Stacking robot

Abstract

The utility model discloses a robot palletizer. According to the technical scheme, when the palletizing robot clamps materials, the first lifting piece and the second lifting piece are controlled by the control box to enable the grabbing assembly to move to the position of the materials needing to be clamped, then the grabbing assembly is controlled by the control box to clamp the materials, and after the materials are clamped, the grabbing assembly moves to the position of the materials needing to be clamped. The first lifting piece and the second lifting piece are further controlled to adjust the height of the materials, the materials are horizontally moved by moving the bottom supporting base, after the materials are moved to the position where stacking is needed, the control box controls the first motor to drive the rotating piece, and friction force is generated between the rotating piece and the friction piece when the rotating piece rotates; the second mounting base is driven to rotate through generated friction force, then the stacking angle of the materials is changed, after the stacking angle is adjusted to a proper angle, stacking work is further completed by controlling the first lifting piece and the second lifting piece, and the effect that the material placing angle can be adjusted according to the material placing position in the stacking process is achieved.

Description

Technical Field

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

[0002] With the rapid development of intelligence, robots have been applied to all walks of life. The patent application document with the publication number of "CN211254446U" discloses "a palletizing robot". When the palletizing robot in the application is working, the two positioning plates are respectively clamped on the two sides of the upper end surface of the feed box through the telescopic rod. Under the action of the squeezing force between the feed box and the positioning plate, the slider slides so that the electric telescopic rod is located directly above the feed box, that is, at this time, the two vacuum suction cups are respectively located in the middle of the two sides of the feed box; then the inner cavity of the cylinder is ventilated, the piston rod extends out of the inner cavity of the cylinder and pushes the feed box until the two sides of the feed box are respectively fitted with the two vacuum suction cups, and then the vacuum suction cups are started so that the two vacuum suction cups are respectively adsorbed on the two sides of the feed box, and the device and the feed box are lifted by moving the mechanical arm, and the motor is started to drive the rotating shaft and the vacuum suction cup to rotate, so as to flip the feed box to avoid the feed box being placed upside down. After the feed box is moved to the specified position, the vacuum suction cup is separated from the feed box to stack the feed box.

[0003] Although the above disclosed palletizing robot can flip materials (eg, feed boxes), it can only move or flip horizontally during the palletizing process and cannot adjust the placement angle of the materials according to the location where the materials are placed.

[0004] Therefore, the prior art still needs to be improved and developed. Utility Model Content

[0005] In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a palletizing robot to solve the problem that the palletizing robot in the prior art can only move or flip horizontally and cannot adjust the placement angle of the materials according to the position where the materials are placed.

[0006] The utility model provides a palletizing robot, comprising:

[0007] Top support seat;

[0008] To the bottom support seats arranged on both sides of the top support seat;

[0009] A first lifting member for driving the top support seat to rise and fall, each of the bottom support seats being connected to the top support seat via the first lifting member;

[0010] a second lifting member disposed on the top support seat, wherein a lifting end of the second lifting member extends downwardly out of the top support seat;

[0011] A first mounting seat fixedly mounted on the lifting end of the second lifting member, wherein the first mounting seat is provided with a friction member;

[0012] A second mounting seat is rotatably arranged below the first mounting seat, the second mounting seat is mounted on the first mounting seat, a first motor is arranged on the second mounting seat, and a rotating member for connecting with the friction member to generate friction force during rotation to drive the second mounting seat to rotate is arranged on the output shaft of the first motor;

[0013] A grabbing assembly for clamping materials, wherein the grabbing assembly is disposed on the second mounting seat and is located below the second mounting seat;

[0014] A control box is connected to the first lifting member, the second lifting member, the first motor and the grabbing assembly respectively.

[0015] The utility model is further provided that the friction member comprises: a damping layer, the damping layer being arranged on the first mounting seat;

[0016] The rotating member includes a driving wheel, which is arranged on the output shaft of the first motor and connected to the damping layer.

[0017] The utility model is further arranged that the first mounting seat comprises: a circular connecting plate and a connecting portion;

[0018] The circular connecting plate is fixedly arranged at the lifting end of the second lifting member, and the damping layer is an annular damping layer, and the annular damping layer is sleeved on the outer circumference of the circular connecting plate;

[0019] The connecting portion is arranged at the bottom of the circular connecting plate, and the second mounting seat is rotatably mounted on the connecting portion.

[0020] The utility model further provides that the second mounting seat includes: a first mounting plate, the first motor is arranged on the first mounting plate, and the first mounting plate is provided with a through groove penetrating the upper surface and the lower surface of the first mounting plate;

[0021] The connecting portion includes a first connecting column and a baffle for positioning the first mounting plate;

[0022] One end of the first connecting column is connected to the baffle plate, a plurality of ball grooves are provided on the upper surface of the baffle plate, the plurality of ball grooves are provided in the circumference of the first connecting column, balls are provided in the ball grooves, and the other end of the first connecting column passes through the through groove and is connected to the circular connecting plate;

[0023] A proximity sensor for detecting the distance between the baffle and the material is arranged at the bottom of the baffle, and the proximity sensor is connected to the control box.

[0024] The utility model further arranges that a slewing bearing is arranged at one end of the through slot close to the circular connecting plate, the slewing bearing is arranged coaxially with the through slot, and the slewing bearing abuts against the lower surface of the circular connecting plate.

[0025] The utility model is further configured that a plurality of the first motors are provided, each of the first motors is provided with a driving wheel, and the outer periphery of each driving wheel is connected to the damping layer.

[0026] The utility model further provides that the gripping assembly comprises: a first clamping jaw and a second clamping jaw for clamping an object, a first driving subassembly for driving the first clamping jaw to slide, and a second driving subassembly for driving the second clamping jaw to slide;

[0027] The first clamping jaw and the second clamping jaw are slidably mounted on the second mounting seat and are arranged opposite to each other;

[0028] The first driving subassembly is disposed on the second mounting seat, and the first driving subassembly is connected to the first clamping jaw and the control box respectively;

[0029] The second driving subassembly is disposed on the second mounting seat, and the second driving subassembly is connected to the second clamping jaw and the control box respectively.

[0030] The utility model is further arranged that the first driving subassembly comprises: a first telescopic cylinder;

[0031] The first telescopic cylinder is disposed on the second mounting seat, and the first telescopic cylinder is connected to the first clamping jaw and the control box respectively;

[0032] The second drive subassembly includes: a second telescopic cylinder;

[0033] The second telescopic cylinder is arranged on the second mounting seat, and the second telescopic cylinder is connected to the second clamping jaw and the control box respectively;

[0034] A distance measuring sensor is arranged at the bottom of the first clamping jaw or the second clamping jaw, and the distance measuring sensor is connected to the control box.

[0035] The utility model is further arranged that a plurality of telescopic rods are arranged in the circumference of the second lifting member, the telescopic ends of the telescopic rods extend downward out of the top supporting seat, and the telescopic ends of the telescopic rods are connected to the first mounting seat.

[0036] The utility model is further arranged that the bottom support seat is a movable support seat.

[0037] The utility model provides a palletizing robot, which, when clamping materials, controls the first lifting member and the second lifting member through a control box to move the gripping assembly to the position of the material to be clamped, and then controls the gripping assembly through the control box to clamp the material. After clamping, the first lifting member and the second lifting member are further controlled to adjust the height of the material, and the material is horizontally moved by moving the bottom support seat. After moving to the position where palletizing is required, the control box controls the first motor to drive the rotating member, and when the rotating member rotates, friction is generated between the rotating member and the friction member, and the generated friction drives the second mounting seat to rotate, thereby changing the stacking angle of the material. When the stacking angle is adjusted to a suitable angle, the stacking work is completed by further controlling the first lifting member and the second lifting member, thereby realizing that the material placement angle can be adjusted according to the placement position of the material during the stacking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary personnel in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0039] Figure 1 It is a structural diagram of the utility model palletizing robot.

[0040] Figure 2 It is a diagram of the installation structure of the friction member and the first mounting seat in one embodiment of the utility model.

[0041] Figure 3 It is a diagram of the installation structure of the grabbing assembly and the first mounting plate in one embodiment of the utility model.

[0042] Figure 4 It is a structural diagram of a connecting portion in one embodiment of the utility model.

[0043] Figure 5 It is a structural diagram of a first mounting plate on which a first motor is mounted in one embodiment of the utility model.

[0044] The marks in the accompanying drawings are: 1. top support seat; 2. bottom support seat; 21. longitudinal plate structure; 22. universal wheel; 3. first lifting member; 4. first mounting seat; 41. circular connecting plate; 42. connecting part; 421. connecting column; 422. baffle; 4221. ball groove; 43. proximity sensor; 5. second mounting seat; 51. first mounting plate; 521. through groove; 522. dovetail groove; 523. extension plate; 6. first motor; 7. rotating member; 8. friction member; 9. grabbing assembly; 91. first clamping jaw; 911. first dovetail slider; 92. second clamping jaw; 921. second dovetail slider; 93. first telescopic cylinder; 94. second telescopic cylinder; 10. control box; 11. second lifting member; 12. telescopic rod. DETAILED DESCRIPTION

[0045] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation methods of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0046] like Figure 1 , Figure 2 As shown, a palletizing robot provided by the utility model is shown. The palletizing robot may include a top support seat 1, a bottom support seat 2, a first lifting member 3, a second lifting member 11, a first mounting seat 4, a second mounting seat 5, a grabbing assembly 9 and a control box 10; wherein the first lifting member 3 is used to drive the top support seat 1 to rise and fall, the rotating member 7 is used to connect with the friction member 8 to generate friction force during rotation to drive the second mounting seat 5 to rotate, and the grabbing assembly 9 is used to clamp materials.

[0047] Specifically, two bottom support seats 2 can be provided, and two pairs of bottom support seats 2 are provided on both sides of the top support seat 1, and each bottom support seat 2 is connected to the top support seat 1 via the first lifting member 3, so that the connected bottom support seat 2 and the top support seat 1 are roughly in a door-shaped structure. When the second lifting member 11 is provided, it can be provided on the top support seat 1, and the lifting end of the second lifting member 11 extends downward from the top support seat 1. The first mounting seat 4 is fixedly installed on the lifting end of the second lifting member 11, so that the lifting end of the second lifting member 11 can drive the first mounting seat 4 to be lifted and lowered when the lifting end of the second lifting member 11 is lifted and lowered, wherein the first mounting seat 4 is provided with a friction member 8. The second mounting seat 5 is rotatably provided below the first mounting seat 4 and is installed on the first mounting seat 4. It can be seen that when the first mounting seat 4 is lifted and lowered, it can also drive the second mounting seat 5 to be lifted and lowered, wherein the second mounting seat 5 is provided with a first motor 6, and a rotating member 7 is provided on the output shaft of the first motor 6, and the rotating member 7 is connected with the friction member 8, and can generate friction during the rotation process, and drive the second rotating seat to rotate through the friction force. The grabbing assembly 9 is arranged on the second mounting seat 5 and is located below the second mounting seat 5. When the second mounting seat 5 is raised or lowered, the grabbing assembly 9 can be driven to be raised or lowered, and when the second mounting seat 5 is rotated, the grabbing assembly 9 can be driven to be rotated. The control box 10 is respectively connected to the first lifting member 3, the second lifting member 11, the first motor 6 and the grabbing assembly 9.

[0048] It can be seen that when the stacking robot is clamping materials, the control box 10 controls the first lifting member 3 and the second lifting member 11 to move the grabbing assembly 9 to the position of the material to be clamped. Thereafter, the control box 10 controls the grabbing assembly 9 to clamp the material. After clamping, the first lifting member 3 and the second lifting member 11 are further controlled to adjust the height of the material, and the material is horizontally moved by moving the bottom support seat 2. After moving to the position where stacking is required, the control box 10 controls the first motor 6 to drive the rotating member 7. When the rotating member 7 rotates, friction is generated between the friction member 8, and the second mounting seat 5 is driven to rotate by the generated friction force, thereby changing the stacking angle of the material. When the stacking angle is adjusted to a suitable angle, the stacking work is completed by further controlling the first lifting member 3 and the second lifting member 11, thereby realizing the adjustment of the material placement angle according to the material placement position during the stacking process.

[0049] In this embodiment, the top support seat 1 can be a square plate, and the lifting end of the second lifting member 11 passes through the upper surface and the lower surface of the square plate and extends out of the square plate, wherein the bottom support seat 2 is set in two, and a bottom support seat 2 is respectively set on both sides of the top support seat 1, that is, a bottom support seat 2 is respectively set on both sides of the square plate.

[0050] In some embodiments, the friction member 8 may include but is not limited to a damping layer, which is disposed on the first mounting seat 4; the rotating member 7 may include but is not limited to a driving wheel, which is disposed on the output shaft of the first motor 6 and connected to the damping layer.

[0051] Specifically, Figure 2 As shown, the first mounting seat 4 may include a circular connecting plate 41 and a connecting portion 42, wherein the circular connecting plate 41 is fixedly arranged at the lifting end of the second lifting member 11, and the damping layer is sleeved on the outer circumference of the circular connecting plate 41; the connecting portion 42 is arranged at the bottom of the circular connecting plate 41, and the second mounting seat 5 is rotatably installed on the connecting portion 42.

[0052] When the circular connecting plate 41 is installed, the circular connecting plate 41 can be connected to the lifting end of the second lifting member 11 by welding. Of course, other methods can also be used, such as threaded connection. Among them, when the circular connecting plate 41 is connected to the lifting end of the second lifting member 11, the lifting end of the second lifting member 11 can be connected to the center position of the circular connecting plate 41.

[0053] In this embodiment, when driving the grabbing assembly 9 to rotate, the driving wheel is driven to rotate by the first motor 6. During the rotation of the driving wheel, friction is generated between the damping layers. The generated friction drives the second mounting seat 5 to rotate, thereby driving the grabbing assembly 9 to rotate.

[0054] In some embodiments, Figure 3 , Figure 4 and Figure 5 As shown, the second mounting seat 5 may include a first mounting plate 51, the first motor 6 is arranged on the first mounting plate 51, and the first mounting plate 51 is provided with a through groove 521 that passes through the upper surface and the lower surface of the first mounting plate 51; the connecting portion 42 may include a first connecting column 421 and a baffle 422 for positioning the first mounting plate 51; one end of the first connecting column 421 is connected to the baffle 422, and a plurality of ball grooves 4221 are provided on the upper surface of the baffle 422, and the plurality of ball grooves 4221 are arranged in the circumference of the first connecting column 421, and balls are arranged in the ball grooves 4221, and the other end of the first connecting column 421 passes through the through groove 521 and is connected to the circular connecting plate 41, and the lower surface of the first mounting plate 51 is in contact with the balls, and a proximity sensor 43 for detecting the distance between the baffle 422 and the material is provided at the bottom of the baffle 422, and the proximity sensor 43 is connected to the control box 10.

[0055] Specifically, the first connecting column 421 and the baffle plate 422 can be fixedly connected by, but not limited to, welding, for example, they can also be connected by threaded connection. After the first connecting column 421 and the baffle plate 422 are connected, the other end of the first connecting column 421 passes through the through slot 521 and is connected to the circular connecting plate 41.

[0056] The through groove 521 can be set as a circular groove that passes through the upper surface and the lower surface of the first mounting plate 51. In order to reduce the shaking of the first mounting seat 4 during rotation, the diameter of the circular groove can be set to be slightly larger than the diameter of the first connecting column 421. Further, the baffle 422 can be set as a circular plate, the diameter of which is larger than the diameter of the circular groove, so that the second mounting seat 5 can be rotatably mounted on the first mounting seat 4 (when the diameter of the circular plate is smaller than the diameter of the circular groove, the second mounting seat 5 cannot be rotatably mounted on the first mounting seat 4 through the circular plate).

[0057] In this embodiment, the ball groove 4221 is set at the edge of the baffle 422, wherein after the ball is installed in the ball groove 4221, part of the ball body extends out of the ball groove 4221 so that the lower surface of the first mounting plate 51 can be in contact with the ball.

[0058] In this embodiment, when the first motor 6 rotates, it drives the driving wheel installed on the first motor 6 to rotate. When the driving wheel rotates, friction is generated through the damping layer, and the generated friction drives the second mounting seat 5 to rotate relative to the first mounting seat 4. Among them, since a plurality of ball bearings are provided on the upper surface of the baffle 422, and the lower surface of the first mounting plate 51 is in contact with the ball bearings, the friction force generated during the rotation between the first mounting plate 51 and the baffle 422 is reduced, so that the first mounting plate 51 is easy to rotate; in addition, the connection strength between the second mounting seat 5 and the first mounting seat 4 is improved by connecting the column 421 and the baffle 422.

[0059] Furthermore, a slewing bearing may be provided at one end of the through slot 521 close to the circular connecting plate 41 , wherein when the slewing bearing is provided, the slewing bearing is coaxially arranged with the through slot and abuts against the lower surface of the circular connecting plate 41 .

[0060] In this embodiment, the rotating component on the slewing bearing is rotatable relative to the circular connecting plate 41, so as not to affect the rotation of the first mounting plate 51, and at the same time, the first mounting plate 51 is supported to make the first mounting plate 51 rotate more smoothly.

[0061] In some embodiments, a plurality of first motors 6 may be provided, each of which is provided with a driving wheel, and the outer periphery of each driving wheel is connected to the damping layer.

[0062] In this embodiment, if Figure 5As shown, two first motors 6 are provided, and the connecting line of the two first motors 6 passes through the center of the first mounting plate 51 (the two first motors 6 are symmetrically arranged). Of course, other numbers of first motors 6 can also be provided. For example, three or four first motors 6 can also be provided. When the first motors 6 are provided, extension plates 523 corresponding to the number of first motors 6 can be provided on the first mounting plate 51 (one extension plate 523 is provided for one first motor 6), and one first motor 6 is installed on each extension plate 523.

[0063] In this embodiment, the arrangement of the plurality of first motors 6 can provide greater friction, so that the palletizing robot can complete angle adjustment when palletizing heavier materials.

[0064] In some embodiments, Figure 3 As shown, the gripping assembly 9 may include a first clamping jaw 91 and a second clamping jaw 92, a first driving subassembly and a second driving subassembly; the first driving subassembly is used to drive the first clamping jaw 91 to slide, and the second driving subassembly is used to drive the second clamping jaw 92 to slide, the first clamping jaw 91 and the second clamping jaw 92 are used to clamp an object, and the first clamping jaw 91 and the second clamping jaw 92 are slidably mounted on the second mounting seat 5 and are arranged opposite to each other; the first driving subassembly is arranged on the second mounting seat 5, and the first driving subassembly is connected to the first clamping jaw 91 and the control box 10 respectively;

[0065] The second driving subassembly is disposed on the second mounting seat 5 , and the second driving subassembly is connected to the second clamping jaw 92 and the control box 10 respectively.

[0066] Specifically, the first clamping jaw 91 and the second clamping jaw 92 are slidably installed on the first mounting plate 51 and are arranged opposite to each other, wherein the first clamping jaw 91 is connected to one end of the first mounting plate 51 by a first dovetail slider 911, and the second clamping jaw 92 is connected to one end of the first mounting plate 51 by a second dovetail slider 921. Correspondingly, two symmetrically arranged dovetail grooves 522 are provided on the first mounting plate 51, wherein the first dovetail slider 911 is slidably installed in one dovetail groove 522, and the second dovetail slider 921 is slidably installed in the other dovetail groove 522. The first driving sub-assembly drives the first clamping jaw 91 to slide on one dovetail groove 522, and the second driving sub-assembly drives the second clamping jaw 92 to slide on the other dovetail groove 522.

[0067] In this embodiment, the first clamping jaw 91 and the second clamping jaw 92 may be made of metal, for example, stainless steel; for example, aluminum alloy, etc. Those skilled in the art may determine the specific material of the first clamping jaw 91 and the second clamping jaw 92 according to actual needs, which will not be elaborated here.

[0068] Furthermore, in order to enable the palletizing robot to clamp heavy materials, the first clamp 91 may be an L-shaped structure, and correspondingly, the second clamp 92 is an L-shaped structure opposite to the first clamp 91, thereby enabling the palletizing robot to clamp heavy materials.

[0069] In addition, the first clamping jaw 91 and the second clamping jaw 92 are relatively opened and closed so that the first clamping jaw 91 and the second clamping jaw 92 can clamp materials of different thicknesses.

[0070] In this embodiment, the first driving sub-assembly may include a first telescopic cylinder 93, which is arranged on the first mounting plate 51. The telescopic end of the first telescopic cylinder 93 is connected to the first clamp 91, and the first telescopic cylinder 93 is connected to the control box 10. The first telescopic cylinder 93 is controlled by the control box 10, and then the first clamp 91 is controlled.

[0071] Similarly, the second driving sub-assembly may include a second telescopic cylinder 94, which is arranged on the first mounting plate 51, the telescopic end of the second telescopic cylinder 94 is connected to the second clamp 92, and the second telescopic cylinder 94 is connected to the control box 10, and the second telescopic cylinder 94 is controlled by the control box 10, thereby controlling the second clamp 92.

[0072] Furthermore, a distance measuring sensor can be provided at the bottom of the first jaw 91 or the second jaw 92, and the distance measuring sensor is connected to the control box 10, so that the palletizing robot can measure the distance between the first jaw 91 and the second jaw 92 from the ground during the material handling process. Then, during the material handling process, the distance between the first jaw 91 and the second jaw 92 from the ground can be automatically adjusted through the distance measuring sensor and the control box 10, so that the materials can be stacked quickly, thereby improving the working efficiency and range of the palletizing robot (for example, when handling materials in an environment where it is not suitable for manual adjustment of the distance between the first jaw 91 and the second jaw 92 from the ground).

[0073] In a specific embodiment, the distance measuring sensor is disposed at the bottom of the first clamping jaw 91 .

[0074] In some embodiments, Figure 1 As shown, a plurality of telescopic rods 12 are arranged around the second lifting member 11 , and the telescopic ends of the telescopic rods 12 extend downward out of the top support seat 1 , and the telescopic ends of the telescopic rods 12 are connected to the first mounting seat 4 .

[0075] In this embodiment, the telescopic rods 12 can be set to four, and the four telescopic rods 12 are arranged on the same circle, that is, the four telescopic rods 12 are arranged in the circumference of the second lifting member 11; of course, the telescopic rods 12 can also be set to other numbers, for example, it can also be set to five; for another example, it can also be set to six, etc. When setting, technical personnel in this field can determine the number of telescopic rods 12 according to actual needs.

[0076] Among them, the telescopic end of the telescopic rod 12 extends out of the top support seat 1 and is connected to the first mounting plate 51, that is, the telescopic end of the telescopic rod 12 passes through the upper surface and the lower surface of the square plate and is connected to the first mounting plate 51. When the telescopic rod 12 is connected to the first mounting plate 51, it can be connected by welding. Of course, other methods can also be used, for example, it can also be connected by threaded connection.

[0077] In this embodiment, the arrangement of the plurality of telescopic rods 12 plays a guiding role during the lifting and lowering process of the first mounting plate 51 .

[0078] In some embodiments, the bottom support base 2 may be a movable base to improve the flexibility of the palletizing robot.

[0079] Specifically, Figure 1 As shown, the bottom support seat 2 can be a longitudinal plate-like structure 21, and a universal wheel 22 is arranged at the bottom of the longitudinal plate-like structure 21. When the universal wheel 22 is set, a universal wheel 22 can be set at both ends of the longitudinal plate-like structure 21 respectively. Of course, in order to further improve the supporting capacity of the longitudinal plate-like structure 21, a universal wheel 22 can be installed between the two universal wheels 22. When setting the universal wheel 22, technical personnel in this field can determine the number of the universal wheels 22 according to actual needs. For example, when it is necessary to improve the supporting capacity of the longitudinal plate-like structure 21, more than two universal wheels 22 can be set.

[0080] In this embodiment, the first lifting member 3 can be a lifting cylinder. When the lifting cylinder is set, two lifting cylinders can be set on each bottom support seat 2. Of course, when heavier materials need to be transported, more lifting cylinders can also be set, for example, three.

[0081] Specifically, Figure 1 As shown, two lifting cylinders are arranged at both ends of the bottom support seat 2, that is, the two lifting cylinders are arranged at both ends of the longitudinal plate-like structure, wherein, when the lifting cylinders are arranged, the two lifting cylinders are arranged in parallel, and the lifting end of the lifting cylinder is installed on the bottom support seat 2, and the other end of the lifting cylinder is installed on the top support seat 1, and the installed lifting cylinders are respectively connected to the control box 10, and the lifting cylinders are controlled by the control box 10 to lift and lower.

[0082] In this embodiment, if Figure 1As shown, the second lifting member 11 can be an adjusting cylinder, which is arranged on the square plate, and the lifting end of the adjusting cylinder penetrates the upper surface and the lower surface of the square plate. When installing the adjusting cylinder, it can be fixed on the square plate by welding, and then the lifting end of the adjusting cylinder can be connected to the first mounting plate 51 by welding. The installed adjusting cylinder is connected to the control box 10, and the adjusting cylinder is controlled by the control box 10 to be lifted and lowered, thereby driving the material to be lifted and lowered.

[0083] In this embodiment, when setting the lifting cylinder and the adjusting cylinder, cylinders with different precisions can be selected, so that the distance of the material from the ground can be adjusted with different precisions during the material transportation process.

[0084] In this embodiment, the control box 10 is an integrated control box 10, which can receive feedback signals from the ranging sensor and the proximity sensor 43, and can control the adjusting cylinder, the lifting cylinder, the first motor 6, the telescopic cylinder, etc. according to the received feedback signals. The control circuit structure in the control box 10 is any circuit structure that can realize the above functions. Those skilled in the art can determine the specific control circuit structure in the control box 10 according to actual needs, and its specific structure will not be described in detail here.

[0085] When the palletizing robot is in use, the palletizing robot is first moved to the top of the material. At this time, the proximity sensor 43 detects the material and transmits the data to the control box 10. The control box 10 then controls the adjusting cylinder to drive the circular connecting plate 41 to move downward, and the circular connecting plate 41 drives the first mounting plate 51 to move downward until the grabbing assembly 9 moves to the ground. Then the control box 10 controls the telescopic cylinder to start, and the two telescopic cylinders respectively drive the first clamping jaw 91 and the second clamping jaw 92 until the two first clamping jaws 91 and the second clamping jaw 92 cooperate to clamp the material to a limit position. Then the control box 10 adjusts the height of the first clamping jaw 91 and the second clamping jaw 92 according to the height of the material stack. At this time, the lifting cylinder and the adjusting cylinder control the circular connecting plate 41 to move upward, and then the first mounting plate 51 and the grabbing assembly 9 drive the material to move upward The distance measuring sensor on the first clamping jaw 91 monitors the height of the first clamping jaw 91 in real time. When the height of the first clamping jaw 91 meets the height of the material stacking, the control box 10 stops driving the lifting cylinder and the adjusting cylinder, and then moves the stacking robot to the top of the material pile. At this time, it is adjusted according to the stacking angle of the material. The control box 10 controls the first motor 6 to start, and the first motor 6 drives the driving wheel to rotate. The driving wheel cooperates with the damping layer to drive the first mounting plate 51 to rotate, and then drives the material to rotate until the material rotates to the same angle as the material pile. At this time, the material is moved to the top of the material pile, and then the lifting cylinder and the adjusting cylinder drive the material to descend to the top of the material pile, and the two telescopic cylinders drive the first clamping jaw 91 and the second clamping jaw 92 to move, release the clamping and grabbing of the material, and the material is stably stacked on the material pile.

[0086] In summary, the palletizing robot provided by the utility model has the following beneficial effects:

[0087] When the stacking robot is clamping materials, the control box controls the first lifting member 3 and the second lifting member 11 to move the grabbing assembly 9 to the position of the material to be clamped. Thereafter, the control box controls the grabbing assembly 9 to clamp the material. After clamping, the first lifting member 3 and the second lifting member 11 are further controlled to adjust the height of the material, and the material is horizontally moved by moving the bottom support seat 2. After moving to the position where stacking is required, the control box controls the first motor 6 to drive the rotating member 7. When the rotating member 7 rotates, friction is generated between the friction member 8. The friction generated drives the second mounting seat 5 to rotate, thereby changing the stacking angle of the material. When the stacking angle is adjusted to a suitable angle, the stacking work is completed by further controlling the first lifting member 3 and the second lifting member 11, thereby realizing the adjustment of the material placement angle according to the material placement position during the stacking process.

[0088] It can be understood that the above embodiments only express the preferred implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the utility model. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the utility model, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the utility model. Therefore, all equivalent changes and modifications made to the scope of the claims of the utility model should belong to the scope covered by the claims of the utility model.

Claims

1. A palletizing robot, characterized in that: include: Top support seat; To the bottom support seats arranged on both sides of the top support seat; A first lifting member for driving the top support seat to rise and fall, each of the bottom support seats being connected to the top support seat via the first lifting member; a second lifting member disposed on the top support seat, wherein a lifting end of the second lifting member extends downwardly out of the top support seat; A first mounting seat fixedly mounted on the lifting end of the second lifting member, wherein the first mounting seat is provided with a friction member; A second mounting seat is rotatably arranged below the first mounting seat, the second mounting seat is mounted on the first mounting seat, a first motor is arranged on the second mounting seat, and a rotating member for connecting with the friction member to generate friction force during rotation to drive the second mounting seat to rotate is arranged on the output shaft of the first motor; A grabbing assembly for clamping materials, wherein the grabbing assembly is disposed on the second mounting seat and is located below the second mounting seat; A control box is connected to the first lifting member, the second lifting member, the first motor and the grabbing assembly respectively.

2. The palletizing robot according to claim 1, characterized in that: The friction member comprises: a damping layer, wherein the damping layer is arranged on the first mounting seat; The rotating member includes a driving wheel, which is arranged on the output shaft of the first motor and connected to the damping layer.

3. The palletizing robot according to claim 2, characterized in that: The first mounting seat comprises: a circular connecting plate and a connecting portion; The circular connecting plate is fixedly arranged at the lifting end of the second lifting member, and the damping layer is an annular damping layer, and the annular damping layer is sleeved on the outer circumference of the circular connecting plate; The connecting portion is arranged at the bottom of the circular connecting plate, and the second mounting seat is rotatably mounted on the connecting portion.

4. The palletizing robot according to claim 3, characterized in that: The second mounting seat comprises: a first mounting plate, the first motor is arranged on the first mounting plate, and the first mounting plate is provided with a through groove penetrating the upper surface and the lower surface of the first mounting plate; The connecting portion includes a first connecting column and a baffle for positioning the first mounting plate; One end of the first connecting column is connected to the baffle plate, a plurality of ball grooves are provided on the upper surface of the baffle plate, the plurality of ball grooves are provided in the circumference of the first connecting column, balls are provided in the ball grooves, and the other end of the first connecting column passes through the through groove and is connected to the circular connecting plate; A proximity sensor for detecting the distance between the baffle and the material is arranged at the bottom of the baffle, and the proximity sensor is connected to the control box.

5. The palletizing robot according to claim 4, characterized in that: A slewing bearing is arranged at one end of the through slot close to the circular connecting plate. The slewing bearing is arranged coaxially with the through slot and abuts against the lower surface of the circular connecting plate.

6. The palletizing robot according to claim 5, characterized in that: A plurality of the first motors are provided, each of which is provided with a driving wheel, and the outer periphery of each driving wheel is connected to the damping layer.

7. The palletizing robot according to claim 1, characterized in that: The gripping assembly comprises: a first clamping jaw and a second clamping jaw for clamping an object, a first driving subassembly for driving the first clamping jaw to slide, and a second driving subassembly for driving the second clamping jaw to slide; The first clamping jaw and the second clamping jaw are slidably mounted on the second mounting seat and are arranged opposite to each other; The first driving subassembly is disposed on the second mounting seat, and the first driving subassembly is connected to the first clamping jaw and the control box respectively; The second driving subassembly is disposed on the second mounting seat, and the second driving subassembly is connected to the second clamping jaw and the control box respectively.

8. The palletizing robot according to claim 7, characterized in that: The first drive subassembly includes: a first telescopic cylinder; The first telescopic cylinder is disposed on the second mounting seat, and the first telescopic cylinder is connected to the first clamping jaw and the control box respectively; The second drive subassembly includes: a second telescopic cylinder; The second telescopic cylinder is arranged on the second mounting seat, and the second telescopic cylinder is connected to the second clamping jaw and the control box respectively; A distance measuring sensor is arranged at the bottom of the first clamping jaw or the second clamping jaw, and the distance measuring sensor is connected to the control box.

9. The palletizing robot according to any one of claims 1 to 8, characterized in that: A plurality of telescopic rods are arranged around the second lifting member, and the telescopic ends of the telescopic rods extend downward out of the top supporting seat, and the telescopic ends of the telescopic rods are connected to the first mounting seat.

10. The palletizing robot according to any one of claims 1 to 8, characterized in that: The bottom support seat is a movable support seat.

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