Stacking manipulator device

Abstract

The utility model discloses a stacking manipulator device which comprises a supporting platform, and a suction cup mechanism, a clamping mechanism and a hanging belt mechanism are arranged on the supporting platform. The sucker mechanism is arranged at the bottom of the supporting platform; the clamping mechanism is used for clamping packaging boxes to be stacked; the belt hanging mechanism is used for hanging a packaging belt on a packaging box to be stacked and comprises a hook, a horizontal driving mechanism and a lifting mechanism, the horizontal driving mechanism is arranged on the supporting platform and controls the hook and the lifting mechanism to move horizontally, the lifting mechanism is arranged on the horizontal driving mechanism and controls the hook to ascend and descend, and a hook body of the hook is located on the lower side of the supporting platform. According to the utility model, cartons with different sizes and packaged with packaging tapes and sealed with transparent adhesive tapes and to-be-stacked packaging boxes can be stacked according to actual requirements, the suction cup mechanism, the clamping mechanism and the tape hanging mechanism are adopted to carry the to-be-stacked packaging boxes in a three-layer mode of suction, clamping and tape hanging, the universality is stronger, and the operation is more convenient. Operation is easy and convenient, and stacking is safer and more effective.

Description

Technical Field

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

[0002] The existing palletizing devices generally only rely on the suction force of the suction cup and the gripping force of the gripper to fix the cartons to be palletized. In the process of palletizing and transferring cartons, there are the following problems:

[0003] 1. Some cartons are heavy and are prone to slipping during the stacking process.

[0004] 2. If the mechanism fails or the air is suddenly cut off during the transportation process, the vacuum failure will cause the product to slip and be damaged, and the production safety performance cannot be guaranteed, resulting in serious economic losses.

[0005] 3. The cartons that need to be stacked are of different sizes. When the gripper clamps the cartons, there is a problem of damaging the products in the cartons. Utility Model Content

[0006] In order to solve the deficiencies in the prior art, the utility model provides a palletizing robot device, which can palletize cartons of different sizes that have been wrapped with packaging tapes and sealed with transparent tapes and are waiting to be palletized according to actual needs. A suction cup mechanism, a clamping mechanism and a hanging belt mechanism are adopted to realize the three-layer mode of suction, clamping and hanging belt to carry the palletizing cartons. The utility model has strong versatility and is easy to operate, making palletizing safer and more effective. The setting of the hanging belt mechanism, when the mechanism fails or the palletizing cartons are heavy, the packaging tape of the palletizing cartons will still be hung on the hook. The setting of the hanging belt mechanism can effectively prevent the cartons from slipping off the palletizing robot device, thereby improving the safety performance of the entire handling process and avoiding serious economic losses.

[0007] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0008] A palletizing robot device comprises a supporting platform, on which a suction cup mechanism, a clamping mechanism and a hanging belt mechanism are arranged; the suction cup mechanism is arranged at the bottom of the supporting platform; the clamping mechanism is used to clamp the packaging box to be stacked, and comprises clamps arranged on both sides of the supporting platform relatively, and a clamping drive mechanism for controlling the rotation of the clamps; the hanging belt mechanism is used to hang the packaging belt on the packaging box to be stacked, and comprises a hook, a horizontal driving mechanism, and a lifting mechanism, the horizontal driving mechanism is arranged on the supporting platform, and controls the translation of the hook and the lifting mechanism, the lifting mechanism is arranged on the horizontal driving mechanism, and controls the lifting and lowering of the hook, and the hook body of the hook is located on the lower side of the supporting platform.

[0009] The clamp is arranged on the support platform through a support seat, and a support ear is provided on the support seat; the clamp includes a first "[-shaped" support arm, a second "[-shaped" support arm, and a splint; the first end of the first "[-shaped" support arm is rotatably connected to the first position of the support ear, the first end of the second "[-shaped" support arm is rotatably connected to the second position of the support ear, and the first position on the support ear is located on a side close to the support seat relative to the second position; a splint support arm is provided on the splint, the second end of the first "[-shaped" support arm is rotatably connected to the first position of the splint support arm, the second end of the second "[-shaped" support arm is rotatably connected to the second position of the splint support arm, and the first position on the splint support arm is located on a side close to the splint relative to the second position.

[0010] The clamping drive mechanism includes a driving motor, a driving wheel, a driven wheel, and a rotating shaft. The driving motor is arranged on the supporting platform and connected to the driving wheel. The driven wheel is arranged on the rotating shaft. The driving wheel and the driven wheel are connected by a synchronous belt or a chain. The rotating shaft is fixedly connected to the first end of the first "[-shaped" supporting arm and is rotatably connected to the supporting ear of the supporting seat.

[0011] There are two groups of clamps arranged on the same side of the support platform, and they are respectively arranged at two ends of the rotating shaft.

[0012] The horizontal driving mechanism includes a support plate, a screw module and a slide rail. The screw module and the slide rail are arranged on the support platform and are respectively located at both ends of the support plate. The support plate is slidably connected to the slide rail. The support plate translates under the action of the screw module; the hook is slidably arranged on the support plate along the vertical direction, and a long through hole is provided on the support platform along the translation direction of the hook for the hook to move.

[0013] The lifting mechanism includes a power lever arranged on the support plate and an adjusting member connected to the piston rod of the power lever. The adjusting member is slidably connected to the support plate. Under the action of the power lever, the adjusting member translates. The bottom edge of the adjusting member has an inclined surface. A limit member is arranged on the side of the hook close to the inclined surface of the adjusting member. The limit member contacts the inclined surface. An elastic element is arranged between the hook and the support plate in the vertical direction. The adjusting member translates to move the hook up and down.

[0014] The hook further comprises a vertical plate and a limiting plate, wherein the limiting plate is located at the top end of the vertical plate away from the hook body, the elastic element is arranged between the limiting plate and the supporting plate, and the supporting plate is provided with a through hole adapted to the vertical plate.

[0015] There are two hooks arranged on the same support plate, and correspondingly, the bottom edges on both sides of the adjusting member have inclined surfaces.

[0016] The support platform is provided with two groups of hanging belt mechanisms, which are respectively located at two edges of the support platform.

[0017] A clamping force detection element is arranged on the clamping plate.

[0018] Compared with the prior art, the utility model has the following beneficial effects:

[0019] 1. The utility model palletizing robot device can palletize cartons of different sizes that have been packed with packing tapes and sealed with transparent tapes according to actual needs. The suction cup mechanism, clamping mechanism and hanging belt mechanism are adopted to realize the three-layer mode of suction, clamping and hanging belt to carry the palletizing boxes. The utility model has strong versatility and is easy to operate, making palletizing safer and more effective.

[0020] 2. The setting of the hanging belt mechanism of the utility model can effectively prevent the carton from slipping off the palletizing robot device, thereby improving the safety performance of the entire handling process and avoiding serious economic losses, by setting the hanging belt mechanism of the utility model.

[0021] 3. Under the action of the clamping drive mechanism, the clamps on both sides of the support platform move closer to or away from each other, thereby achieving the clamping of palletizing boxes of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Attached Figure 1 It is a structural schematic diagram of the utility model.

[0023] Attached Figure 2 It is a structural schematic diagram of the clamping mechanism of the utility model.

[0024] Attached Figure 3 It is a structural schematic diagram of the hanging belt mechanism of the utility model.

[0025] Attached Figure 4 It is a structural schematic diagram of the adjusting member of the utility model.

[0026] Reference numerals shown in the drawings: 1, support platform; 11, long strip through hole; 2, suction cup mechanism; 3, clamping mechanism; 31, gripper; 311, first "[-shaped" support arm; 311a, first arm; 311b, second arm; 311c, third arm; 312, second "[-shaped" support arm; 312a, fourth arm; 312b, fifth arm; 312c, sixth arm; 313, clamping plate; 314, clamping plate support arm; 32, gripper drive mechanism; 321, drive motor; 322, driving wheel; 323, driven wheel; 324, rotating shaft; 33, support base; 331, support ear; 4, hanging strap mechanism; 41, hook; 411, hook body; 412, vertical plate; 413, limiting plate; 414, limiting member; 42, horizontal drive mechanism; 421, support plate; 422, lead screw module; 423, slide rail; 43, lifting mechanism; 431, power lever; 432, adjusting member; 433, inclined surface; 434, elastic element. Detailed implementation manners

[0027] In combination with the accompanying drawings and specific embodiments, the present utility model will be further described. It should be understood that these embodiments are only used to illustrate the present utility model and not to limit the scope of the present utility model. In addition, it should be understood that after reading the content taught by the present utility model, those skilled in the art can make various changes or modifications to the present utility model, and these equivalent forms also fall within the scope defined by this application.

[0028] The present utility model provides a palletizing robot device, including a support platform 1, on which a suction cup mechanism 2, a clamping mechanism 3 and a hanging strap mechanism 4 are arranged. The support platform 1 can be arranged on a mobile robot, and the mobile robot controls the overall movement of the palletizing robot device to realize that the palletizing robot device of the present utility model transports cartons and other palletizing packaging boxes to the palletizing position.

[0029] In this embodiment, the suction cup mechanism 2 is arranged at the bottom of the support platform 1 and is used to suck cartons and other palletizing packaging boxes. The suction cup mechanism 2 is a sponge suction cup mechanism, which is the same as the suction cup mechanism 2 in the prior art, and the suction cup mechanisms 2 can be arranged at intervals in multiple groups.

[0030] In this embodiment, the clamping mechanism 3 is used to clamp the packaging boxes to be palletized, and includes grippers 31 arranged oppositely on both sides of the support platform 1 and a gripper drive mechanism 32 for controlling the rotation of the grippers 31. Under the action of the gripper drive mechanism 32, the grippers 31 on both sides of the support platform 1 approach or depart from each other, so as to clamp packaging boxes to be palletized with different sizes.

[0031] In this embodiment, the hanging belt mechanism 4 is used to hang the packaging belt on the packaging box to be stacked, and includes a hook 41, a horizontal driving mechanism 42, and a lifting mechanism 43. The horizontal driving mechanism 42 is arranged on the support platform 1 to control the lifting mechanism 43 and the hook 41 to move in the horizontal direction. The lifting mechanism 43 is arranged on the horizontal driving mechanism 42 to control the lifting and lowering of the hook 41 in the vertical direction. The hook body 411 of the hook 41 is located on the lower side of the support platform 1.

[0032] When the palletizing robot device of the utility model descends to the position of taking the packaging box to be palletized, the suction cup mechanism 2 sucks the packaging box to be palletized; the clamping mechanism 3 is located at the clamping grasping 31 on both sides of the supporting platform 1, and the clamping grasping driving mechanism 32 moves closer to each other to clamp the packaging box to be palletized; the horizontal driving mechanism 42 and the lifting mechanism 43 of the hanging belt mechanism 4 are operated to move the hook body 411 of the hook 41 to the position where the packaging belt of the packaging box to be palletized is located, and the packaging belt is hung up by the hook 41; after all the above actions are completed, the mobile robot starts to safely move the supporting platform 1, so as to transport the packaging box to be palletized to the palletizing position.

[0033] The stacking robot device of the utility model can stack cartons of different sizes that have been wrapped with packing tapes and sealed with transparent tapes and are waiting to be stacked according to actual needs. The suction cup mechanism 2, the clamping mechanism 3 and the hanging belt mechanism 4 are adopted to realize the three-layer mode of suction, clamping and hanging belt to carry the packaging boxes to be stacked. Even if the mechanism fails or the packaging boxes to be stacked are heavy, the packaging tape of the packaging boxes to be stacked will still be hung on the hook body 411 of the hook 41. The setting of the hanging belt mechanism 4 can effectively prevent the carton from sliding off the stacking robot device, thereby improving the safety performance of the entire handling process and avoiding serious economic losses. Under the action of the clamping and grasping drive mechanism 32, the clamping and grasping 31 on both sides of the support platform 1 are close to or away from each other, thereby realizing the clamping of packaging boxes to be stacked of different sizes. The utility model has strong versatility and is easy to operate, making palletizing safer and more effective.

[0034] Furthermore, the clamping grip 31 is disposed on the supporting platform 1 via a supporting seat 33 , and a supporting ear 331 is disposed on the supporting seat 33 .

[0035] In this embodiment, the clamping grip 31 includes a first "[-shaped" support arm 311, a second "[-shaped" support arm 312, and a clamping plate 313. The first end of the first "[-shaped" support arm 311 is rotatably connected to the first position of the support ear 331, the first end of the second "[-shaped" support arm 312 is rotatably connected to the second position of the support ear 331, and the first position on the support ear 331 is located on a side close to the support seat 33 relative to the second position. A clamping plate support arm 314 is provided on the clamping plate 313, and the clamping plate support arm 314 is arranged on a side of the clamping plate 313 away from its clamping surface, the second end of the first "[-shaped" support arm 311 is rotatably connected to the first position of the clamping plate support arm 314, the second end of the second "[-shaped" support arm 312 is rotatably connected to the second position of the clamping plate support arm 314, and the first position on the clamping plate support arm 314 is located on a side close to the clamping plate 313 relative to the second position.

[0036] In this embodiment, specifically, the first "[-shaped" support arm 311 includes a first arm 311a, a second arm 311b, and a third arm 311c which are connected in sequence. The first arm 311a and the third arm 311c are arranged in parallel and extend in the same direction, and are perpendicular to the second arm 311b. The end of the first arm 311a (i.e., the first end of the first "[-shaped" support arm 311) is rotationally connected to the first position of the support ear 331, and the end of the third arm 311c (i.e., the second end of the first "[-shaped" support arm 311) is rotationally connected to the first position of the splint support arm 314.

[0037] In this embodiment, specifically, the second "[-shaped" support arm 312 includes a fourth arm 312a, a fifth arm 312b, and a sixth arm 312c connected in sequence, the fourth arm 312a and the sixth arm 312c are arranged in parallel and extend in the same direction, and are perpendicular to the fifth arm 312b, the end of the fourth arm 312a (i.e., the first end of the second "[-shaped" support arm 312) is rotatably connected to the second position of the support ear 331, and the end of the sixth arm 312c (i.e., the second end of the second "[-shaped" support arm 312) is rotatably connected to the second position of the splint support arm 314.

[0038] In this embodiment, the setting of the first "[-shaped" support arm 311 and the second "[-shaped" support arm 312 can provide a larger spacing adjustment range between the two clamps 31. Under the action of the clamp driving mechanism 32, the first "[-shaped" support arm 311 on both sides of the support platform 1 rotates in the opposite direction to adjust the spacing between the clamps 313 on both sides of the support platform 1. The second end of the first "[-shaped" support arm 311 (i.e., the end of the third arm 311c) is rotationally connected to the first position of the clamp support arm 314, so that the clamps 313 on both sides of the support platform 1 can always maintain a parallel position. The setting of the second "[-shaped" support arm 312 can keep the clamps 313 on both sides of the support platform 1 stable.

[0039] Furthermore, the clamping drive mechanism 32 includes a driving motor 321, a driving wheel 322, a driven wheel 323, and a rotating shaft 324. The driving motor 321 is arranged on the support platform 1 and connected to the driving wheel 322. The driven wheel 323 is arranged on the rotating shaft 324. The driving wheel 322 and the driven wheel 323 are connected by a synchronous belt or a chain. The rotating shaft 324 is fixedly connected to the first end of the first "[-shaped" support arm 311 and is rotatably connected to the support ear 331 of the support seat 33. In this embodiment, the clamping 31 on both sides of the support platform 1 is driven by two groups of clamping drive mechanisms 32 respectively. The driving motor 321 is operated to drive the rotating shaft 324 to rotate, thereby rotating the first "[-shaped" support arm 311 to achieve the adjustment of the clamping distance between the two clamping plates 313 on both sides of the support platform 1.

[0040] Furthermore, there are two groups of grippers 31 disposed on the same side of the support platform 1, and they are respectively disposed at both ends of the rotating shaft 324. That is, the first ends of the first "[-shaped" support arms 311 of the two groups of grippers 31 are respectively connected to the two ends of the rotating shaft 324, so that the rotating shaft 324 rotates, driving the two groups of grippers 31 to rotate, which can increase the clamping area and improve the clamping stability.

[0041] Furthermore, the horizontal driving mechanism 42 includes a support plate 421, a screw module 422 and a slide rail 423. The screw module 422 and the slide rail 423 are arranged on the support platform 1 and are respectively located at both ends of the support plate 421. The support plate 421 is slidably connected to the slide rail 423. The support plate 421 is connected to the sliding block of the screw module 422 and moves horizontally under the action of the screw module 422. The hook 41 is slidably arranged on the support plate 421 along the vertical direction. The support platform 1 is provided with a long through hole 11 for the hook 41 to move along the translation direction of the hook 41.

[0042] Furthermore, the lifting mechanism 43 includes a power lever 431 disposed on the support plate 421, and an adjusting member 432 connected to the piston rod of the power lever 431. The adjusting member 432 is slidably connected to the support plate 421, and the adjusting member 432 moves horizontally under the action of the power lever 431. The bottom edge of the adjusting member 432 has an inclined surface 433, and a stopper 414 is disposed on the side of the hook 41 close to the inclined surface 433 of the adjusting member 432, and the stopper 414 contacts the inclined surface 433. An elastic element 434 is disposed between the hook 41 and the support plate 421 in the vertical direction; the adjustment member 432 moves horizontally to move the hook 41 up and down.

[0043] In this embodiment, the bottom edge of the adjusting member 432 has an inclined surface 433. When the adjusting member 432 moves, the height of the inclined surface 433 from the support plate 421 will change. Since the limiting member 414 on the hook 41 will always be in contact with the inclined surface 433, the movement of the adjusting member 432 causes the limiting member 414 to move up and down along the inclined surface 433, thereby realizing the up and down movement of the hook 41 to adapt to the hanging straps of the packaging boxes to be stacked at different heights.

[0044] Furthermore, the hook 41 also includes a vertical plate 412 and a limiting plate 413 , the limiting plate 413 is located at the top of the vertical plate 412 away from the hook body 411 , the elastic element 434 is arranged between the limiting plate 413 and the support plate 421 , and the support plate 421 is provided with a through hole adapted to the vertical plate 412 .

[0045] Specifically, in this embodiment, a slider is provided at one of the hooks 41 at the position of the through hole of the support plate 421, and a slide rail is provided at the other hook 41, and the sliding connection between the hook 41 and the support plate 421 is achieved through the cooperation of the slide rail and the slider.

[0046] Furthermore, in order to disperse the force of the hanging strap and further improve the safety of the hanging strap, two hooks 41 are arranged on the same support plate 421, and correspondingly, the bottom edges on both sides of the adjusting member 432 have inclined surfaces 433.

[0047] Furthermore, the strapping mechanism 4 provided on the support platform 1 is divided into two groups and is respectively located at two edges of the support platform 1, specifically, it can be provided at two edges different from the clamping mechanism 3. The strapping can be provided in multiple directions, further dispersing the strapping force and improving the safety of the strapping.

[0048] Furthermore, the elastic element 434 is disposed between the limiting plate 413 and the supporting plate 421 , and the hook body 411 is located at the bottom of the vertical plate 412 .

[0049] Furthermore, the hook 41 is located in the gap of the suction cup mechanism 2, which can reasonably utilize the space.

[0050] Furthermore, a clamping force detection element is provided on the clamping plate 313 , and the clamping force detection element may be a force sensor. The force sensor detects the clamping force and feeds it back to the system, and then the clamping force is maintained.

Claims

1. A palletizing robot device, comprising a support platform, characterized in that: A suction cup mechanism, a clamping mechanism and a hanging belt mechanism are arranged on the support platform; the suction cup mechanism is arranged at the bottom of the support platform; the clamping mechanism is used to clamp the packaging boxes to be stacked, including clamps arranged on both sides of the support platform and a clamping driving mechanism for controlling the rotation of the clamps; the hanging belt mechanism is used to hang the packaging belt on the packaging boxes to be stacked, including a hook, a horizontal driving mechanism and a lifting mechanism, the horizontal driving mechanism is arranged on the support platform, and controls the translation of the hook and the lifting mechanism, the lifting mechanism is arranged on the horizontal driving mechanism, and controls the lifting and lowering of the hook, and the hook body of the hook is located on the lower side of the support platform.

2. A palletizing robot device according to claim 1, characterized in that: The clamp is arranged on the support platform through a support seat, and a support ear is provided on the support seat; the clamp includes a first "[-shaped" support arm, a second "[-shaped" support arm, and a splint; the first end of the first "[-shaped" support arm is rotatably connected to the first position of the support ear, the first end of the second "[-shaped" support arm is rotatably connected to the second position of the support ear, and the first position on the support ear is located on a side close to the support seat relative to the second position; a splint support arm is provided on the splint, the second end of the first "[-shaped" support arm is rotatably connected to the first position of the splint support arm, the second end of the second "[-shaped" support arm is rotatably connected to the second position of the splint support arm, and the first position on the splint support arm is located on a side close to the splint relative to the second position.

3. A palletizing robot device according to claim 2, characterized in that: The clamping drive mechanism includes a driving motor, a driving wheel, a driven wheel, and a rotating shaft. The driving motor is arranged on the supporting platform and connected to the driving wheel. The driven wheel is arranged on the rotating shaft. The driving wheel and the driven wheel are connected by a synchronous belt or a chain. The rotating shaft is fixedly connected to the first end of the first "[-shaped" supporting arm and is rotatably connected to the supporting ear of the supporting seat.

4. A palletizing robot device according to claim 3, characterized in that: There are two groups of clamps arranged on the same side of the support platform, and they are respectively arranged at two ends of the rotating shaft.

5. The palletizing robot device according to claim 1, characterized in that: The horizontal driving mechanism includes a support plate, a screw module and a slide rail. The screw module and the slide rail are arranged on the support platform and are respectively located at both ends of the support plate. The support plate is slidably connected to the slide rail. The support plate translates under the action of the screw module; the hook is slidably arranged on the support plate along the vertical direction, and a long through hole is provided on the support platform along the translation direction of the hook for the hook to move.

6. A palletizing robot device according to claim 5, characterized in that: The lifting mechanism includes a power lever arranged on the support plate and an adjusting member connected to the piston rod of the power lever. The adjusting member is slidably connected to the support plate. Under the action of the power lever, the adjusting member translates. The bottom edge of the adjusting member has an inclined surface. A limit member is arranged on the side of the hook close to the inclined surface of the adjusting member. The limit member contacts the inclined surface. An elastic element is arranged between the hook and the support plate in the vertical direction. The adjusting member translates to move the hook up and down.

7. A palletizing robot device according to claim 6, characterized in that: The hook further comprises a vertical plate and a limiting plate, wherein the limiting plate is located at the top end of the vertical plate away from the hook body, the elastic element is arranged between the limiting plate and the supporting plate, and the supporting plate is provided with a through hole adapted to the vertical plate.

8. The palletizing robot device according to claim 6, characterized in that: There are two hooks arranged on the same support plate, and correspondingly, the bottom edges on both sides of the adjusting member have inclined surfaces.

9. A palletizing robot device according to claim 8, characterized in that: The support platform is provided with two groups of hanging belt mechanisms, which are respectively located at two edges of the support platform.

10. The palletizing robot device according to claim 2, characterized in that: A clamping force detection element is arranged on the clamping plate.

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