A cylindrical rolling body workpiece layering and stacking boxing robot

Abstract

The application relates to the technical field of carrying robots, in particular to a cylindrical rolling body workpiece layered stacking cartoning robot, which solves the single grabbing mode and insufficient workpiece posture adaptability of the prior art cartoning robot, the double-mode fixing of the application is realized through the combination of a magnetic plate and a clamping plate, the magnetic plate is used for magnetically attracting and fixing a magnetic workpiece, the clamping plate is used for clamping and fixing a non-magnetic workpiece, the end effector does not need to be replaced, meanwhile, the double-posture clamping is realized through the cooperation of the inner groove at the bottom of the magnetic plate and the vertical groove of the clamping plate, so that the robot can carry horizontally-placed workpieces and clamps vertically-placed workpieces, the arc-shaped steel sheet and the spring are elastically matched, the workpiece is protruding supported when the workpiece is small in diameter, the workpiece is recessed and the silica gel pad is self-adaptively attached when the workpiece is large in diameter, the main rod and the auxiliary rod of the air pressure rod are compressed to store energy when the workpiece is released, the automatic cleaning of the magnetic attraction surface is realized through the connection cavity and the hose which sprays from the L-shaped pipe, and the carrying efficiency is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, and in particular to a packing robot for layered stacking of cylindrical rolling workpieces. Background Technology

[0002] A packing robot is an industrial robot used to automatically place workpieces or products into boxes or containers according to predetermined rules. It belongs to the handling and operation technology field under the B25J classification. It mainly consists of a robotic arm, an end effector, a positioning device, and a control system. The multi-axis motion of the robotic arm drives the end effector to move to the picking position to grab the workpiece, and then transfers it to the packing position to place the workpiece in the designated position inside the box. The packing robot can complete actions such as grabbing, transferring, adjusting the posture, and placing the workpiece. It is suitable for packing workpieces of various shapes such as cylinders and cubes, and is widely used in the finished product packaging and logistics palletizing links in the manufacturing production line.

[0003] Chinese patent application CN120680561A discloses a multi-link robotic arm for material handling, comprising: a main arm, a connecting seat on the movable end of the main arm, and a telescopic component on the connecting seat; by means of a first steel wire rope, a second motor can wind the first steel wire rope to allow the inner arm to slide out of the outer arm, thereby increasing the overall length of the last segment of the robotic arm formed by the inner and outer arms, increasing the range of motion of the robotic arm without moving the robotic arm, saving the space occupied by the components required for moving the robotic arm; by means of a second steel wire rope, the second steel wire rope exerts a pulling effect on the distal end of the last segment of the robotic arm, subjecting it to an upward force, thereby preventing the last segment of the robotic arm from tilting downward, thus avoiding the phenomenon of increased wear caused by the deflection of the bearing at the rotating connection when the robotic arm grips heavy objects, effectively improving the service life of the robotic arm.

[0004] The aforementioned and existing related technologies often have the following drawbacks: existing packing robots mostly adopt a single gripping method, which can only fix magnetic workpieces by magnetic attraction or only fix non-magnetic workpieces by clamping. They cannot adapt to both types of workpieces on the same device at the same time, resulting in the need to configure multiple devices or frequently replace the end effector; moreover, existing devices can usually only handle horizontally placed workpieces and cannot clamp and handle vertical workpieces perpendicular to the ground, resulting in a single applicable posture and limited handling efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the existing technology has the disadvantage of a single grasping method and insufficient adaptability to workpiece posture. To this end, we propose a packing robot for layered stacking of cylindrical rolling workpieces.

[0006] To achieve the above objectives, this application adopts the following technical solution: a packing robot for layered stacking of cylindrical rolling workpieces, including a robotic arm, a rotating plate fixedly installed at one end of the robotic arm, a magnetic suction component for fixing workpieces with magnetic force movably arranged on the lower surface of the rotating plate, movable components for adjusting the size of the clamping space arranged on both sides of the magnetic suction component, and a clamping component for clamping and fixing workpieces without magnetic force arranged inside the movable component. The magnetic suction assembly includes a base plate movably disposed on the lower surface of the rotating plate, a magnetic plate fixedly installed on the lower surface of the base plate, an inner groove opened at the bottom of the magnetic plate, and an electric telescopic rod fixedly installed on the upper surface of the base plate. The two sides of the electric telescopic rod are connected to the left moving plate and the right moving plate respectively. The clamping assembly includes a clamping plate disposed inside the moving assembly, and a vertical groove is provided on one side of the clamping plate, which is located below the inner groove.

[0007] Preferably, a top block is fixedly installed on the upper surface of the rotating plate, a motor is fixedly installed on the upper surface of the top block, the top block is movably connected to the robotic arm, and a rotating rod is provided at the output end of the motor, with one end of the rotating rod fixedly installed on the upper surface of the base plate.

[0008] Preferably, a pneumatic rod is installed inside the left-moving plate, and two sets of columns are fixedly installed on the surface of the left-moving plate. Two sets of upright plates are also fixedly installed on the upper surface of the left-moving plate, with the two sets of upright plates located between the two sets of columns. The upright plates are fixedly installed to one end of the electric telescopic rod.

[0009] Preferably, there are two sets of columns, one set of columns is located on the upper surface of the left moving plate, and the other set of columns is located on the upper surface of the right moving plate. A support plate is fixedly installed on one side of both sets of columns, and a limit plate is fixedly installed on one end of the support plate. The column located above the right moving plate is below the column above the left moving plate. A rectangular groove is opened on one side of both sets of columns. The rectangular groove on the side of the column above the left moving plate is located below the support plate and is slidably connected to the support plate above the right moving plate. The rectangular groove on the side of the column above the right moving plate is located above the support plate and is slidably connected to the support plate above the left moving plate.

[0010] Preferably, a long strip is fixedly installed on the upper surface of the clamping plate, and multiple sets of anti-slip protrusions No. 1, No. 2 and No. 3 are fixedly installed horizontally on the surface of the clamping plate. The size of the anti-slip protrusions No. 1, No. 2 and No. 3 gradually increases and are equidistantly arranged longitudinally on the surface of the clamping plate.

[0011] Preferably, side plates are fixedly installed on both sides of the clamping plate, racks are fixedly installed on the inner walls of the two sets of side plates, a motor is fixedly installed on the outer surface of the left-moving plate, and a gear is provided at the output end of the motor, the gear meshing with the rack.

[0012] Preferably, a pneumatic main rod is fixedly installed on the inner wall of the left-moving plate, and a secondary rod is movably arranged inside the pneumatic main rod. A mounting plate is fixedly installed at one end of the secondary rod, and the mounting plate is fixedly connected to the outer surface of the clamping assembly.

[0013] Preferably, the pneumatic rod main rod is provided in two sets, and the outer surface of the two sets of pneumatic rod main rods is fixedly installed with a connecting cavity. A hose is fixedly installed on one side of the connecting cavity, and an L-tube is fixedly installed on the other end of the hose. The clamping assembly has a tube opening on its surface. One end of the L-tube is fixedly connected to the tube opening, and the other end of the L-tube faces the magnetic plate and the lower surface of the inner groove.

[0014] Preferably, the surface of the left-moving plate is provided with an inclined groove, the inclined groove is slidably disposed with the clamping plate, the lower surface of the long strip plate is in contact with the upper surface of the left-moving plate, the inner wall of the inclined groove is provided with a through groove, the hose is located inside the through groove, and the L-tube and the through groove are on the same inclined line.

[0015] Preferably, a silicone pad is fixedly installed on the inner wall of the vertical groove, an arc-shaped steel sheet is fixedly installed on the surface of the clamping plate, the arc-shaped steel sheet is perpendicular to the silicone pad, a positioning seat is fixedly installed on the outer surface of the clamping plate, the positioning seat is located between the two sets of auxiliary rods, the positioning seat is adapted to the through groove, a spring is provided between the positioning seat and the arc-shaped steel sheet, one end of the spring passes through the clamping plate, the silicone pad and the positioning seat and is fixedly installed, the other end of the spring is fixedly installed on the inner wall of the arc-shaped steel sheet, and an anti-slip pad is fixedly installed on the outer surface of the arc-shaped steel sheet.

[0016] The technical effects and advantages of this invention are as follows: In this invention, by combining the magnetic suction component and the clamping component, the packing robot can simultaneously have two gripping modes: magnetic suction fixation and clamping fixation. Magnetic workpieces are directly attracted by the magnetic plate, while non-magnetic workpieces are clamped by the clamping plate. The two types of workpieces can be transported on the same device without changing the end effector.

[0017] Meanwhile, through the coordinated arrangement of the inner groove at the bottom of the magnetic plate and the vertical groove of the clamping plate, the robot can not only transport horizontally placed workpieces, but also clamp vertically placed workpieces. Vertically magnetic workpieces are magnetically fixed by the top of the inner groove, while vertically non-magnetic workpieces are clamped and fixed by the side of the vertical groove, realizing dual-mode fixing and dual-posture clamping, which significantly improves the handling efficiency.

[0018] Furthermore, through the elastic cooperation between the arc-shaped steel sheet and the spring, when clamping workpieces with smaller diameters, the arc-shaped steel sheet protrudes to support the workpiece, and when clamping larger workpieces, the arc-shaped steel sheet is squeezed into the silicone pad for adaptive fitting, further improving the clamping stability of workpieces with different diameters. Attached Figure Description

[0019] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the disassembled structure of the moving component and the clamping component of the present invention; Figure 3 This is a schematic diagram of the rotating plate and magnetic suction assembly structure of the present invention; Figure 4 This is a schematic diagram of the disassembled structure of the mobile component of the present invention; Figure 5 This is a schematic diagram of the disassembled structure of the left-moving plate and clamping assembly of the present invention; Figure 6 This is a schematic diagram of the clamping component structure of the present invention; Figure 7 This is a schematic diagram of the planar structure of the moving component and the clamping component of the present invention.

[0020] Legend: 1. Robotic arm; 2. Turning plate; 21. Top block; 22. Motor; 3. Magnetic suction assembly; 31. Base plate; 32. Electric telescopic rod; 33. Magnetic plate; 34. Inner groove; 4. Moving assembly; 41. Left moving plate; 411. Inclined groove; 412. Through groove; 42. Right moving plate; 43. Main pneumatic rod; 431. Secondary rod; 432. Mounting plate; 433. Connecting cavity; 434. Flexible hose; 435. L-tube; 44 45. Motor; 46. Gear; 47. Column; 48. Support plate; 49. Limiting plate; 40. Rectangular groove; 41. Vertical plate; 52. Clamping assembly; 53. Clamping plate; 54. Long strip plate; 55. Pipe opening; 56. Vertical groove; 57. Silicone pad; 58. Spring; 59. Arc-shaped steel sheet; 50. Side plate; 51. Rack; 52. Anti-slip protrusion No. 1; 53. Anti-slip protrusion No. 2; 54. Anti-slip protrusion No. 3. Detailed Implementation

[0021] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0022] Reference Figure 1-7As shown, the present invention provides a technical solution: a packing robot for layered stacking of cylindrical rolling workpieces, including a robotic arm 1, which is a multi-axis robotic arm structure. One end of the robotic arm 1 is fixedly connected to a rotating plate 2 via a flange. The rotating plate 2 is horizontally positioned below the end of the robotic arm 1. The lower surface of the rotating plate 2 is movably connected to a base plate 31 via a bearing, allowing the base plate 31 to rotate relative to the rotating plate 2. A top block 21 is fixedly mounted on the top of the rotating plate 2. The top block 21 is vertically mounted at the center of the upper surface of the rotating plate 2. A motor 22 is fixedly mounted on the top of the top block 21. The output shaft of the motor 22 passes downward through the rotating plate 2 and is coaxially connected to a rotating rod. The lower end of the rotating rod is fixedly connected to the center of the upper surface of the base plate 31. When the motor 22 is started, the rotating rod drives the base plate 31 and all components below the base plate 31 to rotate around a vertical axis, thereby realizing the switching between gripping and placement modes. The side of the top block 21 is hinged to the movable joint of the robotic arm 1, allowing the robotic arm 1 to drive the entire end component to move in multiple directions.

[0023] A magnetic plate 33 is fixedly installed below the base plate 31. The magnetic plate 33 is a permanent magnet structure with its bottom surface facing downwards. An inner groove 34 is opened vertically at the bottom of the magnetic plate 33, penetrating the bottom surface of the magnetic plate 33. The cross-section of the inner groove 34 is arc-shaped to accommodate the end of the vertical workpiece. An electric telescopic rod 32 is also fixedly installed on the upper surface of the base plate 31. The electric telescopic rod 32 is set horizontally in the middle of the upper surface of the base plate 31, with its two ends extending to the left and right sides respectively. The telescopic ends of the electric telescopic rod 32 are fixedly connected to the vertical plates 47 of the left and right moving plates 41 and 42 respectively. When the electric telescopic rod 32 extends or retracts, it drives the left and right moving plates 41 to move away from or closer to each other, thereby adjusting the space between the clamping plates 51 on both sides.

[0024] The moving component 4 consists of a left moving plate 41 and a right moving plate 42 symmetrically arranged on both sides of the magnetic attraction component 3. Both the left moving plate 41 and the right moving plate 42 are vertically arranged plate structures, and a set of columns 46 are fixedly installed on their upper surfaces. The two sets of columns 46 are located at the outer edges of the upper surfaces of the left moving plate 41 and the right moving plate 42, respectively. Each set of columns 46 extends vertically upwards, and the two sets of columns 46 are staggered. The column 46 above the left moving plate 41 is at a higher position, and the column 46 above the right moving plate 42 is at a lower position. Rectangular grooves 463 are opened on the opposite sides of the two sets of columns 46, and the rectangular grooves 463 extend along the length of the column 46. A horizontally extending support plate 461 is fixedly installed on the side of each set of columns 46. A limit plate 462 is fixedly installed at the end of the support plate 461. The limit plate 462 is vertically arranged to block... The rectangular groove 463 of the column 46 above the left moving plate 41 slides into the support plate 461 above the right moving plate 42, and the rectangular groove 463 of the column 46 above the right moving plate 42 slides into the support plate 461 above the left moving plate 41, forming a cross support structure. When the left moving plate 41 and the right moving plate 42 move relative to each other, the support plate 461 slides in the rectangular groove 463, improving the load-bearing capacity and stability during the movement. At the same time, the limiting plate 462 abuts against the end of the column 46 when it moves to the limit position, limiting the movement distance. Two sets of upright plates 47 are also fixedly installed on the upper surface of the left moving plate 41. The two sets of upright plates 47 are located between the two sets of columns 46. The upright plates 47 are vertically set and fixedly connected to the telescopic end of the electric telescopic rod 32. The thrust of the electric telescopic rod 32 is transmitted to the left moving plate 41 and the right moving plate 42 through the upright plates 47.

[0025] The clamping assembly 5 is disposed between the left moving plate 41 and the right moving plate 42. The clamping plate 51 is vertically installed inside the left moving plate 41 and the right moving plate 42, with one side of the clamping plate 51 facing the other side. A vertical groove 54 is formed on the surface of the clamping plate 51 facing the workpiece. The vertical groove 54 extends along the height direction of the clamping plate 51 and is located directly below the inner groove 34 of the magnetic plate 33. When the workpiece is vertically placed on the ground, the upper end of the workpiece is embedded in the inner groove 34. The workpiece is magnetically fixed in position 4. Its sides are clamped and fixed by the vertical grooves 54 on both sides. A long strip 52 is fixedly installed on the upper surface of the clamping plate 51. The long strip 52 extends horizontally outward and overlaps the upper surface of the left moving plate 41. When the clamping plate 51 descends to its lowest position, the long strip 52 fits against the upper surface of the left moving plate 41, thereby restricting the clamping plate 51 from descending further. The surface of the clamping plate 51 is provided with multiple sets of first anti-slip protrusions 56, second anti-slip protrusions 57 and third anti-slip protrusions 58 laterally. Anti-slip protrusions 58 are arranged in ascending order of size and are equidistantly distributed along the longitudinal direction of the clamping plate 51. When clamping workpieces of different diameters, the anti-slip protrusions of different sizes can contact the workpiece surface respectively to provide auxiliary fixing. Side plates 55 are fixedly installed on both sides of the clamping plate 51. The side plates 55 are vertically set on the left and right edges of the clamping plate 51. A rack 551 is fixedly installed on the inner wall of the side plate 55 and extends vertically. A motor 44 is fixedly installed on the outer surface of the left moving plate 41. A gear 45 is coaxially installed on the output end of the motor 44. The gear 45 meshes with the rack 551 for transmission. When the motor 44 rotates forward or reverse, the clamping plate 51 is driven to rise and fall along the inclined groove 411 through the transmission of the gear 45 and the rack 551 to realize the clamping and release of the workpiece. When the clamping plate 51 rises to the high position, it will not block the bottom surface of the magnetic plate 33 and will not hinder the magnetic plate 33 from performing magnetic attraction operation.

[0026] A pneumatic main rod 43 is fixedly installed on the inner wall of the left-moving plate 41. The pneumatic main rod 43 is horizontally arranged along the moving direction of the clamping plate 51. A secondary rod 431 is movably arranged inside the pneumatic main rod 43. One end of the secondary rod 431 extends from the end of the pneumatic main rod 43 and is fixedly installed with an mounting plate 432. The mounting plate 432 is fixedly connected to the outer surface of the clamping assembly 5. When the clamping assembly 5 rises, it drives the secondary rod 431 to retract into the pneumatic main rod 43, compressing the air inside the pneumatic main rod 43 for energy storage. There are two sets of pneumatic main rods 43, symmetrically arranged on both sides of the clamping assembly 5. The two sets of pneumatic main rods 43 are connected by a connecting cavity 433. 3. The main rods 43 of the two sets of pneumatic rods are fixedly installed on the outer surface. A hose 434 is fixedly connected to one side of the connecting cavity 433. An L-tube 435 is fixedly installed at the other end of the hose 434. A pipe opening 53 is opened on the surface of the clamping assembly 5. One end of the L-tube 435 is fixedly connected to the pipe opening 53. The other end of the L-tube 435 is inclined towards the lower surface of the magnetic plate 33 and the inner groove 34. When the clamping assembly 5 rises, the auxiliary rod 431 compresses the air in the main rods 43 of the two sets of pneumatic rods. The compressed air is evenly distributed through the connecting cavity 433 and enters the hose 434. Finally, it is sprayed out from the L-tube 435 to the bottom surface of the magnetic plate 33 and the inner groove 34. While releasing the workpiece, it automatically cleans the foreign objects on the magnetic suction surface.

[0027] The surface of the left-moving plate 41 is provided with an inclined groove 411. The inclined groove 411 is inclined. The clamping plate 51 is slidably engaged with the inclined groove 411. The clamping plate 51 moves up and down along the inclined direction of the inclined groove 411. The lower surface of the long strip plate 52 is attached to the upper surface of the left-moving plate 41 to limit the movement. The inner wall of the inclined groove 411 is provided with a through groove 412. The through groove 412 extends along the length of the inclined groove 411. The flexible hose 434 passes through the inside of the through groove 412. The L-tube 435 is on the same inclined line as the through groove 412. When the clamping plate 51 moves upward, the L-tube 435 moves with the clamping plate 51 along the direction of the through groove 412. The through groove 412 provides clearance space for the movement of the L-tube 435 and the flexible hose 434 to prevent motion interference.

[0028] A silicone pad 541 is fixedly installed on the inner wall of the vertical groove 54. The silicone pad 541 is set to fit the inner wall of the vertical groove 54 and has elastic deformation capability. An installation opening is opened on the surface of the clamping plate 51. An arc-shaped steel sheet 543 is installed at the installation opening. The arc-shaped steel sheet 543 is pre-bent arc-shaped, and its convex surface is set to face the workpiece side. The arc-shaped steel sheet 543 is perpendicular to the plane where the silicone pad 541 is located. A positioning seat is fixedly installed on the outer surface of the clamping plate 51. The positioning seat is located between the two sets of auxiliary rods 431. The positioning seat is adapted to the through slot 412. A spring 542 is provided between the positioning seat and the arc-shaped steel sheet 543. One end of the spring 542 passes through the clamping plate 51 and the silicone pad 541 and is fixedly connected to the positioning seat. The other end of the spring 542 is fixedly connected to the inner wall of the arc-shaped steel sheet 543. An anti-slip pad is fixedly installed on the outer surface of the arc-shaped steel sheet 543. When handling workpieces with smaller diameters, the arc-shaped steel sheet 543 protrudes into the vertical slot 54 to support the workpiece, increasing the contact area and improving stability. When clamping vertical workpieces or larger horizontal workpieces, the workpiece squeezes the arc-shaped steel sheet 543, and the arc-shaped steel sheet 543 overcomes the force of the spring 542 and is recessed into the silicone pad 541, fitting against the surface of the silicone pad 541. The anti-slip pad on the outer surface of the arc-shaped steel sheet 543 contacts the surface of the workpiece, further improving clamping stability.

[0029] Working principle: First, in the initial state, the surfaces of the left and right moving plates 41 and 42 are flush with the lower surface of the base plate 31. Then, the robotic arm 1 moves the rotating plate 2 and the lower components above the workpiece. Then, the base plate 31 descends so that the bottom surface of the magnetic plate 33 is in contact with the workpiece. If the workpiece is magnetic, it will be attracted and fixed by the magnetic plate 33. If the workpiece is not magnetic, the magnetic plate 33 will press on the surface of the workpiece to prevent it from rolling. Then, the motor 44 starts and drives the clamping plate 51 to descend along the inclined groove 411 through the meshing of the gear 45 and the rack 551, so that the left and right moving plates 41 and 42 form a V-shape to restrict the workpiece in the middle. At the same time, the first anti-slip protrusion 56, the second anti-slip protrusion 57, and the third anti-slip protrusion 58 assist in fixing workpieces of different diameters. If it is a vertically magnetic workpiece, the upper end is embedded in the inner groove 34 and is magnetically attracted and fixed. If it is a vertically non-magnetic workpiece, the side is clamped and fixed by the vertical groove 54. Thus, the dual-mode... The workpiece is gripped by a fixed and dual-position clamping mechanism. Then, the motor 22 drives the base plate 31 to rotate 90 degrees to switch the mode. Next, the robotic arm 1 transports the workpiece to the stacking position. When unloading, if the workpiece is magnetic, the left and right moving plates 41 and 42 are opened away from each other by the electric telescopic rod 32. Then, the robotic arm 1 is lowered to make the workpiece contact the storage surface. Finally, the magnetic force of the magnetic plate 33 is disconnected to release the workpiece. If the workpiece is non-magnetic, the left and right moving plates 41 and 42 are opened by the electric telescopic rod 32 while the robotic arm 1 is lowered synchronously, so that the workpiece is released while contacting the storage surface to prevent it from falling. Then, when the clamping plate 51 moves up, the mounting plate 432 drives the auxiliary rod 431 to retract towards the main pneumatic rod 43 to store compressed air. The compressed air is distributed to the hose 434 through the connecting cavity 433 and finally sprayed out from the L-tube 435 to the magnetic plate 33 and the lower surface of the inner groove 34 for automatic cleaning.

[0030] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A packing robot for layered stacking of cylindrical rolling element workpieces, characterized in that, The system includes a robotic arm, one end of which is fixedly mounted with a rotating plate. A magnetic suction assembly for fixing a workpiece with magnetic force is movably disposed on the lower surface of the rotating plate. Movable components for adjusting the size of the clamping space are disposed on both sides of the magnetic suction assembly. A clamping component for clamping and fixing a workpiece without magnetic force is disposed inside the movable component. The magnetic suction assembly includes a base plate movably disposed on the lower surface of the rotating plate, a magnetic plate fixedly installed on the lower surface of the base plate, an inner groove opened at the bottom of the magnetic plate, and an electric telescopic rod fixedly installed on the upper surface of the base plate. The electric telescopic rod is connected to the left moving plate and the right moving plate on both sides respectively. The clamping assembly includes a clamping plate disposed inside the moving assembly, and a vertical groove is formed on one side of the clamping plate, which is located below the inner groove.

2. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 1, characterized in that: A top block is fixedly installed on the upper surface of the rotating plate, and a motor is fixedly installed on the upper surface of the top block. The top block is movably connected to the robotic arm, and a rotating rod is provided at the output end of the motor. One end of the rotating rod is fixedly installed on the upper surface of the base plate.

3. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 1, characterized in that: The left-moving plate is equipped with a pneumatic main rod inside, and a column is fixedly installed on the surface of the left-moving plate. There are two sets of columns. The upper surface of the left-moving plate is also fixedly installed with a vertical plate. There are two sets of vertical plates. The two sets of vertical plates are located between the two sets of columns. The vertical plate is fixedly installed at one end of the electric telescopic rod.

4. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 3, characterized in that: The column is provided in two sets. One set of the column is located on the upper surface of the left moving plate, and the other set of the column is located on the upper surface of the right moving plate. A support plate is fixedly installed on one side of both sets of columns. A limit plate is fixedly installed at one end of the support plate. The column located above the right moving plate is below the column above the left moving plate. A rectangular groove is opened on one side of both sets of columns. The rectangular groove on the side of the column above the left moving plate is located below the support plate and is slidably connected to the support plate above the right moving plate. The rectangular groove on the side of the column above the right moving plate is located above the support plate and is slidably connected to the support plate above the left moving plate.

5. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 4, characterized in that: A long strip is fixedly installed on the upper surface of the clamping plate. Multiple sets of anti-slip protrusions No. 1, No. 2, and No. 3 are fixedly installed horizontally on the surface of the clamping plate. The size of the anti-slip protrusions No. 1, No. 2, and No. 3 gradually increases and are equidistantly arranged longitudinally on the surface of the clamping plate.

6. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 5, characterized in that: Side plates are fixedly installed on both sides of the clamping plate, and racks are fixedly installed on the inner walls of the two sets of side plates. A motor is fixedly installed on the outer surface of the left-moving plate, and a gear is provided at the output end of the motor. The gear meshes with the rack.

7. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 6, characterized in that: A pneumatic main rod is fixedly installed on the inner wall of the left-moving plate. A secondary rod is movably arranged inside the pneumatic main rod. An installation plate is fixedly installed at one end of the secondary rod. The installation plate is fixedly connected to the outer surface of the clamping assembly.

8. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 7, characterized in that: The pneumatic rod is provided in two sets. The outer surface of the two sets of pneumatic rods is fixedly installed with a connecting cavity. A hose is fixedly installed on one side of the connecting cavity, and an L-tube is fixedly installed on the other end of the hose. The clamping assembly has a tube opening on its surface. One end of the L-tube is fixedly connected to the tube opening, and the other end of the L-tube faces the magnetic plate and the lower surface of the inner groove.

9. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 8, characterized in that: The surface of the left-moving plate is provided with an inclined groove, which is slidably disposed with the clamping plate. The lower surface of the long strip plate is in contact with the upper surface of the left-moving plate. The inner wall of the inclined groove is provided with a through groove, and the flexible tube is located inside the through groove. The L-tube and the through groove are on the same inclined line.

10. The packing robot for layered stacking of cylindrical rolling element workpieces according to claim 9, characterized in that: A silicone pad is fixedly installed on the inner wall of the vertical groove. An arc-shaped steel sheet is fixedly installed on the surface of the clamping plate. The arc-shaped steel sheet is perpendicular to the silicone pad. A positioning seat is fixedly installed on the outer surface of the clamping plate. The positioning seat is located between the two sets of auxiliary rods. The positioning seat is adapted to the through groove. A spring is provided between the positioning seat and the arc-shaped steel sheet. One end of the spring passes through the clamping plate, the silicone pad, and is fixedly installed to the positioning seat. The other end of the spring is fixedly installed to the inner wall of the arc-shaped steel sheet. An anti-slip pad is fixedly installed on the outer surface of the arc-shaped steel sheet.

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