A robotic palletizing device

Abstract

The application relates to the field of material conveying, and discloses a robot tray stacking device, which comprises a mechanical arm arranged on one side of a conveying unit and further comprises an end picker body used for grabbing and stacking materials on a bracket conveyed by the conveying unit, wherein the end picker body comprises a mounting assembly arranged on the mechanical arm and used for mounting components, a fixing assembly arranged on the mounting assembly and used for fixing the materials, and an adjusting assembly arranged on the mounting assembly and connected with the fixing assembly and used for adjusting the position of the fixing assembly; the end picker can quickly adapt to materials in different positions and postures for grabbing, the accuracy and success rate of grabbing are improved, and the failure of grabbing caused by position deviation is reduced.

Description

Technical Field

[0001] This invention relates to the field of material conveying technology, specifically to a robotic palletizing device. Background Technology

[0002] In modern industrial production's logistics and automated packaging processes, palletizing is a core process connecting the end of the production line with warehousing, directly determining the overall production efficiency and operational stability of the line. Currently, most companies commonly use general-purpose industrial robotic arms paired with fixed-specification end effectors to complete material palletizing operations.

[0003] Existing equipment has the following drawbacks: On the one hand, some end effectors have relatively simple structures, and the position adjustment of the fixing components is not flexible enough, making it difficult to adapt to the material gripping needs of different shapes, sizes, and positions, resulting in poor versatility. On the other hand, some end effectors lack effective buffering and fixing mechanisms when gripping materials, which can easily damage the materials or cause them to slip during the gripping process, affecting production stability and product quality.

[0004] Therefore, this application proposes a robotic palletizing device to solve the aforementioned problems. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic palletizing device to solve the problem of difficulty in adapting to the material grasping needs of different shapes, sizes and positions.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic palletizing device, comprising a robotic arm disposed on one side of a conveying unit, and further comprising: The end effector body is used to grab and stack materials on the tray conveyed by the conveying unit. It includes a mounting assembly for mounting components on the robotic arm, a fixing assembly for fixing the materials on the mounting assembly, and an adjusting assembly for adjusting the position of the fixing assembly and connected to the mounting assembly.

[0007] The installation components include: A connecting seat is provided at the power output end of the robotic arm; The mounting box is located at the lower end of the connector and is used to protect the adjustment components. A mounting base is fixed inside the mounting box and is used to support the adjustment components; The mounting bracket is fixed to the upper end of the fixed base and is used to support the adjustment component.

[0008] The adjustment component includes: A power component, mounted on the mounting bracket and connected to the fixing assembly, is used to drive the fixing assembly to move inside the mounting box; A slide rail, located at the lower end of the fixed base, is used to guide the fixed components.

[0009] The power component includes: The motor is fixed on the mounting bracket; The drive wheel is fixed to the power output end of the motor; The screw is rotatably connected to the fixed base; The driven wheel is fixed to the screw. A conveyor belt is fitted onto the driving wheel and the driven wheel.

[0010] The screw is provided with a limiting block, the screw has the opposite thread direction to the limiting block, and the fixing components are symmetrically arranged about the limiting block.

[0011] The fixing component includes: A lead screw sleeve is fitted onto the lead screw. The movable frame is fixed to the lead screw sleeve; The slider is fixed on the movable frame and slidably connected to the slide rail; A support frame, fixed to the lower end of the movable frame, is used to support the component; A fastener, mounted on the support frame, is used to secure the material. A support member, mounted on the support frame, is used to cushion the material when the fixing member secures it.

[0012] The fastener includes: Positioning seats are spaced apart on the support frame; A fixing rod is inserted into the positioning seat; An electro-permanent magnet is fixed to the lower end of the fixing rod for magnetic attraction and fixation of materials; The second elastic element is sleeved on the fixed rod, with one end connected to the positioning seat and the other end connected to the end block at the top of the fixed rod.

[0013] The support member includes: A support plate is fixed to the upper end of the support frame; Guide ring, fixed on the support frame; The lifting rod is threaded onto the guide ring; An abutment plate is fixed to the lower end of the lifting rod and sleeved on the outside of the electro-permanent magnet. The abutment plate has an installation groove for installing the electro-permanent magnet. The first elastic element is the portion sleeved on the lifting rod and located between the abutment plate and the guide ring; A connecting plate is fixed to the top of the lifting rod; A guide rod is fixed to the connecting plate and passes through the support plate. The support plate has a guide groove for the guide rod to move. A protective cover is fitted onto the support frame to protect the components.

[0014] The lower end of the fixed base is provided with a bellows cover for sealing and protecting the slide rail and screw between the movable frame and the inner wall of the mounting box. A cable chain for placing wires is provided between the fixed base and the movable frame.

[0015] The connecting seat is provided with an extension frame, and the extension frame is provided with a camera for detecting materials.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention relates to a robotic end effector equipped with a robotic arm and an end effector body. The robotic arm can quickly move to the position of the tray on the conveying unit, and the end effector body can quickly grasp the material. Compared with manual grasping, the grasping time is greatly shortened, the overall efficiency of material handling on the production line is improved, and it helps to realize large-scale, continuous production operations. The adjustment component is connected to the fixed component, and the position of the fixed component can be adjusted according to the actual position and size of the material. The end effector can quickly adapt to the grasping of materials in different positions and postures, improve the accuracy and success rate of grasping, and reduce grasping failures caused by position deviations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main structure in one embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the end effector body in one embodiment of the present invention; Figure 3 This is a side view of the end effector body in one embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the end effector body in one embodiment of the present invention; Figure 5 This is a schematic diagram of the installation position of the fixing component when fixing a small workpiece in one embodiment of the present invention; Figure 6 This is a schematic diagram of the installation position of the fixing component when fixing a large workpiece in one embodiment of the present invention; Figure 7 This is a schematic diagram of the exploded structure of the end effector body in one embodiment of the present invention; Figure 8 This is a schematic diagram of the connection between the fixing component and the fixing base in one embodiment of the present invention; Figure 9 This is a schematic diagram of the power component in one embodiment of the present invention; Figure 10 This is a schematic diagram of the connection between the fixing member and the screw in one embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the fixing component in one embodiment of the present invention; Figure 12 This is a schematic diagram of the connection between the fixing member and the support member in one embodiment of the present invention.

[0018] In the diagram: 1. Conveying unit; 2. Bracket; 3. Robotic arm; 4. End effector body; 41. Connecting seat; 42. Mounting box; 421. Fixed seat; 422. Mounting frame; 43. Power component; 431. Motor; 432. Drive wheel; 433. Conveyor belt; 434. Driven wheel; 435. Screw; 4351. Limit block; 44. Slide rail; 45. Bellows cover; 46. Fixing assembly; 461. Lead screw sleeve; 462. Moving frame; 463. Slider; 464. Protective cover; 46 5. Support frame; 466. Support component; 4661. Support plate; 466101. Guide groove; 4662. Lifting rod; 4663. Guide ring; 4664. Connecting plate; 4665. Guide rod; 4666. Abutment plate; 466601. Mounting groove; 4667. First elastic element; 467. Fixing element; 4671. Positioning seat; 4672. Fixing rod; 4673. Second elastic element; 4674. Electro-permanent magnet; 47. Cable chain; 48. Camera; 481. Extension frame. Detailed Implementation

[0019] 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.

[0020] Please see Figure 1-12 The present invention provides a technical solution: a robot palletizing device, including a robotic arm 3 disposed on one side of a conveying unit 1, and further including: an end effector body 4, used to grab and palletize materials on a tray 2 conveyed by the conveying unit 1, including an installation component disposed on the robotic arm 3 for mounting parts, a fixing component 46 disposed on the installation component for fixing materials, and an adjustment component disposed on the installation component and connected to the fixing component 46 for adjusting the position of the fixing component 46.

[0021] It should be noted that during operation, when the tray 2 on the conveying unit 1 moves below the robotic arm 3, the conveying unit 1 stops running, and then the robotic arm 3 starts, driving the end effector body 4 to move down, grabbing the material on the tray 2, and then stacking it on the shelf. When the end effector body 4 grabs the material, the position of the fixed component 46 is adjusted according to the size of the material by adjusting the component, so that the fixed component 46 can meet the grabbing of materials of different sizes and shapes. This robotic end effector is equipped with a robotic arm 3 and an end effector body 4. The robotic arm 3 can quickly move to the position of the tray 2 on the conveying unit 1, and the end effector body 4 can quickly grab the material. Compared with manual grabbing, the grabbing time is greatly shortened, the overall efficiency of material handling on the production line is improved, and it helps to realize large-scale, continuous production operations. The adjusting component is connected to the fixed component 46, and the position of the fixed component 46 can be adjusted according to the actual position and size of the material. The end effector can quickly adapt to grabbing materials in different positions and postures, improving the accuracy and success rate of grabbing, and reducing grabbing failures caused by position deviation.

[0022] In one embodiment, the mounting assembly includes: a connecting base 41 disposed at the power output end of the robotic arm 3; a mounting box 42 disposed at the lower end of the connecting base 41 for protecting the adjusting component; a fixing base 421 fixed inside the mounting box 42 for supporting the adjusting component; and a mounting bracket 422 fixed at the upper end of the fixing base 421 for supporting the adjusting component.

[0023] This design is for reference. Figure 1-7 The connecting seat 41 is located at the power output end of the robotic arm 3. As the direct connection point between the mounting component and the robotic arm 3, it can accurately receive the power and motion commands transmitted by the robotic arm 3. The mounting box 42 is provided with a fixed seat 421 at the lower end, and the mounting bracket 422 is fixed at the upper end of the fixed seat 421. This multi-level support structure greatly enhances the support stability of the mounting component for the adjustment component.

[0024] In one embodiment, the adjustment component includes: a power component 43, which is disposed on the mounting bracket 422 and connected to the fixing component 46, for driving the fixing component 46 to move inside the mounting box 42; and a slide rail 44, which is disposed at the lower end of the fixing seat 421, for guiding the fixing component 46.

[0025] This design is for reference. Figure 7 When the position of the fixing component 46 needs to be adjusted, the starting power component 43 drives the fixing component 46 to move on the slide rail 44, thereby adjusting the installation position of the fixing component 46 so that the fixing component 46 can be adjusted according to the size and shape of the material, ensuring that the fixing component 46 can firmly clamp and fix the material.

[0026] In one embodiment, the power component 43 includes: a motor 431 fixed on a mounting bracket 422; a drive wheel 432 fixed on the power output end of the motor 431; a screw 435 rotatably connected to a fixed base 421; a driven wheel 434 fixed on the screw 435; and a conveyor belt 433 sleeved on the drive wheel 432 and the driven wheel 434.

[0027] This design is for reference. Figure 9 The motor 431 is started, which drives the drive wheel 432 to rotate. The drive wheel 432 transmits power to the driven wheel 434 through the conveyor belt 433, which in turn drives the screw 435 to rotate. The screw 435 is connected to the fixed component 46, which transmits power to the fixed component 46 and drives the fixed component 46 to move on the slide rail 44.

[0028] In one embodiment, a limiting block 4351 is provided on the screw 435, the screw 435 has the opposite thread direction to the limiting block 4351, and the fixing assembly 46 is symmetrically arranged about the limiting block 4351.

[0029] This design is for reference. Figure 10 The limiting block 4351 can restrict the movement of the fixed component 46, allowing the fixed components 46 to move closer to or further away from each other about the limiting block 4351. This allows the fixed components 46 to be adjusted according to the size of the material. When the material size is large, the distance between the two fixed components 46 is increased; when the material size is small, the distance between the two fixed components 46 is decreased. The position of the fixed components 46 can be adjusted according to the actual position and size of the material, improving the accuracy and success rate of grasping and reducing grasping failures caused by positional deviations.

[0030] In one embodiment, the fixing component 46 includes: a lead screw sleeve 461 sleeved on the lead screw 435; a movable frame 462 fixed on the lead screw sleeve 461; a slider 463 fixed on the movable frame 462 and slidably connected to the slide rail 44; a support frame 465 fixed to the lower end of the movable frame 462 for supporting the component; a fixing member 467 disposed on the support frame 465 for fixing the material; and a support member 466 disposed on the support frame 465 for buffering when the fixing member 467 fixes the material.

[0031] This design is for reference. Figure 1-8 ,as well as Figure 10-12During the rotation of the screw 435, it engages with the threaded lead screw sleeve 461, thereby driving the lead screw sleeve 461 to move on the screw 435. The lead screw sleeve 461 also drives the moving frame 462 to move, causing the slider 463 on the moving frame 462 to move on the slide rail 44, thereby adjusting the position of the fixed part 467. After the position of the fixed part 467 is adjusted, the motor 431 is turned off, and then the robotic arm 3 drives the fixed part 467 to move down. At this time, the support part 466 first contacts the material. The support part 466 and the material make elastic contact, which can buffer the impact force between the fixed part 467 and the material, protect the surface of the material from damage, and improve the yield of the product.

[0032] In one embodiment, the fixing member 467 includes: a positioning seat 4671, spaced apart on the support frame 465; a fixing rod 4672, passing through the positioning seat 4671; an electro-permanent magnet 4674, fixed to the lower end of the fixing rod 4672, for magnetically fixing the material; and a second elastic member 4673, sleeved on the fixing rod 4672 with one end connected to the positioning seat 4671 and the other end connected to the end block at the top of the fixing rod 4672, wherein the second elastic member 4673 is made of a damped spring or an elastic pad.

[0033] This design is for reference. Figure 12 The electro-permanent magnet 4674 demagnetizes when energized and functions as a permanent magnet when de-energized. When the electro-permanent magnet 4674 comes into contact with material, it magnetically attracts and secures the material to its lower end. After the material is transported to the shelf, the electro-permanent magnet 4674 is energized again, demagnetizing and releasing the material, which then falls onto the shelf. This design of the electro-permanent magnet 4674 provides the end effector with power-off protection; it demagnetizes when energized and functions as a permanent magnet when de-energized. In the event of an abnormal power outage, the material remains firmly attached to the end effector. Furthermore, the design of the second elastic element 4673 allows the electro-permanent magnet 4674 to extend and retract, adapting to a certain degree of flexibility. The compression amount is controlled, and a sensor is set at the supercritical position to detect empty gripping and overpressure, realizing empty gripping detection and overpressure detection. The electro-permanent magnet 4674 can be manually controlled to turn on and off. The flexible second elastic element 4673 mechanism set in the end effector can ensure effective gripping of the blank material. The integrated position sensor, when gripping the part, the robot gripper moves quickly and positions itself above the material, and then slowly presses down. The electro-permanent magnet 4674 touches the workpiece under the action of the flexible mechanism until the second elastic element 4673 is compressed and the sensor senses the electro-permanent magnet 4674 mounting plate, indicating that the electro-permanent magnet 4674 has fully adhered to the material. At this time, the power is turned off and the electro-permanent magnet 4674 is firmly fixed to the material. The robotic arm 3 gripper carries the material away quickly.

[0034] In one embodiment, the support member 466 includes: a support plate 4661 fixed to the upper end of the support frame 465; a guide ring 4663 fixed to the support frame 465; a lifting rod 4662 passing through the guide ring 4663; an abutment plate 4666 fixed to the lower end of the lifting rod 4662 and sleeved on the outside of the electro-permanent magnet 4674, the abutment plate 4666 having a mounting groove 466601 for mounting the electro-permanent magnet 4674; and a first elastic member 4667 sleeved on the lifting rod 466. 2. The portion located between the abutment plate 4666 and the guide ring 4663; the connecting plate 4664, fixed to the top of the lifting rod 4662; the guide rod 4665, fixed to the connecting plate 4664 and passing through the support plate 4661, the support plate 4661 having a guide groove 466101 for the guide rod 4665 to move; the protective cover 464, sleeved on the support frame 465, for protecting the component, the first elastic element 4667 being made of a damped spring or elastic pad.

[0035] This design is for reference. Figure 10-12 When the electro-permanent magnet 4674 of the fixing component 467 fixes the material, the abutment plate 4666 will first contact the material. Since the first elastic element 4667 is sleeved on the lifting rod 4662 and located between the abutment plate 4666 and the guide ring 4663, when the abutment plate 4666 is subjected to the reaction force of the material, the first elastic element 4667 will be compressed and produce elastic deformation. This elastic deformation can absorb and disperse part of the force, reduce the impact on components such as the electro-permanent magnet 4674 and the fixing rod 4672, avoid damage to components due to excessive instantaneous impact force, and extend the service life of the fixing component 467. The lifting rod 4662 passes through the guide ring 4663, and the guide ring 4663 is fixed on the support frame 465, providing precise guidance for the lifting movement of the lifting rod 4662. When the abutment plate 4666 is subjected to the reaction force of the material, the lifting rod 4662 can only move in a straight line along the axial direction of the guide ring 4663 without deviation or shaking, ensuring the accuracy and stability of the contact between the abutment plate 4666 and the material, thereby improving the effect of buffer protection. The guide rod 4665 is fixed on the connecting plate 4664 and passes through the guide groove 466101 of the support plate 4661, further enhancing the guiding accuracy of the entire support component 466. During the movement of the lifting rod 4662, the guide rod 4665 will move in the guide groove 466101, restricting the movement direction of the connecting plate 4664 and the lifting rod 4662, preventing them from twisting or lateral displacement, ensuring that the abutment plate 4666 can always accurately contact the material, and improving the working reliability of the support component 466.

[0036] In one embodiment, a bellows cover 45 for sealing and protecting the slide rail 44 and screw 435 is provided at the lower end of the fixed base 421 between the movable frame 462 and the inner side wall of the mounting box 42; a cable chain 47 for placing wires is provided between the fixed base 421 and the movable frame 462.

[0037] This design is for reference. Figure 4-8 The accordion cover 45 is located at the lower end of the fixed base 421, between the inner wall of the movable frame 462 and the mounting box 42, completely enclosing the slide rail 44 and the screw 435. It can effectively prevent external dust and debris from entering the working area of ​​the slide rail 44 and the screw 435, ensuring that the slide rail 44 and the screw 435 are always in good working condition. The cable chain 47 is located between the fixed base 421 and the movable frame 462, providing a safe place for the wires connecting the electrical equipment on the fixed base 421 and the movable frame 462. During the reciprocating motion of the movable frame 462, the wires will move in an orderly manner within the cable chain 47, avoiding friction, entanglement or pulling between the wires and other parts of the equipment.

[0038] In one embodiment, the connecting seat 41 is provided with an extension frame 481, and the extension frame 481 is provided with a camera 48 for detecting materials.

[0039] This design is for reference. Figure 2 ,as well as Figure 3 Each robot is equipped with a 3D camera 48. Through the cooperation of the robot and the 3D camera 48 vision system, it can grasp materials in different postures and interact with other devices in the system. This enables fast, efficient, and accurate sorting and palletizing of parts. The robot sorting vision system consists of a high-definition 3D camera 48, a 3D vision software system, a high-performance vision industrial control computer, and a camera 48 bracket. It can automatically identify the position and size information of parts in the tray 2, thereby controlling the end effector and guiding the robotic arm 3 to achieve automatic sorting and palletizing of parts. When the tray 2 is transported to the robot sorting area, the 3D high-definition camera 48 on the robotic arm 3 takes multiple photos and uses 3D vision inspection technology to accurately analyze the shape and size of the parts. Based on the shape and size relationship between the end effector and the identified parts, it completes precise local part positioning and matching identification, achieving precise control of the robotic arm 3 and using visual guidance to complete the sorting and palletizing of parts.

[0040] Furthermore, if the embodiments involve descriptions such as "first," "second," etc., these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relation to the specification. The significance or implied number of the indicated technical features is not specified. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

Claims

1. A robotic palletizing device, comprising a robotic arm (3) disposed on one side of a conveying unit (1), characterized in that, Also includes: The end effector body (4) is used to grab and stack the material on the tray (2) conveyed by the conveying unit (1), including a mounting assembly for mounting components on the robotic arm (3), a fixing assembly (46) for fixing the material on the mounting assembly, and an adjusting assembly for adjusting the position of the fixing assembly (46) and connected to the fixing assembly (46) on the mounting assembly.

2. The robotic palletizing device according to claim 1, characterized in that: The installation components include: A connecting seat (41) is provided at the power output end of the robotic arm (3); Mounting box (42) is located at the lower end of the connecting seat (41) and is used to protect the adjusting components; A mounting base (421) is fixed inside the mounting box (42) and is used to support the adjustment components; The mounting bracket (422) is fixed to the upper end of the fixed base (421) and is used to support the adjustment component.

3. The robotic palletizing device according to claim 2, characterized in that: The adjustment component includes: A power component (43) is mounted on the mounting bracket (422) and connected to the fixing component (46) for driving the fixing component (46) to move inside the mounting box (42); A slide rail (44) is provided at the lower end of the fixed base (421) for guiding the fixed assembly (46).

4. The robotic palletizing device according to claim 3, characterized in that: The power component (43) includes: The motor (431) is fixed on the mounting bracket (422); The drive wheel (432) is fixed to the power output end of the motor (431); The screw (435) is rotatably connected to the fixed base (421); Driven wheel (434) is fixed on screw (435); The conveyor belt (433) is fitted onto the drive wheel (432) and the driven wheel (434).

5. The robotic palletizing device according to claim 4, characterized in that: The screw (435) is provided with a limiting block (4351), the screw (435) has the opposite thread direction to the limiting block (4351), and the fixing component (46) is symmetrically arranged with respect to the limiting block (4351).

6. The robotic palletizing device according to claim 4, characterized in that: The fixing component (46) includes: A lead screw sleeve (461) is fitted onto the lead screw (435); The movable frame (462) is fixed on the lead screw sleeve (461); The slider (463) is fixed on the movable frame (462) and slidably connected to the slide rail (44); A support frame (465) is fixed to the lower end of the movable frame (462) and is used to support the component; A fastener (467) is provided on the support frame (465) for fixing the material; A support member (466) is provided on the support frame (465) for cushioning when the fixing member (467) fixes the material.

7. A robotic palletizing device according to claim 6, characterized in that: The fastener (467) includes: Positioning seats (4671) are spaced apart on the support frame (465); A fixing rod (4672) is inserted through the positioning seat (4671); An electro-permanent magnet (4674) is fixed at the lower end of the fixing rod (4672) for magnetically fixing the material; The second elastic element (4673) is sleeved on the fixed rod (4672) and one end is connected to the positioning seat (4671), and the other end is connected to the end block at the top of the fixed rod (4672).

8. The robotic palletizing device according to claim 7, characterized in that: The support member (466) includes: A support plate (4661) is fixed to the upper end of the support frame (465); Guide ring (4663) is fixed on the support frame (465); The lifting rod (4662) is threaded through the guide ring (4663); A contact plate (4666) is fixed to the lower end of the lifting rod (4662) and sleeved on the outside of the electro-permanent magnet (4674). The contact plate (4666) has an installation groove (466601) for installing the electro-permanent magnet (4674). The first elastic element (4667) is sleeved on the lifting rod (4662) and located between the abutment plate (4666) and the guide ring (4663); A connecting plate (4664) is fixed to the top of the lifting rod (4662); A guide rod (4665) is fixed on the connecting plate (4664) and passes through the support plate (4661). The support plate (4661) has a guide groove (466101) for the guide rod (4665) to move. A protective cover (464) is fitted onto the support frame (465) to protect the component.

9. A robotic palletizing device according to claim 6, characterized in that: The lower end of the fixed base (421) is provided with a bellows cover (45) between the inner wall of the movable frame (462) and the mounting box (42) for sealing and protecting the slide rail (44) and the screw (435). A cable chain (47) for placing wires is provided between the fixed base (421) and the movable frame (462).

10. A robotic palletizing device according to claim 2, characterized in that: An extension frame (481) is provided on the connecting seat (41), and a camera (48) for detecting materials is provided on the extension frame (481).

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