaded rod 9 drives the slider 6 connected to it to slide down along the slide rail 5, the slider 6 drives the hollow mesh frame 10 to descend synchronously in the sliding frame 4, the first grasping mechanism at the bottom of the hollow mesh frame 10 descends accordingly, until the multiple suction cups 12 on the bottom surface of the air distribution plate 11 are tightly attached to the surface of the material; the external negative pressure equipment evacuates the air distribution chamber of the air distribution plate 11 through the pipeline, and the suction cups 12 form a negative pressure to adsorb and grasp the material; after being transported to the target position, the negative pressure is released, and the material is placed stably.

[0050] If the material is a regularly shaped box or bagged material, suitable for vertical clamping, then the second mode is executed: In this mode, the drive mechanism is not activated, the clamping rod 32 remains in a vertical position, and the outer slide cylinder 25 and the inner slide cylinder 26 are fixedly positioned by means of locking or maintaining air pressure to keep their relative positions unchanged; the telescopic mechanisms on both sides act simultaneously, the first telescopic component 14 extends like the telescopic end of a cylinder, driving the upright rod 18 and the outer slide cylinder 25 connected to it to move horizontally as a whole, so that the clamping rods 32 on the second gripping mechanisms on both sides move closer to each other and clamp the material from both sides; at the same time, the valve 19 can be opened, so that the external negative pressure equipment draws air from the air hole 28 on the clamping rod 32 through the diverter pipe 20, sleeve 21, insertion pipe 22, first air chamber 27, and second air chamber 33, enhancing the adhesion between the clamping rod 32 and the side of the material and preventing slippage; after the material is transported to the position, the first telescopic component 14 retracts to release the clamping rod 32 and close the negative pressure.

[0051] If the material is an irregularly shaped part such as a barrel that is easy to roll, has a high center of gravity, or requires lateral insertion for handling, then the third mode is executed: the drive mechanism is activated, the second telescopic member 17 extends and retracts, pushing the outer slide cylinder 25, which is hinged to it, to rotate around the short axis 31 at the bottom of the upright 18, thereby driving multiple outer slide cylinders 25 in the same second gripping mechanism to rotate synchronously, so that the clamping rod 32 fixed to the end of the inner slide cylinder 26 changes from a vertical posture to a horizontal posture; at the same time, the air pressure in the sliding cavity of the outer slide cylinder 25 is controlled by the air inlet connector 29, driving the inner slide cylinder 26 to extend and retract axially, adjusting the extension length of the clamping rod 32; the first telescopic member 14 of the telescopic mechanism then adjusts the distance between the two second gripping mechanisms, so that the horizontal clamping rod 32 extends into a suitable position at the bottom or side of the material, and then the first telescopic member 14 drives the clamping rod 32 to move closer to each other to achieve lifting or clamping; after the handling is completed, each mechanism reverses its movement to reset. Throughout the process, the rotating table 2 can drive the entire actuator to rotate as needed to adjust the gripping or stacking angle, thereby efficiently completing the palletizing operation of various materials.

[0052] In the third mode, if the material is of uniform specifications, the clamping range is first determined by adjusting the position of the first telescopic member 14 and the inner sliding cylinder 26. Then, the second telescopic member 17 extends to bring the clamping rod 32 into a vertical or nearly vertical state. It then moves above the material and places the material between the two second gripping mechanisms. The second telescopic member 17 retracts, clamping the material between the two second gripping mechanisms in a holding state. The material is then moved to the stacking position. The second telescopic member 17 extends to bring the clamping rod 32 into a vertical or nearly vertical state and lowers the material. This process is repeated until the stacking operation is completed.

[0053] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "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, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0054] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An automated palletizing robot, characterized in that, Includes a robotic arm (1) and an actuator connected to the end of the robotic arm (1), the actuator comprising: Installation foundation; A lifting mechanism is mounted on the mounting base, and a first gripping mechanism is provided at the bottom end of the lifting mechanism; Two telescopic mechanisms are located on opposite sides of the mounting base, and each telescopic mechanism has two telescopic ends with opposite directions of movement. Two second gripping mechanisms are respectively disposed at the two telescopic ends of the telescopic mechanism; Two drive mechanisms are respectively disposed at the two telescopic ends of the telescopic mechanism, and the drive mechanisms are connected to the second gripping mechanism in a transmission manner. The second gripping mechanism includes multiple outer slide cylinders (25) arranged sequentially between the two telescopic mechanisms. One end of each outer slide cylinder (25) is rotatably connected to the telescopic end of the telescopic mechanism, and the other end of each outer slide cylinder (25) is connected to the driving mechanism. An inner slide cylinder (26) is provided inside each outer slide cylinder (25). The inner slide cylinder (26) moves along the length of the outer slide cylinder (25) under the action of an external driving force. A clamping rod (32) is fixedly connected to one end of the inner slide cylinder (26) that extends out of the outer slide cylinder (25). The clamping rod (32) is perpendicular to the inner slide cylinder (26). The clamping rods (32) located on the two second gripping mechanisms are far apart from each other. The execution unit can switch between a first mode, a second mode, and a third mode: In the first mode, the first gripping mechanism grips the material by adsorbing it with negative pressure; In the second mode, the clamping rod (32) is set vertically, the outer slide cylinder (25) and the inner slide cylinder (26) are fixedly set together, and the telescopic mechanism drives the two second gripping mechanisms to move closer to each other, so that the clamping rod (32) on the two second gripping mechanisms can clamp the material. In the third mode, the drive mechanism drives the clamping rod (32) to switch between vertical and horizontal directions, grabbing materials by clamping, and adjusting the grabbing range by the telescopic mechanism, the outer slide cylinder (25) and the inner slide cylinder (26).

2. The automatic palletizing robot according to claim 1, characterized in that: The installation base includes a connecting frame (3), and a horizontal plate (13) is fixedly connected to the bottom end of the connecting frame (3). The lifting mechanism and the telescopic mechanism are both set on the horizontal plate (13). A rotating platform (2) is set at the top of the connecting frame (3), and the rotating platform (2) is fixedly installed at the tail end of the robotic arm (1).

3. An automated palletizing robot according to claim 2, characterized in that: The lifting mechanism includes a sliding frame (4) fixed to the top of the horizontal plate (13). Slides (5) are provided on the opposite side walls of the sliding frame (4). A slider (6) is vertically slidably connected in the slide (5). One of the sliders (6) passes through the slide (5) and is threadedly connected to a threaded rod (9). The threaded rod (9) is vertically arranged. The top end of the threaded rod (9) passes through the top end of the fixed frame (7) and is coaxially fixed to the output shaft of the rotating drive (8). The fixed frame (7) is fixed to the top of the horizontal plate (13). The rotating drive (8) is fixed to the fixed frame (7). A hollow mesh frame (10) is slidably connected in the sliding frame (4). The hollow mesh frame (10) is fixed to the two sliders (6). The bottom end of the hollow mesh frame (10) passes through the horizontal plate (13) and is fixedly connected to the first gripping mechanism.

4. An automated palletizing robot according to claim 3, characterized in that: The first gripping mechanism includes an air equalization plate (11), which is horizontally arranged. Multiple suction cups (12) are connected to the bottom surface of the air equalization plate (11). The multiple suction cups (12) are arranged in an array. The suction cups (12) are connected to the air equalization chamber of the air equalization plate (11). The air equalization chamber of the air equalization plate (11) is connected to a negative pressure device through a pipeline.

5. An automated palletizing robot according to claim 2, characterized in that: The telescopic mechanism includes a first telescopic member (14), and two first telescopic members (14) are respectively fixed to opposite sides of the horizontal plate (13). The telescopic ends of the two first telescopic members (14) located on the same side move in parallel directions. The driving mechanism and a plurality of outer sliding cylinders (25) are all arranged between the telescopic ends of the two first telescopic members (14) located on the same side.

6. An automated palletizing robot according to claim 5, characterized in that: Within the same second gripping mechanism, two adjacent outer slide cylinders (25) are fixedly connected by a short shaft (31). The short shaft (31) is located at one end of the outer slide cylinder (25). The outer slide cylinders (25) at both ends are rotatably connected to the bottom end of the upright (18) through the short shaft (31). The top end of the upright (18) is fixed to the telescopic end of the first telescopic member (14) and is set perpendicular to the first telescopic member (14). The driving mechanism includes a longitudinal rod (15) fixed to the telescopic end of the first telescopic member (14). The longitudinal rod (15) is coaxially arranged with the first telescopic member (14). A cross rod (16) is fixed between the two longitudinal rods (15) on the same side. The power end of the second telescopic member (17) is hinged to the cross rod (16). The telescopic end of the second telescopic member (17) is hinged to the other end of one of the outer slide cylinders (25).

7. An automated palletizing robot according to claim 5, characterized in that: The outer slide cylinder (25) has a sliding cavity inside, which is arranged along the length of the outer slide cylinder (25). The inner slide cylinder (26) is coaxially arranged inside the sliding cavity and one end extends out of the sliding cavity. The other end of the inner slide cylinder (26) is axially fixed with a slip ring (24). The outer edge of the slip ring (24) slides in contact with the inner wall of the sliding cavity. An air inlet connector (29) is connected to the side wall of the outer slide cylinder (25). The air inlet connector (29) is close to the end of the inner slide cylinder (26) that extends out of the sliding cavity. A second limiting block (30) is fixed to the inner side wall of the outer slide cylinder (25). The second limiting block (30) is located between the slip ring (24) and the air inlet connector (29).

8. An automated palletizing robot according to claim 7, characterized in that: The inner slide cylinder (26) has a first air chamber (27) coaxially formed inside, and the clamping rod (32) has a second air chamber (33) formed inside. The second air chamber (33) is connected to the first air chamber (27). The clamping rod (32) has a plurality of air holes (28) on the side facing the material. The plurality of air holes (28) are connected to the second air chamber (33) and are arranged sequentially at intervals along the length direction of the clamping rod (32). One end of the first air chamber (27) is fixedly connected to and connected to an insertion tube (22). A sleeve (21) is detachably connected to the outside of the insertion tube (22). The sleeve (21) is fixedly connected to the end of the outer slide cylinder (25) and connected to the branch pipe of the diversion pipe (20). The diversion pipe (20) is fixedly connected to multiple outer slide cylinders (25) of the same second gripping mechanism. Two diversion pipes (20) are arranged close to each other. The main pipe of the diversion pipe (20) is connected to an external air supply device. A valve (19) is provided between the main pipe of the diversion pipe (20) and the external air supply device.

9. An automated palletizing robot according to claim 8, characterized in that: A first limiting block (23) is fixedly connected inside the sliding cavity, and the first limiting block (23) is disposed between the sleeve (21) and the slip ring (24).

10. An automated palletizing system, characterized in that, Including the automated palletizing robot as described in any one of claims 1-9.

Images