Stacking clamp and stacking robot

Abstract

The stacking clamp comprises a bottom drawing mechanism, the bottom drawing mechanism has a grabbing state and a discharging state, and when the bottom drawing mechanism is in the grabbing state, the upper surface of the bottom drawing mechanism can bear a single row of products; at least one group of suction cup mechanisms are arranged, and the at least one group of suction cup mechanisms can suck a single-layer stack partition plate, so that the single-layer stack partition plate is placed on the single-row products stacked on the stacking position; the bottom drawing mechanism comprises a fourth power device; and the upper surface of the bearing part carries the single-row products in a limited manner, and the bearing part is driven by the fourth power device to move linearly. The stacking device is suitable for a robot stacking system, stacking of a single row of products and stacking partition plate placement are achieved under the condition that a clamp does not need to be switched or another independent robot does not need to be arranged, complex stack type application is met, and the working efficiency of the stacking system is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing equipment, in particular to a palletizing fixture and a palletizing robot. Background Art

[0002] In the production and packaging process of many products, it is often necessary to add isolation materials such as pearl cotton, paper partitions, and foam between each layer of products to prevent product damage caused by product collision. With the continuous development of mechanical automation, ordinary palletizing fixtures can only clamp and palletize the target products through the clamping claws. After palletizing, other auxiliary fixtures need to be manually operated to place each layer of isolation materials. The existing implementation scheme is to palletize and lay isolation materials separately through two independent devices, resulting in a large equipment size and the use of many actuators. In the case of limited operating space for mechanical devices, it is inconvenient to clamp and palletize products, and the palletizing efficiency is low. Utility Model Content

[0003] Therefore, in order to solve the above-mentioned shortcomings, on the one hand, the utility model provides a palletizing fixture, comprising

[0004] A bottom-drawing mechanism, wherein the bottom-drawing mechanism has a grabbing state and a discharging state. When the bottom-drawing mechanism is in the grabbing state, the upper surface of the bottom-drawing mechanism can carry a single row of products; and

[0005] A suction cup mechanism, wherein the suction cup mechanism is provided with at least one group, and the at least one group of the suction cup mechanisms can absorb a single layer of stacking partitions to place the single layer of the stacking partitions on the single row of products stacked at the stacking position;

[0006] The bottom extraction mechanism comprises

[0007] a fourth power unit; and

[0008] A load-bearing portion, the upper surface of which is limited to carry the above-mentioned single-row products, and the load-bearing portion is driven to move linearly by the above-mentioned fourth power device;

[0009] When the bottom-drawing mechanism is in a discharging state, the bearing portion is driven by the fourth power device to the bottom of the suction cup mechanism.

[0010] Furthermore, the bottom-drawing mechanism also includes a belt transmission mechanism, the pulley transmission mechanism is connected to the fourth power device, and the bearing portion is connected to the belt transmission mechanism.

[0011] Furthermore, the suction cup mechanism comprises

[0012] a second power plant; and

[0013] The suction cup is driven to move vertically by the second power device.

[0014] The utility model drives the bearing part to extend through the fourth power device so that the bearing part is in a grasping state, and drives the clamp to move to the grasping position through the robot. After the product enters the grasping position, the robot lifts the clamp. After the robot moves to the stacking position, the fourth power device drives the bearing part to retract to the bottom of the suction cup mechanism. At this time, the product falls to the stacking position, and the single-row palletizing is completed. After the single-row palletizing is completed, the bearing part maintains the grasping state, the suction cup mechanism extends, the suction cup exposes the bottom of the clamp, the robot moves to the partition placement, the vacuum generator is activated, the suction cup absorbs the partition, the robot moves to the stack partition placement, the vacuum generator stops, the partition placement is completed, the suction cup mechanism and the partition pressing mechanism retract, and the previous process is repeated. The utility model is suitable for a robot palletizing system. Without switching the clamp or setting up another independent robot, the palletizing of a single row of products and the placement of stack partitions can be achieved, which not only meets the application of complex pallet types, but also improves the working efficiency of the palletizing system.

[0015] Furthermore, the stacking fixture further comprises a spacer pressing mechanism, which can press the stacking spacer downwards. The spacer pressing mechanism comprises

[0016] a first power unit; and

[0017] The pressing part is driven to move vertically by the first power device.

[0018] When placing the partition, the first power device drives the pressing part to slide vertically downward to press down the partition to prevent the residual adsorption force between the suction cup and the partition from driving the partition to move, resulting in the partition not being placed in place.

[0019] Furthermore, the stacking fixture further comprises a baffle, which is arranged on the upper surface of the bearing portion, and the baffle is relatively fixed, and the bearing portion can move relative to the baffle along its normal direction.

[0020] When the fourth power device drives the carrying part to retract, the single row of products will be blocked by the baffle to prevent the products from moving with the carrying part, thereby causing the products to be not placed in place.

[0021] Furthermore, the stacking fixture further comprises a pressing plate mechanism, which is arranged above the bearing portion in the grasping state, and the pressing plate mechanism can press against the upper surface of the single-row product to fix the single-row product, and the pressing plate mechanism comprises

[0022] a third power unit; and

[0023] The pressing part is arranged parallel to the bearing part and driven to slide vertically by the third power device.

[0024] Furthermore, the contact surface between the pressing portion and the single-row product is provided with a sponge and / or a turf belt.

[0025] When the product enters the grabbing position, the robot lifts the clamp, and the third power device drives the lower pressure part down. The lower pressure part exerts a certain pressure on the product, and high-density sponge and grass belts are attached to the pressure plate. One is to fix the stacking shape of the product, and the other is to prevent the product from falling from the clamp during the movement of the robot.

[0026] On the other hand, the utility model also provides a palletizing robot, which includes the above-mentioned palletizing fixture, and the palletizing robot also includes a multi-joint mechanical arm, the above-mentioned palletizing fixture is installed at the end of the multi-joint mechanical arm, and the palletizing fixture is driven by the multi-joint mechanical arm to move back and forth between the grabbing position, the palletizing position, and the stacking partition position.

[0027] On the other hand, the palletizing method uses the above-mentioned palletizing robot, and the method includes

[0028] The fourth power device drives the bearing part to extend to enter the grasping state, and the multi-joint mechanical arm moves to drive the clamp in this state to enter the grasping position;

[0029] When the product enters the grabbing position, the multi-joint mechanical arm lifts the clamp, and the third power device drives the pressing part down;

[0030] The multi-joint robotic arm drives the fixture to move to the stacking position. After moving to the stacking position, the fourth power device drives the load-bearing part to retreat. The load-bearing part retracts from under the baffle to under the suction cup mechanism, and the product falls to the stacking position. At this time, the single-row stacking is completed;

[0031] After the single-row palletizing is completed, the fourth power device drives the bearing part to extend from under the baffle to under the pressing part again, and the second power device drives the suction cup to slide down vertically so that the suction cup is exposed from the bottom of the fixture;

[0032] The multi-joint mechanical arm drives the clamp to move to the partition placement location, the vacuum generator is activated, the suction cup absorbs the partition, and the multi-joint mechanical arm drives the clamp to move to the stack partition placement location again. The stack partition placement location is the upper surface of the single-row product on the stacking position. The first power device drives the pressing part to slide down vertically to press the partition down, and the vacuum generator stops operating at the same time, so as to place the partition on the single-plate product, thereby completing the partition placement;

[0033] After the partition is placed, the second power device drives the suction cup to retract into the fixture, and the first power device drives the pressing part to retract into the fixture;

[0034] The multi-joint robotic arm drives the fixture to move to the grasping position and repeats the above process.

[0035] The utility model has the following advantages:

[0036] The utility model drives the bearing part to extend through the fourth power device so that the bearing part is in a grasping state, and drives the clamp to move to the grasping position through the robot. After the product enters the grasping position, the robot lifts the clamp. After the robot moves to the stacking position, the fourth power device drives the bearing part to retract to the bottom of the suction cup mechanism. At this time, the product falls to the stacking position, and the single-row palletizing is completed. After the single-row palletizing is completed, the bearing part maintains the grasping state, the suction cup mechanism extends, the suction cup exposes the bottom of the clamp, the robot moves to the partition placement, the vacuum generator is activated, the suction cup absorbs the partition, the robot moves to the stack partition placement, the vacuum generator stops, the partition placement is completed, the suction cup mechanism and the partition pressing mechanism retract, and the previous process is repeated. The utility model is suitable for a robot palletizing system. Without switching the clamp or setting up another independent robot, the palletizing of a single row of products and the placement of stack partitions can be achieved, which not only meets the application of complex pallet types, but also improves the working efficiency of the palletizing system.

[0037] When placing the partition, the first power device drives the pressing part to slide vertically downward to press down the partition to prevent the residual adsorption force between the suction cup and the partition from driving the partition to move, resulting in the partition not being placed in place. When the fourth power device drives the carrying part to retract, the single row of products will be blocked by the baffle to prevent the products from moving with the carrying part, resulting in the products not being placed in place.

[0038] When the product enters the grabbing position, the robot lifts the clamp, and the third power device drives the lower pressure part down. The lower pressure part exerts a certain pressure on the product, and high-density sponge and grass belts are attached to the pressure plate. One is to fix the stacking shape of the product, and the other is to prevent the product from falling from the clamp during the movement of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a first structural schematic diagram of a palletizing fixture;

[0040] Figure 2 yes Figure 1 A second structural schematic diagram of the palletizing fixture shown;

[0041] Figure 3 yes Figure 1 a side view of the palletizing fixture shown;

[0042] Figure 4 yes Figure 1 a rear view of the palletizing fixture shown;

[0043] Figure 5 yes Figure 1 A schematic diagram of the structure of the suction cup mechanism in the palletizing fixture shown;

[0044] Figure 6 yes Figure 1 The structural schematic diagram of the pressure partition mechanism in the stacking fixture shown;

[0045] Figure 7 yes Figure 1 An enlarged schematic diagram of the local structure in the palletizing fixture is shown. DETAILED DESCRIPTION

[0046] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0047] In this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises", or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0048] As described in the background technology, the existing implementation scheme is to use two independent devices to respectively stack and lay the isolation materials, which results in a large equipment size and the use of many actuators. When the operating space of the mechanical device is limited, it is inconvenient to clamp and stack the products, and the stacking efficiency is low.

[0049] Embodiment 1:

[0050] Therefore, in order to solve the above technical problems in the prior art, this embodiment provides a palletizing fixture, such as Figure 1 , 2 As shown, the palletizing fixture includes

[0051] A bottom-drawing mechanism 500, wherein the bottom-drawing mechanism 500 has a grabbing state and a discharging state. When the bottom-drawing mechanism 500 is in the grabbing state, the upper surface of the bottom-drawing mechanism can carry a single row of products; and

[0052] A suction cup mechanism 300, wherein the suction cup mechanism 300 is provided with at least one group, and at least one group of the suction cup mechanism 300 can absorb a single layer of stacking partitions to place the single layer of the stacking partitions on the single row of products stacked at the stacking position;

[0053] The bottom-drawing mechanism 500 includes

[0054] a fourth power plant 530; and

[0055] A load-bearing portion 510, the upper surface of which is limited to carry the single-row products, and the load-bearing portion 510 is driven to move linearly by the fourth power device 530;

[0056] When the bottom-drawing mechanism is in the unloading state, the bearing portion 510 is driven by the fourth power device to the bottom of the suction cup mechanism.

[0057] Exemplarily, the bottom-drawing mechanism 500 further includes a belt transmission mechanism 520 , the pulley transmission mechanism is connected to the fourth power device, and the bearing portion 510 is connected to the belt transmission mechanism 520 .

[0058] like Figure 5 As shown, the suction cup mechanism 300 includes

[0059] A second power plant 310; and

[0060] The suction cup 320 is driven to move vertically by the second power device 310 .

[0061] In this embodiment, the fourth power device drives the bearing part to extend so that the bearing part is in a grasping state, and the robot drives the clamp to move to the grasping position. After the product enters the grasping position, the robot lifts the clamp. After the robot moves to the stacking position, the fourth power device drives the bearing part 510 to retract to the bottom of the suction cup mechanism. At this time, the product falls to the stacking position, and the single-row palletizing is completed. After the single-row palletizing is completed, the bearing part maintains the grasping state, the suction cup mechanism extends, the suction cup exposes the bottom of the clamp, the robot moves to the partition placement, the vacuum generator is activated, the suction cup absorbs the partition, the robot moves to the stack partition placement, the vacuum generator stops, the partition placement is completed, the suction cup mechanism and the partition pressing mechanism retract, and the previous process is repeated. The utility model is suitable for a robot palletizing system. Without switching the clamp or setting up another independent robot, the palletizing of a single row of products and the placement of stack partitions can be achieved, which not only meets the application of complex pallet types, but also improves the working efficiency of the palletizing system.

[0062] In this embodiment, if Figure 1 As shown, the palletizing fixture may further include a fixture frame 100 , which may be docked with a multi-joint robotic arm, and the above-mentioned bottom extraction mechanism and suction cup mechanism may be installed on the fixture frame 100 .

[0063] like Figure 5As shown, the suction cup mechanism 300 in this embodiment may also include a mounting portion 340, and the above-mentioned second power device may be fixedly mounted on the mounting portion 340. The above-mentioned suction cup 320 is connected to the second power device, and the second power device includes but is not limited to a cylinder, an electric cylinder, a hydraulic cylinder or other devices that can drive the suction cup to move linearly. A guide rod 330 may also be provided on the suction cup, and the guide rod 330 and the mounting portion 340 maintain relative sliding to achieve movement guidance of the suction cup, and the entire suction cup mechanism is fixedly mounted on the clamp frame through the mounting portion.

[0064] In this embodiment, the fourth power device mentioned above can select a motor, a rotary cylinder or other device that can realize the rotation of the rotating shaft. In addition to driving the load-bearing part to move through the pulley mechanism recorded in this embodiment, it can also be driven by a sprocket transmission mechanism, a screw transmission mechanism, a gear rack transmission mechanism or other transmission mechanisms that can realize the linear movement of the load-bearing part. Of course, the fourth power device mentioned above can also be replaced by a cylinder, an electric cylinder, a hydraulic cylinder or other device that can drive the linear movement of the load-bearing part through the extension and retraction of the piston rod.

[0065] Exemplarily, the above-mentioned bearing part may be selected from a plurality of carbon fiber tubes arranged in parallel.

[0066] In this embodiment, if Figure 1 As shown, the stacking fixture may further include a spacer pressing mechanism 200, which can press the stacking spacer downwards. Figure 6 As shown, the partition plate pressing mechanism 200 includes

[0067] A first power plant 210; and

[0068] The pressing part 220 is driven by the first power device 210 to move vertically.

[0069] When placing the partition, the first power device drives the pressing part to slide vertically downward to press down the partition to prevent the residual adsorption force between the suction cup and the partition from driving the partition to move, resulting in the partition not being placed in place.

[0070] In this embodiment, the first power device can be the same as the second power device. The first power device can be fixed to the clamp frame via a connecting portion, and the pressing portion 220 is connected to the first power device.

[0071] like Figure 2 , 3As shown, the stacking fixture in this embodiment may also include a baffle 600, which is arranged on the upper surface of the above-mentioned bearing portion 510. The baffle 600 is relatively fixed and fixedly connected to the above-mentioned fixture frame, including but not limited to bolt connection, screw connection, riveting, welding, melting, integral molding, etc. The bearing portion 510 can move relative to the baffle along its normal direction.

[0072] When the fourth power device drives the carrying part to retract, the single row of products will be blocked by the baffle to prevent the products from moving with the carrying part, thereby causing the products to be not placed in place.

[0073] like Figure 1 As shown, the palletizing fixture further includes a pressing plate mechanism 400, which is arranged above the carrying portion in the grasping state. The pressing plate mechanism 400 can press against the upper surface of the single-row product to fix the single-row product, such as Figure 2 , 4 As shown, the pressing plate mechanism 400 includes

[0074] A third power device 430, which can be fixedly mounted in the fixture frame; and

[0075] The pressing part 410 is arranged parallel to the bearing part, and is driven by the third power device 430 to slide vertically.

[0076] Furthermore, the contact surface between the pressing portion 410 and the single-row product is provided with sponge and / or grass belt.

[0077] When the product enters the grabbing position, the robot lifts the clamp, and the third power device drives the lower pressure part down. The lower pressure part exerts a certain pressure on the product, and high-density sponge and grass belts are attached to the pressure plate. One is to fix the stacking shape of the product, and the other is to prevent the product from falling from the clamp during the movement of the robot.

[0078] In this embodiment, a movable plate can be arranged in the clamp frame, and the movable plate is connected to the above-mentioned third power device. The movable plate can be kept connected to the clamp frame through a guide mechanism. A vertical slide groove is provided on the front of the clamp frame. A connecting portion protruding normal to the front of the clamp frame can be provided at the position of the slide groove on the front of the above-mentioned movable plate to connect with the downward pressing portion 410.

[0079] Embodiment 2:

[0080] This embodiment is based on Embodiment 1 and provides a palletizing robot, which includes the above-mentioned palletizing fixture. The palletizing robot also includes a multi-joint robotic arm, and the above-mentioned palletizing fixture is installed at the end of the multi-joint robotic arm. The palletizing fixture is driven by the multi-joint robotic arm to move back and forth between the grasping position, the palletizing position, and the stacking partition position.

[0081] Palletizing: The suction cup mechanism retracts, the pressure plate mechanism retracts, the downward pressure mechanism rises, the bottom extraction mechanism extends the carbon fiber tube, the robot moves, and the fixture enters the grabbing position. When the product enters the grabbing position, the robot lifts the fixture, and the downward pressure mechanism descends. The pressing plate exerts a certain amount of pressure on the product, and high-density sponge and grass belts are attached to the pressing plate. One is to fix the stacking shape of the product, and the other is to prevent the product from falling from the fixture during the movement of the robot. After the robot moves to the stacking position, the bottom extraction mechanism retracts the carbon fiber tube, and the product falls to the stacking position. At this time, the single-row palletizing is completed, and the fixture proceeds to the next cycle.

[0082] Suction and placement of partitions: the single-row stacking of the fixture is completed, the carbon fiber tube of the bottom extraction mechanism remains extended, the suction cup mechanism extends, the suction cup is exposed from the bottom of the fixture, the robot moves to the partition placement position, the vacuum generator is activated, the suction cup absorbs the partition, the robot moves to the partition placement position, the partition pressing mechanism extends, presses the partition down, and the vacuum generator stops moving at the same time. At this time, the partition placement is completed, and the suction cup mechanism and the partition pressing mechanism retract.

[0083] Embodiment 3:

[0084] Based on Example 2, this embodiment provides a palletizing method, which uses the above-mentioned palletizing robot. The method includes

[0085] The fourth power device drives the bearing part to extend to enter the grasping state, and the multi-joint mechanical arm moves to drive the clamp in this state to enter the grasping position;

[0086] When the product enters the grasping position, the multi-joint mechanical arm lifts the clamp, and the third power device drives the pressing part 410 to descend;

[0087] The multi-joint robotic arm drives the fixture to move to the stacking position. After moving to the stacking position, the fourth power device drives the load-bearing part to retreat. The load-bearing part retracts from under the baffle to under the suction cup mechanism, and the product falls to the stacking position. At this time, the single-row stacking is completed;

[0088] After the single-row palletizing is completed, the fourth power device drives the bearing part to extend from under the baffle to under the pressing part again, and the second power device 310 drives the suction cup to slide down vertically so that the suction cup is exposed from the bottom of the clamp;

[0089] The multi-joint mechanical arm drives the clamp to move to the partition placement location, the vacuum generator is activated, the suction cup absorbs the partition, and the multi-joint mechanical arm drives the clamp to move to the stack partition placement location again. The stack partition placement location is the upper surface of the single-row product on the stacking position. The first power device 210 drives the pressing part to slide down vertically to press the partition downward, and the vacuum generator stops operating at the same time, so as to place the partition on the single-plate product, thereby completing the partition placement;

[0090] After the partition is placed, the second power device 310 drives the suction cup to retract into the fixture, and the first power device 210 drives the pressing part to retract into the fixture;

[0091] The multi-joint robotic arm drives the fixture to move to the grasping position and repeats the above process.

[0092] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A palletizing fixture, characterized in that: include A bottom-drawing mechanism, wherein the bottom-drawing mechanism has a grabbing state and a discharging state. When the bottom-drawing mechanism is in the grabbing state, the upper surface of the bottom-drawing mechanism can carry a single row of products; as well as A suction cup mechanism, wherein the suction cup mechanism is provided with at least one group, and the at least one group of the suction cup mechanisms can absorb a single layer of stacking partitions to place the single layer of the stacking partitions on the single row of products stacked at the stacking position; The bottom extraction mechanism comprises Fourth power unit; as well as A load-bearing portion, the upper surface of which is limited to carry the above-mentioned single-row products, and the load-bearing portion is driven to move linearly by the above-mentioned fourth power device; When the bottom-drawing mechanism is in a discharging state, the bearing portion is driven by the fourth power device to the bottom of the suction cup mechanism.

2. A palletizing fixture according to claim 1, characterized in that: The bottom-drawing mechanism further comprises a belt transmission mechanism, the belt transmission mechanism is connected to the fourth power device, and the bearing portion is connected to the belt transmission mechanism.

3. A palletizing fixture according to claim 1, characterized in that: The suction cup mechanism comprises a second power plant; and The suction cup is driven to move vertically by the second power device.

4. A palletizing fixture according to any one of claims 1 to 3, characterized in that: The stacking fixture further includes a spacer pressing mechanism, which can press the stacking spacer downwards. The spacer pressing mechanism includes a first power unit; and The pressing part is driven to move vertically by the first power device.

5. A palletizing fixture according to claim 1, characterized in that: The stacking fixture further comprises a baffle, which is arranged on the upper surface of the bearing part. The baffle is relatively fixed, and the bearing part can move relative to the baffle along its normal direction.

6. A palletizing fixture according to claim 1, characterized in that: The stacking fixture further includes a pressing plate mechanism, which is arranged above the bearing portion in the grasping state, and the pressing plate mechanism can press against the upper surface of the single-row product to fix the single-row product. The pressing plate mechanism includes a third power unit; and The pressing part is arranged parallel to the bearing part and driven to slide vertically by the third power device.

7. A palletizing fixture according to claim 6, characterized in that: The contact surface between the pressing portion and the single-row product is provided with sponge and / or grass belt.

8. A palletizing robot, characterized in that: The palletizing robot comprises the palletizing fixture described in any one of claims 1 to 7, and the palletizing robot also comprises a multi-joint robotic arm, the palletizing fixture is installed at the end of the multi-joint robotic arm, and the palletizing fixture is driven by the multi-joint robotic arm to move back and forth between the grasping position, the palletizing position, and the stacking partition position.

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