Stacking manipulator and stacking robot

Abstract

The utility model relates to the technical field of palletizing robots, and discloses a palletizing manipulator and a palletizing robot, the palletizing manipulator comprises a mounting shell, a first mounting seat is fixedly mounted on the left side of the bottom of the mounting shell, a second mounting seat is fixedly mounted on the right side of the bottom of the mounting shell, and an automatic clamping mechanism is arranged on the inner wall of the mounting shell; the automatic clamping mechanism comprises a servo motor, the outer wall of the servo motor is fixedly connected with the inner wall of the mounting shell, the output end of the servo motor movably penetrates through the bottom of the mounting shell, and a lead screw is fixedly mounted at the output end of the servo motor. And when the lead screw does not rotate, it can be ensured that the second arc-shaped connecting rod does not move, the clamping stability of the whole device is improved, the situation that in the process that the stacking manipulator clamps heavy bagged products, the stacking manipulator is loosened, and the bagged products slide down is avoided, and the stacking efficiency of the stacking robot is improved.

Description

Technical Field

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

[0002] With the development of the times, the packaging technology for bagged products of conventional specifications is becoming more and more mature. However, due to the multiple specifications generated by the market demand for bagged products, conventional palletizing devices are difficult to apply to the market, resulting in a considerable number of companies still using traditional manual palletizing methods. Manual palletizing methods cannot unify the neat standards after palletizing, and the palletizing efficiency cannot be guaranteed. With the continuous development of automation technology, palletizing robots came into being. Palletizing robots are the product of the organic combination of machinery and computer programs. It provides higher production efficiency for modern production. Palletizing machines are widely used in the palletizing industry. Palletizing robots greatly save labor and space. Palletizing robots are flexible, precise, fast, efficient, stable and efficient. The palletizing robot system uses patented coordinate robots with flexible and compact installation space. The idea of ​​being able to build an efficient and energy-saving fully automatic block forming machine production line within a small footprint has become a reality.

[0003] However, when the existing palletizing robots use their palletizing manipulators to clamp bagged products during the palletizing operation of bagged products, the palletizing manipulators do not have the ability to self-lock when clamping, which may cause the palletizing manipulators to loosen during the clamping process, causing the bagged products to slip, seriously affecting the palletizing efficiency of the palletizing robots.

[0004] To this end, we propose a palletizing manipulator and a palletizing robot. Utility Model Content

[0005] The utility model mainly solves the technical problems existing in the above-mentioned prior art and provides a palletizing manipulator and a palletizing robot.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a palletizing robot, comprising a mounting shell, a first mounting seat is fixedly mounted on the left side of the bottom of the mounting shell, a second mounting seat is fixedly mounted on the right side of the bottom of the mounting shell, an automatic clamping mechanism is arranged on the inner wall of the mounting shell, the automatic clamping mechanism comprises a servo motor, and the outer wall of the servo motor is fixedly connected to the inner wall of the mounting shell, the output end of the servo motor movably passes through the bottom of the mounting shell, a lead screw is fixedly mounted on the output end of the servo motor, a limited position circular plate is fixedly mounted on the bottom of the lead screw, and the outer wall of the lead screw is fixedly mounted on the inner wall of the mounting shell. A lifting mounting block is threadedly connected to the wall, a first arc-shaped connecting rod is movably installed on the left side of the inner wall of the lifting mounting block, a first clamping arm assembly is arranged on the left side of the outer wall of the first arc-shaped connecting rod, a second arc-shaped connecting rod is movably installed on the right side of the inner wall of the lifting mounting block, a second clamping arm assembly is arranged on the right side of the outer wall of the second arc-shaped connecting rod, and the structure of the second clamping arm assembly is consistent with the first clamping arm assembly, the first clamping arm assembly includes a first connecting rod, and the middle end of the inner wall of the first connecting rod is movably connected to the left side of the outer wall of the first arc-shaped connecting rod, and the upper end of the inner wall of the first connecting rod is movably connected to the outer wall of the first mounting seat.

[0007] Preferably, a clamping claw is movably mounted on the lower end of the inner wall of the first connecting rod, and a second connecting rod is movably mounted on the left side of the upper end of the outer wall of the clamping claw.

[0008] Preferably, the upper end of the inner wall of the second connecting rod is movably connected to the outer wall of the first mounting seat.

[0009] Preferably, an anti-slip component is provided on the right wall surface of the clamping jaw.

[0010] Preferably, the anti-slip assembly includes a clamping plate, and the left wall surface of the clamping plate is fixedly connected to the right wall surface of the clamping jaw.

[0011] Preferably, a bracket is provided on the top of the splint.

[0012] Preferably, a first anti-slip groove is provided on the upper end of the right side wall of the clamping plate.

[0013] Preferably, a second anti-slip groove is provided at the lower end of the right side wall of the clamping plate.

[0014] A palletizing robot comprises the above-mentioned palletizing manipulator.

[0015] Beneficial Effects

[0016] The utility model provides a palletizing manipulator and a palletizing robot, which have the following beneficial effects:

[0017] (1) The palletizing manipulator and the palletizing robot are provided with an automatic clamping mechanism. The screw on the automatic clamping mechanism has a self-locking feature. When the screw is not rotating, it can ensure that the second arc-shaped connecting rod will not shift, thereby improving the clamping stability of the entire device, avoiding the situation in which the palletizing manipulator loosens when clamping heavier bagged products, causing the bagged products to slip, and improving the palletizing efficiency of the palletizing robot.

[0018] (2) The palletizing manipulator and the palletizing robot are provided with an anti-skid component. The first anti-skid groove and the second anti-skid groove on the anti-skid component can improve the clamping ability of the entire automatic clamping mechanism, thereby avoiding the bagged product from sliding during the clamping process and improving the clamping performance of the entire device.

[0019] (3) The palletizing manipulator and the palletizing robot are provided with a bracket, which can play a role of hanging the packaging rope of the bagged product, so that the weight of the bagged product is concentrated on the bracket, thereby reducing the clamping burden of the entire automatic clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the front side of the utility model;

[0021] Figure 2 This is a front structural diagram of the automatic clamping mechanism of the utility model;

[0022] Figure 3 It is a schematic diagram of the front structure of the anti-skid component of the utility model.

[0023] Legend: 10. Mounting shell; 11. First mounting seat; 12. Second mounting seat; 13. Automatic clamping mechanism; 14. Servo motor; 15. Screw rod; 16. Limiting circular plate; 17. Lifting mounting block; 18. First arc-shaped connecting rod; 19. First clamping arm assembly; 20. Second arc-shaped connecting rod; 21. Second clamping arm assembly; 22. First connecting rod; 23. Clamping claw; 24. Second connecting rod; 25. Anti-skid assembly; 26. Clamp plate; 27. Bracket; 28. First anti-skid groove; 29. ​​Second anti-skid groove. DETAILED DESCRIPTION

[0024] Embodiment 1: A palletizing robot, such as Figure 1As shown, it includes a mounting shell 10, a first mounting seat 11 is fixedly installed on the left side of the bottom of the mounting shell 10, a second mounting seat 12 is fixedly installed on the right side of the bottom of the mounting shell 10, an automatic clamping mechanism 13 is arranged on the inner wall of the mounting shell 10, the automatic clamping mechanism 13 includes a servo motor 14, and the outer wall of the servo motor 14 is fixedly connected to the inner wall of the mounting shell 10, the output end of the servo motor 14 movably passes through the bottom of the mounting shell 10, a screw rod 15 is fixedly installed on the output end of the servo motor 14, a limited circular plate 16 is fixedly installed on the bottom of the screw rod 15, a lifting mounting block 17 is threadedly connected to the outer wall of the screw rod 15, a first arc connecting rod 18 is movably installed on the left side of the inner wall of the lifting mounting block 17, and the first arc connecting rod A first clamping arm assembly 19 is arranged on the left side of the outer wall of 18, a second arc-shaped connecting rod 20 is movably installed on the right side of the inner wall of the lifting mounting block 17, a second clamping arm assembly 21 is arranged on the right side of the outer wall of the second arc-shaped connecting rod 20, and the structure of the second clamping arm assembly 21 is consistent with the first clamping arm assembly 19, and an automatic clamping mechanism 13 is arranged, and the screw rod 15 on the automatic clamping mechanism 13 has a self-locking feature. When the screw rod 15 is not rotated, it can ensure that the second arc-shaped connecting rod 20 will not shift, thereby improving the clamping stability of the entire device, avoiding the situation in which the stacking robot loosens and causes the bagged product to slip during the process of clamping the heavier bagged product, and improving the stacking efficiency of the stacking robot.

[0025] Embodiment 2: Based on Embodiment 1, Figure 2 As shown, the first clamping arm assembly 19 includes a first connecting rod 22, and the middle end of the inner wall of the first connecting rod 22 is movably connected to the left side of the outer wall of the first arc-shaped connecting rod 18, the upper end of the inner wall of the first connecting rod 22 is movably connected to the outer wall of the first mounting seat 11, and a clamping claw 23 is movably installed at the lower end of the inner wall of the first connecting rod 22, and a second connecting rod 24 is movably installed on the left side of the upper end of the outer wall of the clamping claw 23, and the upper end of the inner wall of the second connecting rod 24 is movably connected to the outer wall of the first mounting seat 11, and an anti-skid assembly 25 is provided on the right side wall of the clamping claw 23. By providing the anti-skid assembly 25, the first anti-skid groove 28 and the second anti-skid groove 29 on the anti-skid assembly 25 can improve the clamping ability of the entire automatic clamping mechanism 13, avoid the bagged product from sliding during the clamping process, and improve the clamping performance of the entire device.

[0026] Embodiment 3: Based on Embodiment 1 and Embodiment 2, Figure 3As shown, the anti-skid assembly 25 includes a splint 26, and the left side wall of the splint 26 is fixedly connected to the right side wall of the clamp 23, a bracket 27 is provided on the top of the splint 26, a first anti-skid groove 28 is provided on the upper end of the right side wall of the splint 26, and a second anti-skid groove 29 is provided on the lower end of the right side wall of the splint 26. By providing the bracket 27, the bracket 27 can play a role of hanging the packaging rope of the bagged product, so that the weight of the bagged product is concentrated on the bracket 27, thereby reducing the clamping burden of the entire automatic clamping mechanism 13.

[0027] The present application also proposes a palletizing robot, which includes the above-mentioned palletizing manipulator. The specific structure of the palletizing manipulator refers to the above-mentioned embodiment. Since the palletizing robot adopts all the technical solutions of all the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0028] The working principle of the utility model is as follows: by turning on the switch of the servo motor 14, the output end of the servo motor 14 drives the lead screw 15 to start rotating, the lead screw 15 drives the lifting mounting block 17 to start moving upward, the lifting mounting block 17 drives the first clamping arm assembly 19 and the second clamping arm assembly 21 to approach each other through the first arc-shaped connecting rod 18 and the second arc-shaped connecting rod 20 respectively, the anti-slip components 25 on the first clamping arm assembly 19 and the second clamping arm assembly 21 approach each other to clamp and fix the bagged product, and the hanging rope of the bagged product can be hung on the bracket 27 on the clamping plate 26.

[0029] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A palletizing robot, comprising a mounting shell (10), characterized in that: A first mounting seat (11) is fixedly mounted on the left side of the bottom of the mounting shell (10), and a second mounting seat (12) is fixedly mounted on the right side of the bottom of the mounting shell (10). An automatic clamping mechanism (13) is arranged on the inner wall of the mounting shell (10). The automatic clamping mechanism (13) comprises a servo motor (14), and the outer wall of the servo motor (14) is fixedly connected to the inner wall of the mounting shell (10). The output end of the servo motor (14) movably passes through the bottom of the mounting shell (10). A screw rod (15) is fixedly mounted on the output end of the servo motor (14). A limiting circular plate (16) is fixedly mounted on the bottom of the screw rod (15). A lifting mounting block (17) is threadedly connected to the outer wall of the screw rod (15). A first arc-shaped connecting rod (18) is movably mounted on the left side of the inner wall of the mounting block (17), a first clamping arm assembly (19) is arranged on the left side of the outer wall of the first arc-shaped connecting rod (18), a second arc-shaped connecting rod (20) is movably mounted on the right side of the inner wall of the lifting mounting block (17), a second clamping arm assembly (21) is arranged on the right side of the outer wall of the second arc-shaped connecting rod (20), and the structure of the second clamping arm assembly (21) is consistent with that of the first clamping arm assembly (19), the first clamping arm assembly (19) includes a first connecting rod (22), and the middle end of the inner wall of the first connecting rod (22) is movably connected to the left side of the outer wall of the first arc-shaped connecting rod (18), and the upper end of the inner wall of the first connecting rod (22) is movably connected to the outer wall of the first mounting seat (11).

2. The palletizing robot according to claim 1, characterized in that: A clamping claw (23) is movably mounted on the lower end of the inner wall of the first connecting rod (22), and a second connecting rod (24) is movably mounted on the left side of the upper end of the outer wall of the clamping claw (23).

3. The palletizing robot according to claim 2, characterized in that: The upper end of the inner wall of the second connecting rod (24) is movably connected to the outer wall of the first mounting seat (11).

4. The palletizing robot according to claim 2, characterized in that: The right side wall of the clamping jaw (23) is provided with an anti-slip component (25).

5. The palletizing robot according to claim 4, characterized in that: The anti-slip assembly (25) comprises a clamping plate (26), and the left wall surface of the clamping plate (26) is fixedly connected to the right wall surface of the clamping claw (23).

6. The palletizing robot according to claim 5, characterized in that: A bracket (27) is provided on the top of the clamping plate (26).

7. The palletizing robot according to claim 5, characterized in that: A first anti-slip groove (28) is provided at the upper end of the right side wall of the clamping plate (26).

8. The palletizing robot according to claim 5, characterized in that: A second anti-slip groove (29) is provided at the lower end of the right side wall of the clamping plate (26).

9. A palletizing robot, characterized in that: A palletizing robot comprising the palletizing robot described in any one of claims 1 to 8.

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