Stacking manipulator

Abstract

The utility model discloses a stacking manipulator which comprises a frame, a tray grabbing mechanism and a clamping jaw mechanism, the tray grabbing mechanism and the clamping jaw mechanism are respectively arranged on the frame, and the tray grabbing mechanism can move and grab and place a tray in the height direction of the frame; the clamping jaw mechanism comprises a first driving assembly, a first clamping jaw and a second clamping jaw, the first driving assembly is connected with the first clamping jaw and the second clamping jaw, and under driving of the first driving assembly, the first clamping jaw and the second clamping jaw can move relatively and be switched between an opening state and a closing state. And the batteries are stacked in the tray. Through cooperation of the tray grabbing mechanism and the clamping jaw mechanism, the position of the tray in the surrounding plate can be corrected firstly, then the battery is placed in through the clamping jaw mechanism, and therefore the battery stacking device can adapt to the packaging process of batteries with different appearances by adjusting the position of the tray, and the stacking accuracy and reliability are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of battery stacking, and more specifically, to a palletizing robot. Background Art

[0002] With the advancement of science and technology and the development of automation technology, automatic palletizing technology has emerged. Automatic palletizing technology realizes the automatic grasping, positioning and palletizing of lithium batteries through the cooperation of mechanical arms, sensors, control systems and other mechanisms.

[0003] However, due to the large differences in battery shape, packaging material structure and packaging process among different customers, conventional automated palletizing robots have been unable to adapt to these various changes, resulting in certain restrictions on the promotion of automated palletizing technology.

[0004] Therefore, in order to solve the above problems, it is necessary to develop an automated palletizing equipment that can adapt to different battery shapes, packaging materials and packaging processes. Utility Model Content

[0005] The utility model aims to provide a new technical solution for a palletizing robot.

[0006] According to one aspect of the utility model, a palletizing robot is provided, comprising:

[0007] A frame, a pallet grabbing mechanism and a clamping mechanism, wherein the pallet grabbing mechanism and the clamping mechanism are respectively arranged on the frame, and the pallet grabbing mechanism can move along the height direction of the frame to grab and place the pallet;

[0008] The clamping mechanism includes a first driving component, a first clamping jaw and a second clamping jaw. The first driving component is connected to the first clamping jaw and the second clamping jaw respectively. Under the drive of the first driving component, the first clamping jaw and the second clamping jaw can move relative to each other and switch between an open state and a closed state to stack the batteries in a tray.

[0009] Optionally, the first clamping jaw and the second clamping jaw respectively include a plurality of clamping fingers, and the plurality of clamping fingers of the first clamping jaw and the plurality of clamping fingers of the second clamping jaw are arranged in the same row and staggered;

[0010] Under the drive of the first driving assembly, the multiple clamping fingers of the first clamping jaw and the multiple clamping fingers of the second clamping jaw can move toward each other until they are in a closed state, or move away from each other until they are in an open state.

[0011] Optionally, the number of clamping fingers of the first clamping jaw is the same as the number of clamping fingers of the second clamping jaw.

[0012] Optionally, the first driving assembly includes a first driving source and a transmission member, the first driving source is disposed on the frame, one end of the transmission member is connected to the driving end of the first driving source, and the other end of the transmission member is connected to the first clamping jaw and / or the second clamping jaw;

[0013] Under the drive of the first driving source, the transmission member can drive the first clamping jaw to move relative to the second clamping jaw, and / or the transmission member can drive the second clamping jaw to move relative to the first clamping jaw.

[0014] Optionally, the transmission member includes a first transmission member and a second transmission member, the first transmission member is connected to the first clamping jaw, and the second transmission member is connected to the second clamping jaw;

[0015] Under the forward drive of the first driving source, the first transmission member drives the first jaw to approach the second jaw, and the second transmission member drives the second jaw to approach the first jaw until they are in a closed state; under the reverse drive of the first driving source, the first transmission member drives the first jaw away from the second jaw, and the second transmission member drives the second jaw away from the first jaw until they are in an open state.

[0016] Optionally, the transmission member includes a first transmission member, the first driving source includes a driving cylinder and a driving plate, the driving plate is connected to the driving end of the driving cylinder, and the driving plate can move linearly under the drive of the driving cylinder and drive the transmission member to move linearly.

[0017] Optionally, the driving plate can move along the length direction of the battery under the drive of the driving cylinder, and the first transmission member includes a cam plate and two support plates, the cam plate is fixedly connected to the driving plate, one support plate is connected to the first clamping jaw, and the other support plate is connected to the second clamping jaw, and the two support plates are respectively slidably connected to the cam plate;

[0018] Under the drive of the driving cylinder, the driving plate can drive the two supporting plates to move closer to or farther from each other along the thickness direction of the battery through the cam plate.

[0019] Optionally, the first transmission member also includes a connecting plate, the two support plates are respectively connected to the two ends of the connecting plate, the cam plate and one of the connecting plates have a connecting hole, the cam plate and the other of the connecting plates have a connecting end, the connecting end is slidably connected to the connecting hole, and there is an angle between the extension direction of the connecting hole and the movement direction of the cam plate.

[0020] Optionally, the number of the connection holes is two, the projections of the two connection holes are respectively located at two ends of the connection plate, and the inclination directions of the two connection holes are opposite.

[0021] Optionally, a side of the first clamping jaw close to the second clamping jaw and a side of the second clamping jaw close to the first clamping jaw respectively have a rubber-coated portion, and when the palletizing robot grasps the battery, the rubber-coated portion contacts the battery.

[0022] Optionally, the clamping jaw mechanism further includes a support plate and a first buffer member, wherein the support plate is connected to the frame, and the first buffer member is connected between the first clamping jaw and the support plate, and / or between the second clamping jaw and the support plate.

[0023] Optionally, the pallet grasping mechanism includes a bracket, a second driving source and a third clamping jaw group, one end of the bracket is connected to the third clamping jaw group, and the other end of the bracket is connected to the second driving source. Driven by the second driving source, the bracket can drive the third clamping jaw group to move along the height direction of the frame.

[0024] Optionally, the third jaw group includes a third jaw and a third driving source, the third driving source is fixed on the bracket, the third jaw is connected to the third driving source, and under the drive of the third driving source, the third jaw group can open and close to grasp and place the pallet.

[0025] Optionally, the tray grabbing mechanism further includes a second buffer member connected between the third clamping jaw group and the bracket.

[0026] Optionally, a visual guidance mechanism is further included, wherein the visual guidance mechanism is arranged on the frame, and the visual guidance mechanism is used to guide the movement of the tray grasping mechanism and the clamping mechanism.

[0027] Optionally, a protection mechanism is also included, which is connected to the frame. The protection mechanism includes a fourth drive assembly and two protection rods. The two protection rods are located at the bottom of the frame. Under the drive of the fourth drive assembly, the two protection rods can move toward or away from each other and provide protection for the battery grasped by the clamping mechanism.

[0028] Optionally, the protective mechanism has a protective entry state and a protective release state. When the protective mechanism is in the protective entry state, there is a first distance between the two protective rods; when the protective mechanism is in the protective release state, there is a second distance between the two protective rods, and the first distance is smaller than the second distance, and the first distance is smaller than the length of the battery grasped by the clamping mechanism.

[0029] Optionally, the fourth driving assembly comprises a fourth driving source, a fourth transmission member and two swing arms, one end of the fourth transmission member is connected to the fourth driving source, the other end of the fourth transmission member is connected to the two swing arms, and each swing arm is connected to one of the protection rods;

[0030] Driven by the fourth driving source, the fourth transmission member can drive the two swing arms to perform relative translational movement, and drive the two protection rods to perform relative movement.

[0031] Optionally, the fourth transmission member includes a driving rod and two connecting rods, the driving rod is connected to the fourth driving source and can move along the height direction of the frame, one end of each connecting rod is connected to the driving rod, and the other end of each connecting rod is connected to one of the swing arms, and there is an angle between the extension direction of the two connecting rods and the extension direction of the driving rod.

[0032] A technical effect of the utility model is:

[0033] The palletizing robot includes a frame, a pallet grabbing mechanism and a clamping mechanism. The pallet grabbing mechanism and the clamping mechanism are respectively arranged on the frame. Along the height direction of the frame, the pallet grabbing mechanism can move and grab and place the pallet; the clamping mechanism includes a first driving component, a first clamping jaw and a second clamping jaw. The first driving component is connected to the first clamping jaw and the second clamping jaw respectively. Under the drive of the first driving component, the first clamping jaw and the second clamping jaw can move relative to each other and switch between an open state and a closed state to stack the batteries in the pallet. Through the cooperation of the pallet grabbing mechanism and the clamping mechanism, the position of the pallet in the enclosure can be corrected first, and then the battery can be placed in through the clamping mechanism, so that the adjustment of the pallet position can be used to adapt to the packaging process of batteries of different shapes, and the accuracy and reliability of palletizing are also improved.

[0034] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present utility model and, together with the description, are used to explain the principles of the present utility model.

[0036] Figure 1 This is a schematic diagram of a palletizing robot according to an embodiment of the utility model;

[0037] Figure 2 is another schematic diagram of a palletizing robot according to an embodiment of the utility model;

[0038] Figure 3It is a schematic diagram of a clamping mechanism of an embodiment of the utility model;

[0039] Figure 4 is another schematic diagram of a clamping mechanism of an embodiment of the utility model;

[0040] Figure 5 is a schematic diagram of a first drive assembly of an embodiment of the utility model;

[0041] Figure 6 It is another schematic diagram of a clamping mechanism of an embodiment of the utility model;

[0042] Figure 7 is another schematic diagram of a first drive assembly according to an embodiment of the utility model;

[0043] Figure 8 is a schematic diagram of a first transmission member of an embodiment of the utility model;

[0044] Fig. 9 It is another schematic diagram of a clamping mechanism of an embodiment of the utility model;

[0045] Fig.10 It is a schematic diagram of a first clamping jaw of an embodiment of the utility model;

[0046] Fig.11 is another schematic diagram of a first clamping jaw according to an embodiment of the utility model;

[0047] Fig.12 It is another schematic diagram of a first clamping jaw of an embodiment of the utility model;

[0048] Fig.13 It is another schematic diagram of a first clamping jaw of an embodiment of the utility model;

[0049] Fig.14 It is a schematic diagram of a tray grabbing mechanism of an embodiment of the utility model;

[0050] Fig.15 It is a schematic diagram of a visual guidance mechanism of an embodiment of the utility model;

[0051] Fig.16 It is a schematic diagram of a protection mechanism of an embodiment of the utility model;

[0052] Fig.17 is another schematic diagram of a protection mechanism of an embodiment of the utility model;

[0053] Fig.18 It is another schematic diagram of a protection mechanism of an embodiment of the utility model;

[0054] Fig.19 It is another schematic diagram of a protection mechanism according to an embodiment of the utility model.

[0055] Description of reference numerals:

[0056] 1. Frame; 2. Tray grabbing mechanism; 21. Bracket; 22. Second driving source; 23. Third clamping jaw group; 231. Third clamping jaw; 232. Third driving source; 24. Second buffer; 3. Clamping jaw mechanism; 31. First driving assembly; 311. First driving source; 3111. Driving cylinder; 3112. Driving plate; 312. First transmission member; 3121. Cam plate; 3122. Connecting plate; 3123. Support plate; 32. First clamping jaw; 33. Second clamping jaw; 323. Rubber-coated part; 34. First buffer; 4. Visual guiding mechanism; 41. Light source; 42. Camera; 43. Movable bracket; 5. Protective mechanism; 51. Fourth driving assembly; 511. Fourth driving source; 512. Fourth transmission member; 5121. Driving rod; 5122. Connecting rod; 513. Swing arm; 52. Protective rod; 6. Photoelectric detection. DETAILED DESCRIPTION

[0057] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0058] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0059] Techniques and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the techniques and equipment should be considered part of the specification.

[0060] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0061] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0062] The utility model provides a palletizing robot, by means of which batteries can be automatically palletized, thereby saving labor costs.

[0063] like Figures 1 to 19 As shown, the palletizing robot provided by the utility model includes:

[0064] A frame 1, a pallet grabbing mechanism 2 and a clamping mechanism 3, wherein the pallet grabbing mechanism 2 and the clamping mechanism 3 are respectively arranged on the frame 1, and the pallet grabbing mechanism 2 can move along the height direction of the frame 1 to grab and place the pallet;

[0065] The clamping mechanism 3 includes a first driving component 31, a first clamping jaw 32 and a second clamping jaw 33. The first driving component 31 is connected to the first clamping jaw 32 and the second clamping jaw 33 respectively. Driven by the first driving component 31, the first clamping jaw 32 and the second clamping jaw 33 can move relative to each other and switch between an open state and a closed state to stack the batteries in a tray.

[0066] like Figure 1 and Figure 2 As shown, the palletizing robot may include a frame 1, a pallet grabbing mechanism 2 and a clamping mechanism 3. The frame 1 is the main structure of the entire palletizing robot, which provides a stable working platform and provides an installation position for the pallet grabbing mechanism 2 and the clamping mechanism 3.

[0067] like Figure 1 As shown, the pallet grabbing mechanism 2 is installed on the frame 1 and can move in the height direction of the frame 1. In the height direction of the frame 1, the pallet grabbing mechanism 2 has a lower position and a higher position. At the lower position, the clamping claw of the pallet grabbing mechanism 2 can grab the pallet, thereby clamping the pallet; at the higher position, there is a safe distance between the clamping claw of the pallet grabbing mechanism 2 and the clamping claw mechanism 3, so as to avoid the clamping claw mechanism 3 and avoid interference with the clamping claw mechanism 3, thereby improving the working reliability of the palletizing robot.

[0068] Specifically, the pallet grabbing mechanism 2 generally includes one or more jaws that can open and close to grab the pallet, so that the pallet can be placed at a predetermined position in the enclosure packaging material. After the placement is completed, the pallet grabbing mechanism 2 rises to a higher position and maintains a safe distance between the jaws of the pallet grabbing mechanism 2 and the jaw mechanism 3.

[0069] like Figures 1 to 3 As shown, the clamp mechanism 3 is also installed on the frame 1, and the clamp mechanism 3 is used for grabbing and stacking batteries. The clamp mechanism 3 includes a first drive component 31, a first clamp 32 and a second clamp 33. The first drive component 31 is the power source of the clamp mechanism 3, which includes but is not limited to a motor and a cylinder. The first drive component 31 is connected to the first clamp 32 and the second clamp 33 respectively, and the relative movement of the first clamp 32 and the second clamp 33 can be controlled by the driving force of the first drive component 31.

[0070] Specifically, when it is necessary to grab a battery, first the first drive component 31 drives the first jaw 32 and the second jaw 33 to switch to an open state, so that the distance between the first jaw 32 and the second jaw 33 is large enough to accommodate the size of the battery (usually thickness); then, the jaw mechanism 3 moves to the top of the battery and descends so that the first jaw 32 and the second jaw 33 contact the battery; then, the first drive component 31 drives the first jaw 32 and the second jaw 33 to switch to a closed state again, so that the first jaw 32 and the second jaw 33 clamp the battery to achieve battery clamping; then, the jaw mechanism 3 rises, and the stacking robot moves to the enclosure packaging material; finally, the jaw mechanism 3 descends until the battery contacts the placement slot of the pallet in the enclosure packaging material, and the first drive component 31 drives the first jaw 32 and the second jaw 33 to switch to an open state, so that the first jaw 32 and the second jaw 33 release the battery, thereby achieving battery stacking.

[0071] Among them, after the pallet grabbing mechanism 2 completes the position correction of the pallet in the enclosure packaging material, the clamping mechanism 3 then clamps and stacks the batteries, which can reduce the risk of abnormal battery stacking caused by the displacement of the pallet position. The stacking robot does not need to make too many adjustments or repositioning, thereby reducing the operation time and downtime, thereby saving stacking time and improving the stacking efficiency of the stacking robot. Moreover, through the cooperation of the pallet grabbing mechanism 2 and the clamping mechanism 3, the position of the pallet in the enclosure can be corrected first, and then the battery can be placed through the clamping mechanism 3, so that the adjustment of the pallet position can be used to adapt to the packaging process of batteries of different shapes, which also improves the accuracy and reliability of stacking.

[0072] In addition, inaccurate positioning of the pallet in the panel packaging material can easily cause friction on the inner wall of the pallet panel packaging material, thereby causing wear. By correcting the position of the pallet grabbing mechanism 2, this situation can be effectively avoided, protecting the integrity of the panel packaging material and reducing the additional costs caused by damage and waste.

[0073] Optionally, the first clamping jaw 32 and the second clamping jaw 33 respectively include a plurality of clamping fingers, and the plurality of clamping fingers of the first clamping jaw 32 and the plurality of clamping fingers of the second clamping jaw 33 are arranged in the same row and staggered;

[0074] Driven by the first driving assembly 31 , the multiple clamping fingers of the first clamping jaw 32 and the multiple clamping fingers of the second clamping jaw 33 can move toward each other until they are in a closed state, or move away from each other until they are in an open state.

[0075] like Figure 1 and Figure 3As shown, the first clamping jaw 32 and the second clamping jaw 33 are respectively provided to include a plurality of clamping fingers, and the plurality of clamping fingers of the first clamping jaw 32 and the plurality of clamping fingers of the second clamping jaw 33 are arranged alternately, that is, arranged as the clamping finger of the first first clamping jaw 32, the clamping finger of the first second clamping jaw 33, the clamping finger of the second first clamping jaw 32, the clamping finger of the second second clamping jaw 33... the clamping finger of the Nth first clamping jaw 32, the clamping finger of the Nth second clamping jaw 33, and the clamping fingers of the first clamping jaw 32 are opposite to the clamping fingers of the second clamping jaw 33, so that each clamping finger group formed by the clamping fingers of the first clamping jaw 32 and the clamping fingers of the second clamping jaw 33 can clamp a battery, thereby enhancing the clamping ability of the clamping jaw mechanism 3.

[0076] Furthermore, the multiple clamping fingers of the first clamping jaw 32 and the multiple clamping fingers of the second clamping jaw 33 are arranged in the same row, so that the clamping jaw mechanism 3 can clamp a row or a column of batteries at the same time, and the palletizing efficiency of the palletizing robot can also be improved.

[0077] Specifically, under the drive of the first driving component 31, the multiple clamping fingers of the first clamping jaw 32 and the multiple clamping fingers of the second clamping jaw 33 can move toward each other until they are in a closed state to clamp multiple batteries; or the multiple clamping fingers of the first clamping jaw 32 and the multiple clamping fingers of the second clamping jaw 33 can move away from each other until they are in an open state to place multiple batteries in the placement slot of the tray inside the enclosure packaging material.

[0078] Optionally, the number of clamping fingers of the first clamping jaw 32 is the same as the number of clamping fingers of the second clamping jaw 33, so that the clamping finger group formed by the two can clamp at most the same number of batteries. While ensuring the clamping capacity of the clamping jaw mechanism 3, it can avoid the waste caused by the different clamping fingers of the first clamping jaw 32 and the second clamping jaw 33, and also reduce the production cost of the stacking robot.

[0079] Optionally, the first driving assembly 31 includes a first driving source 311 and a transmission member, the first driving source 311 is provided on the frame 1, one end of the transmission member is connected to the driving end of the first driving source 311, and the other end of the transmission member is connected to the first clamping jaw 32 and / or the second clamping jaw 33;

[0080] Under the drive of the first driving source 311 , the transmission member can drive the first clamping jaw 32 to move relative to the second clamping jaw 33 , and / or the transmission member can drive the second clamping jaw 33 to move relative to the first clamping jaw 32 .

[0081] like Figure 5 As shown, the first driving source 311 makes the driving force source of the clamping mechanism 3 more stable and reliable. The first driving source 311 can be a motor, a cylinder or other power device, and the first driving source 311 is fixed on the frame 1 to provide stable power output for the entire clamping mechanism 3.

[0082] Secondly, the transmission member is used to transmit the power of the first driving source 311 to the first clamping jaw 32 and / or the second clamping jaw 33. The transmission member can be a mechanical transmission device such as a gear, a chain, a belt, etc. The transmission member can convert the rotation or linear motion of the first driving source 311 into the opening and closing motion of the clamping jaw mechanism 3 to facilitate the stacking of batteries.

[0083] In one embodiment, a transmission member may be provided and connected to the first clamp 32 so that the transmission member can transmit the power of the first driving source 311 to the first clamp 32, so that the first clamp 32 can move closer to or farther away from the second clamp 33, while the second clamp 33 remains stationary.

[0084] In another embodiment, a transmission member may be provided and connected to the second clamp 33, so that the transmission member can transmit the power of the first driving source 311 to the second clamp 33, so that the second clamp 33 can move closer to or farther away from the first clamp 32, while the first clamp 32 remains stationary.

[0085] In another embodiment, two transmission members may be provided, one transmission member is connected to the first clamping jaw 32 and is capable of transmitting the power of the first driving source 311 to the first clamping jaw 32, and the other transmission member is connected to the second clamping jaw 33 and is capable of transmitting the power of the first driving source 311 to the second clamping jaw 33, so that the first clamping jaw 32 can be moved closer to or farther away from the second clamping jaw 33, and the second clamping jaw 33 can also be moved closer to or farther away from the first clamping jaw 32.

[0086] In another embodiment, a transmission member may be provided, and the transmission member is connected to the first clamp 32 and the second clamp 33 respectively, so that the transmission member can transmit the power of the first driving source 311 to the first clamp 32 and the second clamp 33 respectively, so that the first clamp 32 can approach or move away from the second clamp 33, and the second clamp 33 can also approach or move away from the first clamp 32.

[0087] Optionally, the transmission member includes a first transmission member 312 and a second transmission member, the first transmission member 312 is connected to the first clamping jaw 32, and the second transmission member is connected to the second clamping jaw 33;

[0088] Under the forward drive of the first driving source 311, the first transmission member 312 drives the first jaw 32 to approach the second jaw 33, and the second transmission member drives the second jaw 33 to approach the first jaw 32 until they are in a closed state; under the reverse drive of the first driving source 311, the first transmission member 312 drives the first jaw 32 away from the second jaw 33, and the second transmission member drives the second jaw 33 away from the first jaw 32 until they are in an open state.

[0089] Specifically, when the first driving source 311 is driven in the forward direction, the first transmission member 312 and the second transmission member can respectively drive the first clamp 32 and the second clamp 33 to move toward each other until they reach a closed state to clamp the battery. Conversely, when the first driving source 311 is driven in the reverse direction, the first transmission member 312 and the second transmission member can respectively drive the first clamp 32 and the second clamp 33 to move away from each other until they reach an open state to facilitate the placement of the battery. This synchronous movement improves the stability and accuracy of the clamp mechanism 3 when grasping and releasing the battery. Among them, the first driving source 311 can include two, one connected to the first transmission member 312, and the other connected to the second transmission member, so that each can be driven independently.

[0090] Optionally, the transmission member includes a first transmission member 312, the first driving source 311 includes a driving cylinder 3111 and a driving plate 3112, the driving plate 3112 is connected to the driving end of the driving cylinder 3111, and the driving plate 3112 can move linearly under the drive of the driving cylinder 3111 and drive the transmission member to move linearly.

[0091] like Figure 5 As shown, the driving cylinder 3111 and the driving plate 3112 are arranged along the length direction of the battery, so that the driving plate 3112 can move along the length direction of the battery under the drive of the driving cylinder 3111. Through the design of the transmission member, the motion input of the driving plate 3112 along the length direction of the battery can be converted into a motion output along the thickness direction of the battery, so as to drive the connected first clamping jaw 32 and the second clamping jaw 33 to move along the thickness direction of the battery, thereby realizing the switching of the first clamping jaw 32 and the second clamping jaw 33 between the open state and the closed state.

[0092] In another embodiment, the driving cylinder 3111 and the driving plate 3112 may be arranged along the thickness direction of the battery, so that the driving plate 3112 can move along the thickness direction of the battery under the drive of the driving cylinder 3111. The design of the transmission member can transmit the movement of the driving plate 3112 along the thickness direction of the battery to the connected first clamping jaw 32 and the second clamping jaw 33, so as to drive the connected first clamping jaw 32 and the second clamping jaw 33 to move along the thickness direction of the battery, thereby realizing the switching of the first clamping jaw 32 and the second clamping jaw 33 between the open state and the closed state.

[0093] Optionally, the driving plate 3112 can move along the length direction of the battery under the drive of the driving cylinder 3111, and the first transmission member 312 includes a cam plate 3121 and two support plates 3123, the cam plate 3121 is fixedly connected to the driving plate 3112, one support plate 3123 is connected to the first clamping jaw 32, and the other support plate 3123 is connected to the second clamping jaw 33, and the two support plates 3123 are respectively slidably connected to the cam plate 3121;

[0094] Under the drive of the driving cylinder 3111 , the driving plate 3112 can drive the two supporting plates 3123 to move closer to or farther from each other along the thickness direction of the battery through the cam plate 3121 .

[0095] like Figure 5 and Figure 6 As shown, the driving cylinder 3111 and the driving plate 3112 can be arranged along the thickness direction of the battery, so that the driving plate 3112 can move along the thickness direction of the battery under the drive of the driving cylinder 3111. This arrangement can make full use of the space in the thickness direction of the frame 1, which is convenient for the miniaturization of the palletizing robot.

[0096] like Figures 6 to 8 As shown, the first transmission member 312 may include a cam plate 3121 and two support plates 3123, and the transmission of power from the drive plate 3112 to the two clamping jaws is achieved through the connection thereof. Specifically, the cam plate 3121 is fixedly connected to the drive plate 3112, for example, the cam plate 3121 and the drive plate 3112 may be clamped or bonded, so that the cam plate 3121 can move along the thickness direction of the battery with the drive plate 3112.

[0097] In addition, two support plates 3123 are provided to be slidably connected to the cam plate 3121, respectively, that is, the two support plates 3123 can slide along the cam plate 3121. Driven by the driving cylinder 3111, the driving plate 3112 can drive the cam plate 3121 to move along the length direction of the battery, thereby driving the two support plates 3123 slidably connected thereto to move closer to or farther from each other along the thickness direction of the battery, thereby realizing the switching of the first clamping jaw 32 and the second clamping jaw 33 between the open state and the closed state.

[0098] Among them, the sliding connection between the two support plates 3123 and the cam plate 3121 can be achieved by opening a connecting hole on one of the support plate 3123 and the cam plate 3121, and setting a connecting end on the other of the support plate 3123 and the cam plate 3121, the connecting end is slidably connected to the connecting hole, and the connecting hole is arranged at an angle to achieve this.

[0099] Optionally, the first transmission member 312 also includes a connecting plate 3122, and the two support plates 3123 are respectively connected to the two ends of the connecting plate 3122, and one of the cam plate 3121 and the connecting plate 3122 has a connecting hole, and the other of the cam plate 3121 and the connecting plate 3122 has a connecting end, and the connecting end is slidably connected to the connecting hole, and there is an angle between the extension direction of the connecting hole and the movement direction of the cam plate 3121.

[0100] like Figure 8 As shown, a connecting plate 3122 may also be provided to facilitate the realization of sliding connection with the cam plate 3121. Specifically, the cam plate 3121 may be provided with a connecting hole and the connecting plate 3122 may be provided with a connecting end; or the connecting plate 3122 may be provided with a connecting hole and the cam plate 3121 may be provided with a connecting end, and both of the connecting ends may be slidably connected to the connecting holes, so that the cam plate 3121 and the connecting plate 3122 may slide relative to each other.

[0101] In addition, an angle is formed between the extension direction of the connecting hole and the movement direction of the cam plate 3121, so that the cam plate 3121 can provide a lateral thrust to the connecting plate 3122 during movement, and push the two support plates 3123 fixedly connected to the two ends of the connecting plate 3122 to move respectively along the thickness direction of the battery.

[0102] Specifically, Figure 8 As shown, one support plate 3123 is connected to the first clamping jaw 32, the other support plate 3123 is connected to the second clamping jaw 33, and the two support plates 3123 are respectively fixedly connected to the two ends of the connecting plate 3122. Driven by the driving cylinder 3111, the driving plate 3112 can drive the cam plate 3121 to move along the length direction of the battery, so that the cam plate 3121 can push the connecting plate 3122 slidably connected thereto to tilt along the length direction of the battery, and drive the two support plates 3123 fixedly connected to the two ends of the connecting plate 3122 to move closer to or away from each other, thereby realizing the switching of the first clamping jaw 32 and the second clamping jaw 33 between the open state and the closed state.

[0103] The connection hole may be a waist-shaped hole, and the connection end may be a screw. The screw can slide along the waist-shaped hole and drive the two support plates 3123 to move.

[0104] Optionally, the number of the connection holes is two, the projections of the two connection holes are respectively located at two ends of the connection plate 3122, and the inclination directions of the two connection holes are opposite.

[0105] Specifically, the projections of the two connecting holes are respectively located at the two ends of the connecting plate 3122, so that the two sliding connection parts of the connecting plate 3122 and the cam plate 3121 are also located at the two ends of the connecting plate 3122, so that the cam plate 3121 can drive the connecting plate 3122 to tilt along the length direction of the battery during movement, and correspondingly drive the two support plates 3123 connected at the two ends to move closer to or away from each other, thereby realizing the switching of the first clamp 32 and the second clamp 33 between the open state and the closed state.

[0106] The two connection holes are arranged in opposite inclination directions, for example Figure 8 The upper connecting hole in the middle is inclined downward, and the lower connecting hole is inclined upward, so that when the cam plate 3121 moves downward, the two support plates 3123 can approach each other until the first clamping jaw 32 and the second clamping jaw 33 are closed; when the cam plate 3121 moves upward, the two support plates 3123 can move away from each other until the first clamping jaw 32 and the second clamping jaw 33 are opened. Figure 8 The viewing angles are shown as an illustration.

[0107] In another embodiment, two parallel connecting plates 3122 may be provided, and the two ends of each connecting plate 3122 are respectively connected to the two supporting plates 3123, so as to strengthen the driving force of the connecting plate 3122 on the supporting plates 3123. In this case, the two ends of each connecting plate 3122 are respectively connected to the cam plate 3121 in a sliding connection, that is, the two connecting plates 3122 and the cam plate 3121 form four sliding connection parts, such as Figure 8 shown.

[0108] Optionally, a side of the first clamping jaw 32 close to the second clamping jaw 33 and a side of the second clamping jaw 33 close to the first clamping jaw 32 respectively have a rubber-coated portion 323, and when the palletizing robot grasps the battery, the rubber-coated portion 323 contacts the battery.

[0109] Specifically, Fig.12 and Fig.10 As a schematic diagram of the first clamping jaw 32 from both inside and outside, it can be seen that the inner side of the first clamping jaw 32 (i.e., the side that can contact the battery) has a rubber-coated portion 323, and the inner side of the second clamping jaw 33 (i.e., the side that can contact the battery) also has a rubber-coated portion 323. The design of the rubber-coated portion 323 makes the contact surface of the first clamping jaw 32 and the second clamping jaw 33 with the battery softer when grasping the battery, thereby increasing the friction between the clamping jaw and the battery, helping to grasp the battery more firmly, preventing the battery from slipping abnormally during the movement of the palletizing robot, and also enhancing the stability and reliability of the clamping operation of the clamping jaw mechanism 3.

[0110] In addition, the rubber-coated portion 323 is usually made of a soft elastic material. By designing the rubber-coated portion 323 on the inner sides of the first jaw 32 and the second jaw 33, the rubber-coated portion 323 can also be used to better protect the surface of the battery when the two jaws clamp the battery, reducing the risk of scratches or indentations caused by hard contact between the two jaws and the battery, thereby ensuring the quality and appearance integrity of the batteries stacked by the stacking robot.

[0111] In addition, since the rubber-coated portion 323 has certain wear resistance and impact resistance, the rubber-coated portion 323 can also buffer the impact and wear of the first jaw 32 and the second jaw 33 during operation to a certain extent, which helps to extend the service life of the first jaw 32 and the second jaw 33, reduce the frequency of jaw replacement, and reduce maintenance costs.

[0112] Optionally, the clamping mechanism 3 further includes a support plate 3123 and a first buffer member 34, the support plate 3123 is connected to the frame 1, and the first buffer member 34 is connected between the first clamping jaw 32 and the support plate 3123, and / or between the second clamping jaw 33 and the support plate 3123.

[0113] like Fig. 9 and Fig.13 As shown, the first clamping jaw 32 and the second clamping jaw 33 can be connected to the frame 1 through the support plate 3123 to achieve the fixation of the clamping jaw mechanism 3. Among them, the first buffer 34 can be set between the first clamping jaw 32 and the support plate 3123, and the first buffer 34 can also be set between the second clamping jaw 33 and the support plate 3123. The first buffer 34 can also be set between the first clamping jaw 32 and the support plate 3123, and between the second clamping jaw 33 and the support plate 3123, respectively, which can achieve a flexible connection between the clamping jaw and the support plate 3123 in the clamping jaw mechanism 3, thereby achieving a buffering and shock absorbing effect.

[0114] Specifically, the first buffer member 34 can be an elastic member, such as an elastic structural member or an elastic material member, so that the elastic member can be used to achieve a flexible connection between the clamp and the support plate 3123, and provide space for the clamp to move along the height direction of the frame 1, avoiding hard contact between obstacles and the clamp, thereby protecting the clamp and extending the service life of the clamp mechanism 3.

[0115] In addition, if Figure 4 and Fig.11As shown, detection photoelectric devices 6 and position photoelectric devices can also be provided on the first jaw 32 and the second jaw 33 respectively. The detection photoelectric devices 6 can monitor the stress conditions of the first jaw 32 and the second jaw 33, so as to drive the first jaw 32 and the second jaw 33 to avoid abnormal impact or collision. The position photoelectric devices can monitor the position conditions of the first jaw 32 and the second jaw 33, so as to ensure the stacking accuracy of the stacking robot.

[0116] Optionally, the tray grabbing mechanism 2 includes a bracket 21, a second driving source 22 and a third clamping jaw group 23, one end of the bracket 21 is connected to the third clamping jaw group 23, and the other end of the bracket 21 is connected to the second driving source 22. Driven by the second driving source 22, the bracket 21 can drive the third clamping jaw group 23 to move along the height direction of the frame 1.

[0117] like Figure 1 and Fig.14 As shown, the bracket 21 can be used to be movably connected to the frame 1, so that the bracket 21 can drive the third clamping claw group 23 connected to the bracket 21 to move along the height direction of the frame 1 under the drive of the second driving source 22, so that the third clamping claw group 23 can move downward to grab and place the pallet, or move upward to avoid the clamping claw mechanism 3, thereby improving the working reliability and stability of the palletizing robot. The second driving source 22 includes but is not limited to a motor and a cylinder.

[0118] Optionally, the third jaw group 23 includes a third jaw 231 and a third driving source 232, the third driving source 232 is fixed on the bracket 21, the third jaw 231 is connected to the third driving source 232, and under the drive of the third driving source 232, the third jaw group 23 can open and close to grasp and place the pallet.

[0119] like Fig.14 As shown, the third clamping jaw 231 can be connected to the driving end of the third driving source 232, so that under the drive of the third driving source 232, the third clamping jaw group 23 can open and close, and grab and place the pallet, thereby correcting the position of the pallet in the panel packaging material, and also improving the palletizing accuracy and stability of the palletizing robot. Among them, the third driving source 232 includes but is not limited to a motor and a cylinder, and the third clamping jaw 231 generally includes two opposing clamping fingers.

[0120] In addition, considering the actual structure of the pallet, two third jaw groups 23 are usually provided, each of which includes a third jaw 231 and a third driving source 232. During the grabbing process, the two third jaws 231 can be opposite to the two edges of the pallet to facilitate grabbing and putting down the pallet.

[0121] Optionally, the tray grabbing mechanism 2 further includes a second buffer 24 , and the second buffer 24 is connected between the third clamping jaw group 23 and the bracket 21 .

[0122] like Fig.14 As shown, the second buffer member 24 can be an elastic member, such as an elastic structural member or an elastic material member, so that the elastic member can be used to achieve a flexible connection between the third clamping jaw group 23 and the bracket 21, and provide space for the third clamping jaw group 23 to move along the height direction of the frame 1, avoiding hard contact between obstacles and the third clamping jaw group 23, thereby protecting the pallet grasping mechanism 2 and extending the service life of the pallet grasping mechanism 2.

[0123] In addition, a detection photoelectric device 6 and a position photoelectric device can be set at the end of the second buffer member 24. The detection photoelectric device 6 can monitor the force condition of the third clamping jaw 231, so as to drive the third clamping jaw 231 to avoid abnormal impact or collision. The position photoelectric device can monitor the position of the third clamping jaw 231, so as to ensure the stacking accuracy of the stacking robot.

[0124] Optionally, a visual guidance mechanism 4 is further included. The visual guidance mechanism 4 is arranged on the frame 1 , and the visual guidance mechanism 4 is used to guide the movement of the tray grabbing mechanism 2 and the clamping mechanism 3 .

[0125] like Fig.15 As shown, the visual guidance mechanism 4 may include a movable bracket 43, a light source 41 fixed on the movable bracket 43, and a camera 42. The position and direction of the light source 41 can be adjusted through the movable bracket 43, and combined with the camera 42, the position, shape and posture of the pallet and the battery can be accurately identified, thereby guiding the movement of the pallet grasping mechanism 2 and the clamping mechanism 3, saving positioning time and improving the palletizing efficiency and reliability of the palletizing robot.

[0126] Optionally, a protection mechanism 5 is also included, which is connected to the frame 1. The protection mechanism 5 includes a fourth drive component 51 and two protection rods 52. The two protection rods 52 are located at the bottom of the frame 1. Under the drive of the fourth drive component 51, the two protection rods 52 can move toward or away from each other and provide protection for the battery grasped by the clamping mechanism 3.

[0127] like Figure 2 , Figures 16 to 19As shown, the fourth drive assembly 51 is used to drive the two protection bars 52 to move relative to each other. Under the positive drive of the fourth drive assembly 51, the two protection bars 52 can move toward each other to shorten the distance between the two protection bars 52. At this time, the shorter distance between the two protection bars 52 can be used to protect the battery clamped by the clamping mechanism 3, avoiding the battery from accidentally falling or even being damaged, thereby improving the safety of the palletizing robot.

[0128] Under the reverse drive of the fourth driving assembly 51, the two protection rods 52 can move away from each other to increase the distance between the two protection rods 52. At this time, the larger distance between the two protection rods 52 can facilitate the passage of the clamping mechanism 3, thereby improving the flexibility of the palletizing robot.

[0129] Optionally, the protective mechanism 5 has a protective entry state and a protective release state. When the protective mechanism 5 is in the protective entry state, there is a first distance between the two protective rods 52; when the protective mechanism 5 is in the protective release state, there is a second distance between the two protective rods 52, and the first distance is smaller than the second distance, and the first distance is smaller than the length of the battery grasped by the clamping mechanism 3.

[0130] like Figures 16 to 19 As shown, when the protection mechanism 5 is in the protection state, the first spacing between the two protection rods 52 is set to be smaller than the length of the battery grasped by the clamping mechanism 3, so that the two relatively close protection rods 52 can form a protection zone for the battery clamped by the clamping mechanism 3 to prevent the battery from accidentally falling or even being damaged, thereby improving the safety of the palletizing robot.

[0131] When the protection mechanism 5 is in the released protection state, the second distance between the two protection rods 52 is set larger, which can allow the clamping mechanism 3 to freely grasp and place the battery, thereby avoiding interference with the operation of the clamping mechanism 3, and also improving the flexibility of the palletizing robot, making it easier to adapt to different work scenarios and needs, thereby improving the versatility and work efficiency of the palletizing robot.

[0132] Optionally, the fourth driving assembly 51 includes a fourth driving source 511, a fourth transmission member 512 and two swing arms 513, one end of the fourth transmission member 512 is connected to the fourth driving source 511, the other end of the fourth transmission member 512 is connected to the two swing arms 513, and each swing arm 513 is connected to one of the protection rods 52;

[0133] Driven by the fourth driving source 511 , the fourth transmission member 512 can drive the two swing arms 513 to perform relative translational motion, and drive the two protection rods 52 to perform relative motion.

[0134] like Figures 16 to 19As shown, the fourth driving source 511 includes but is not limited to a motor and a cylinder, and the fourth transmission member 512 can transmit the driving force of the fourth driving source 511 to the two connected swing arms 513, so that the two swing arms 513 can move closer or farther away laterally, thereby driving the two protective rods 52 to move closer or farther away from each other, and realizing the switching of the working state of the protective mechanism 5.

[0135] Among them, the structural design of the fourth transmission member 512 can transmit the driving force of the fourth driving source 511 to the lateral movement of the two connected swing arms 513, so that the two swing arms 513 can move translationally along a predetermined trajectory, avoiding the risk of collision, and making the structure of the entire protective mechanism 5 more compact and centralized, which can facilitate the miniaturization of the stacking robot.

[0136] Optionally, the fourth transmission member 512 includes a driving rod 5121 and two connecting rods 5122, the driving rod 5121 is connected to the fourth driving source 511 and can move along the height direction of the frame 1, one end of each of the connecting rods 5122 is connected to the driving rod 5121, and the other end of each of the connecting rods 5122 is connected to one of the swing arms 513, and there is an angle between the extension direction of the two connecting rods 5122 and the extension direction of the driving rod 5121.

[0137] like Figures 16 to 19 As shown, under the positive drive of the fourth driving source 511, the driving rod 5121 can rise along the height direction of the frame 1, and drive the swing arms 513 on both sides to approach laterally through the two connecting rods 5122, so that the swing arms 513 can drive the protective rods 52 to move toward each other to shorten the distance between the two protective rods 52. At this time, the shorter distance between the two protective rods 52 can be used to protect the batteries clamped by the clamping mechanism 3, avoiding accidental dropping or even damage of the batteries, thereby improving the safety of the stacking robot.

[0138] Under the reverse drive of the fourth driving source 511, the driving rod 5121 can descend along the height direction of the frame 1, and drive the swing arms 513 on both sides to move laterally away through the two connecting rods 5122, so that the swing arms 513 can drive the protective rods 52 to move away from each other to increase the distance between the two protective rods 52. At this time, the larger distance between the two protective rods 52 can facilitate the passage of the clamping mechanism 3, thereby improving the flexibility of the stacking robot.

[0139] The above embodiments focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0140] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A palletizing robot, characterized in that: include: A frame (1), a tray grabbing mechanism (2) and a clamping mechanism (3), wherein the tray grabbing mechanism (2) and the clamping mechanism (3) are respectively arranged on the frame (1), and the tray grabbing mechanism (2) can move along the height direction of the frame (1) to grab and place the tray; The clamping mechanism (3) comprises a first driving component (31), a first clamping jaw (32) and a second clamping jaw (33); the first driving component (31) is connected to the first clamping jaw (32) and the second clamping jaw (33) respectively; under the drive of the first driving component (31), the first clamping jaw (32) and the second clamping jaw (33) can move relative to each other and switch between an open state and a closed state, so as to stack the batteries in a tray.

2. A palletizing robot according to claim 1, characterized in that: The first clamping jaw (32) and the second clamping jaw (33) respectively include a plurality of clamping fingers, and the plurality of clamping fingers of the first clamping jaw (32) and the plurality of clamping fingers of the second clamping jaw (33) are arranged in the same row and staggered; Driven by the first driving component (31), the plurality of clamping fingers of the first clamping jaw (32) and the plurality of clamping fingers of the second clamping jaw (33) can move toward each other until they are in a closed state, or move away from each other until they are in an open state.

3. A palletizing robot according to claim 2, characterized in that: The number of clamping fingers of the first clamping jaw (32) is the same as the number of clamping fingers of the second clamping jaw (33).

4. A palletizing robot according to claim 1, characterized in that: The first driving assembly (31) comprises a first driving source (311) and a transmission member, wherein the first driving source (311) is arranged on the frame (1), one end of the transmission member is connected to the driving end of the first driving source (311), and the other end of the transmission member is connected to the first clamping jaw (32) and / or the second clamping jaw (33); Driven by the first driving source (311), the transmission member can drive the first clamping jaw (32) to move relative to the second clamping jaw (33), and / or the transmission member can drive the second clamping jaw (33) to move relative to the first clamping jaw (32).

5. A palletizing robot according to claim 4, characterized in that: The transmission member comprises a first transmission member (312) and a second transmission member, the first transmission member (312) is connected to the first clamping jaw (32), and the second transmission member is connected to the second clamping jaw (33); Under the forward drive of the first driving source (311), the first transmission member (312) drives the first clamping jaw (32) to approach the second clamping jaw (33), and the second transmission member drives the second clamping jaw (33) to approach the first clamping jaw (32), until they are in a closed state; under the reverse drive of the first driving source (311), the first transmission member (312) drives the first clamping jaw (32) away from the second clamping jaw (33), and the second transmission member drives the second clamping jaw (33) away from the first clamping jaw (32), until they are in an open state.

6. A palletizing robot according to claim 4, characterized in that: The transmission member comprises a first transmission member (312), the first driving source (311) comprises a driving cylinder (3111) and a driving plate (3112), the driving plate (3112) is connected to the driving end of the driving cylinder (3111), and the driving plate (3112) can move linearly under the drive of the driving cylinder (3111), and drive the transmission member to move linearly.

7. A palletizing robot according to claim 6, characterized in that: The driving plate (3112) can move along the length direction of the battery under the drive of the driving cylinder (3111), the first transmission member (312) comprises a cam plate (3121) and two support plates (3123), the cam plate (3121) is fixedly connected to the driving plate (3112), one support plate (3123) is connected to the first clamping jaw (32), the other support plate (3123) is connected to the second clamping jaw (33), and the two support plates (3123) are respectively slidably connected to the cam plate (3121); Under the drive of the driving cylinder (3111), the driving plate (3112) can drive the two supporting plates (3123) to move closer to or farther from each other along the thickness direction of the battery through the cam plate (3121).

8. A palletizing robot according to claim 7, characterized in that: The first transmission member (312) further comprises a connecting plate (3122), the two supporting plates (3123) being respectively connected to two ends of the connecting plate (3122), the cam plate (3121) and one of the connecting plates (3122) having a connecting hole, the cam plate (3121) and the other of the connecting plates (3122) having a connecting end, the connecting end being slidably connected to the connecting hole, and an angle being formed between an extension direction of the connecting hole and a movement direction of the cam plate (3121).

9. A palletizing robot according to claim 8, characterized in that: The number of the connecting holes is two, the projections of the two connecting holes are respectively located at two ends of the connecting plate (3122), and the inclination directions of the two connecting holes are opposite.

10. The palletizing robot according to claim 1, characterized in that: A side of the first clamping jaw (32) close to the second clamping jaw (33), and a side of the second clamping jaw (33) close to the first clamping jaw (32) respectively have a rubber-coated portion (323), and when the palletizing robot grasps the battery, the rubber-coated portion (323) contacts the battery.

11. The palletizing robot according to claim 1, characterized in that: The clamping jaw mechanism (3) also includes a support plate (3123) and a first buffer member (34), wherein the support plate (3123) is connected to the frame (1), and the first buffer member (34) is connected between the first clamping jaw (32) and the support plate (3123), and / or between the second clamping jaw (33) and the support plate (3123).

12. The palletizing robot according to claim 1, characterized in that: The tray grabbing mechanism (2) comprises a bracket (21), a second driving source (22) and a third clamping jaw group (23); one end of the bracket (21) is connected to the third clamping jaw group (23), and the other end of the bracket (21) is connected to the second driving source (22); under the drive of the second driving source (22), the bracket (21) can drive the third clamping jaw group (23) to move along the height direction of the frame (1).

13. A palletizing robot according to claim 12, characterized in that: The third clamping jaw group (23) comprises a third clamping jaw (231) and a third driving source (232); the third driving source (232) is fixed on the bracket (21); the third clamping jaw (231) is connected to the third driving source (232); and under the drive of the third driving source (232), the third clamping jaw group (23) can open and close to grasp and place the pallet.

14. A palletizing robot according to claim 12, characterized in that: The tray grabbing mechanism (2) further comprises a second buffer member (24), wherein the second buffer member (24) is connected between the third clamping jaw group (23) and the bracket (21).

15. The palletizing robot according to claim 1, characterized in that: It also comprises a visual guidance mechanism (4), wherein the visual guidance mechanism (4) is arranged on the frame (1), and the visual guidance mechanism (4) is used to guide the movement of the tray grasping mechanism (2) and the clamping mechanism (3).

16. The palletizing robot according to claim 1, characterized in that: The invention also comprises a protection mechanism (5), wherein the protection mechanism (5) is connected to the frame (1), and the protection mechanism (5) comprises a fourth driving assembly (51) and two protection rods (52), wherein the two protection rods (52) are located at the bottom of the frame (1), and under the drive of the fourth driving assembly (51), the two protection rods (52) can move towards or away from each other, and provide protection for the battery grasped by the clamping claw mechanism (3).

17. A palletizing robot according to claim 16, characterized in that: The protection mechanism (5) has a protection entry state and a protection release state. When the protection mechanism (5) is in the protection entry state, a first distance is provided between the two protection rods (52); when the protection mechanism (5) is in the protection release state, a second distance is provided between the two protection rods (52), the first distance is smaller than the second distance, and the first distance is smaller than the length of the battery grasped by the clamp mechanism (3).

18. A palletizing robot according to claim 17, characterized in that: The fourth driving assembly (51) comprises a fourth driving source (511), a fourth transmission member (512) and two swing arms (513), one end of the fourth transmission member (512) is connected to the fourth driving source (511), the other end of the fourth transmission member (512) is connected to the two swing arms (513), and each swing arm (513) is connected to one of the protection rods (52); Driven by the fourth driving source (511), the fourth transmission member (512) can drive the two swing arms (513) to perform relative translational movement, and drive the two protection rods (52) to perform relative movement.

19. A palletizing robot according to claim 18, characterized in that: The fourth transmission member (512) comprises a driving rod (5121) and two connecting rods (5122); the driving rod (5121) is connected to the fourth driving source (511) and is capable of moving along the height direction of the frame (1); one end of each connecting rod (5122) is connected to the driving rod (5121), and the other end of each connecting rod (5122) is connected to one of the swing arms (513); and an angle is formed between the extension direction of the two connecting rods (5122) and the extension direction of the driving rod (5121).

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