Automatic packaging and stacking robot

Abstract

The utility model relates to an automatic packaging palletizing robot, which belongs to the technical field of automatic robots and comprises a robot arm, a connecting plate, a clamping plate, a supporting block, a lifting component and a supporting component. The connecting plate is arranged at the output end of the robot arm; the two clamping plates are arranged on the connecting plate in a sliding mode. The connecting plate is provided with a bidirectional moving mechanism used for driving the two clamping plates to move close to or away from each other. The number of the supporting blocks, the number of the lifting assemblies and the number of the supporting assemblies are all two. The two supporting blocks are arranged on the two clamping plates correspondingly and distributed in a staggered mode in the horizontal direction. The lifting assembly is slidably arranged on the supporting block. The supporting assembly is rotationally arranged on the lifting assembly. The clamp can be used for clamping objects with different specifications and sizes.

Description

Technical Field

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

[0002] Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] Chinese patent publication number CN214934117U discloses an automatic packaging and palletizing robot, including a base, a palletizing mechanism, a rotating shaft is rotatably connected to the top of the base, a first support arm is arranged on the top of the rotating shaft, a second support arm is connected to the top of the first support arm, a driving mechanism is installed at the bottom of one end of the second support arm, the bottom of the driving mechanism is connected to the top of the palletizing mechanism, the palletizing mechanism includes a connecting sleeve and a top plate, the middle of the connecting sleeve is fixed to the bottom of the driving mechanism, a driving box is installed at the bottom of the top plate, the bottom of the driving box is rotatably connected to two clamping plates, a connecting plate is rotatably arranged at the bottom of the clamping plate, and a weight sensor is arranged in the middle of the connecting plate. In this utility model, the cargo box is pressed on the mounting plate, and the weight sensor can sense the weight of the cargo box, and finally the sensed weight is displayed through the display panel, avoiding repeated detection of weighing and unpacking in the later stage, and greatly reducing the degree of manual fatigue.

[0004] However, when the above device clamps an object, the height of the clamped object is determined by the height of the clamping plate. In reality, objects of different specifications need to be clamped and transported, and the height limit determined by the clamping plate is too large. Utility Model Content

[0005] The utility model aims to solve the problems existing in the background technology and to provide an automatic packaging and palletizing robot which can clamp objects of different specifications and sizes.

[0006] The technical solution of the utility model: an automatic packaging and palletizing robot, comprising a robot arm, a connecting plate, a clamping plate, a supporting block, a lifting assembly and a supporting assembly;

[0007] A connecting plate is arranged on the output end of the robot arm; two clamping plates are arranged and both are slidably arranged on the connecting plate; a bidirectional moving mechanism for driving the two clamping plates to move closer or farther is arranged on the connecting plate; two supporting blocks, lifting assemblies and supporting assemblies are each arranged; two supporting blocks are respectively arranged on the two clamping plates; the lifting assembly is slidably arranged on the supporting blocks; and the supporting assembly is rotatably arranged on the lifting assembly.

[0008] Preferably, the bidirectional moving mechanism includes a first motor and a bidirectional screw; the first motor is arranged on a connecting plate; the bidirectional screw is rotatably arranged on the connecting plate and is connected to the output end of the first motor; the bidirectional screw includes a left-handed part and a right-handed part, and the two clamping plates are respectively threadedly connected to the left-handed part and the right-handed part.

[0009] Preferably, the lifting assembly includes a first hydraulic cylinder and a lifting plate; the first hydraulic cylinder is arranged on the support block; the lifting plate is slidably arranged on the clamping plate and connected to the output end of the first hydraulic cylinder; the support assembly is rotatably arranged on the lifting plate.

[0010] Preferably, the support assembly includes a second motor and a support plate; the second motor is disposed on the lifting plate; the support plate is rotatably disposed on the lifting plate and is connected to the output end of the second motor.

[0011] Preferably, a second hydraulic cylinder is provided on the lifting plate; a fixing hole is provided on the supporting plate; two fixing holes are provided; and the output end of the second hydraulic cylinder is slidably embedded in the fixing hole.

[0012] Preferably, the two support blocks are staggered in the horizontal direction.

[0013] Compared with the prior art, the utility model has the following beneficial technical effects:

[0014] In the utility model, the two support plates are staggered in the horizontal direction, and can support different positions of the object to prevent the two support plates from colliding because the object is too small; the two-way moving mechanism drives the two clamping plates to approach each other, so that the two clamping plates clamp the two sides of the object, and by clamping the two sides of the object, the height restriction of the object is eliminated; the first hydraulic cylinder is started to make the support plate abut against the bottom surface of the object to support it, so as to prevent the object from falling off during transportation, and the second hydraulic cylinder is started to make it clamp with the support plate again, so as to prevent the support plate from being disturbed by external force and affecting the handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0016] Figure 2 It is a partial structural schematic diagram of an embodiment of the utility model;

[0017] Figure 3 for Figure 2 A schematic diagram of the local enlarged structure at point A in the middle;

[0018] Figure 4 It is a structural schematic diagram of the support plate in the utility model.

[0019] Figure numerals: 1. Robot arm; 2. Connecting plate; 3. Bidirectional moving mechanism; 301. First motor; 302. Bidirectional screw rod; 4. Clamping plate; 5. Support block; 6. Lifting assembly; 601. First hydraulic cylinder; 602. Lifting plate; 7. Support assembly; 701. Second motor; 702. Support plate; 8. Second hydraulic cylinder; 9. Fixing hole. DETAILED DESCRIPTION

[0020] Embodiment 1

[0021] like Figure 1-Figure 4 As shown, the utility model proposes an automatic packaging and palletizing robot, comprising a robot arm 1, a connecting plate 2, a clamping plate 4, a support block 5, a lifting assembly 6 and a support assembly 7;

[0022] The connecting plate 2 is arranged on the output end of the robot arm 1; two clamping plates 4 are arranged, and both are slidably arranged on the connecting plate 2; a bidirectional moving mechanism 3 for driving the two clamping plates 4 to move closer or farther is arranged on the connecting plate 2; two support blocks 5, lifting components 6 and support components 7 are each arranged; two support blocks 5 are respectively arranged on the two clamping plates 4; the lifting component 6 is slidably arranged on the support block 5; and the support component 7 is rotatably arranged on the lifting component 6.

[0023] The lifting plate 602 is provided with a second hydraulic cylinder 8; the supporting plate 702 is provided with a fixing hole 9; two fixing holes 9 are provided; the output end of the second hydraulic cylinder 8 is slidably embedded in the fixing hole 9. The two supporting blocks 5 are staggered in the horizontal direction.

[0024] When the present embodiment is working, the robot arm 1 is started, and the robot arm 1 moves to one side of the object so that the two clamping plates 4 are located on both sides of the object, and then the bidirectional moving mechanism 3 is started, and the bidirectional moving mechanism 3 drives the two clamping plates 4 to approach each other so that the two clamping plates 4 clamp both sides of the object, and get rid of the height restriction of the object by clamping both sides of the object, and then the robot arm 1 is started to lift the object slightly, and the lifting component 6 is started, and the lifting component 6 drives the support component 7 to move downward so that the support component 7 moves to the bottom of the object, and then the second hydraulic cylinder 8 is started to release the clamping connection with the support component 7, and the support component 7 is started to rotate 180°, and then the lifting component 6 is started so that the support component 7 abuts against the bottom surface of the object, and the second hydraulic cylinder 8 is clamped with the support component 7 again to prevent the support component 7 from rotating due to external force. The support assembly 7 supports the object to prevent it from falling off during the handling process; during palletizing, the robot arm 1 first moves the object to the top of the palletizing position, and then starts the lifting assembly 6 to drive the support assembly 7 to move downward, releases the contact between the support assembly 7 and the object, and then starts the second hydraulic cylinder 8 to release the clamping connection with the support assembly 7, starts the support assembly 7 to rotate 180°, starts the lifting assembly 6 to drive the support assembly 7 back to its original position, and makes the second hydraulic cylinder 8 clamped with the support assembly 7 again, and then the robot arm 1 moves the object to the placement position, starts the two-way moving mechanism 3 to drive the two clamping plates 4 away, that is, the placement is completed, and then continue palletizing; the two support blocks 5 are staggered in the horizontal direction, which can support different positions of the object to prevent the two support blocks 5 from colliding because the object is too small.

[0025] Embodiment 2

[0026] like Figure 1-Figure 4 As shown, the utility model proposes an automatic packaging and palletizing robot. Compared with the first embodiment, the bidirectional moving mechanism 3 in this embodiment includes a first motor 301 and a bidirectional screw 302; the first motor 301 is arranged on the connecting plate 2; the bidirectional screw 302 is rotatably arranged on the connecting plate 2 and is connected to the output end of the first motor 301; the bidirectional screw 302 includes a left-handed part and a right-handed part, and the two clamping plates 4 are respectively threadedly connected to the left-handed part and the right-handed part.

[0027] When clamping an object, the robot arm 1 of this embodiment moves the two clamping plates 4 to the two sides of the object, and then starts the first motor 301. The first motor 301 drives the bidirectional screw rod 302 to rotate, and the bidirectional screw rod 302 drives the two clamping plates 4 to move closer, so that the two clamping plates 4 clamp the object; when placing the object, the first motor 301 is started to move the two clamping plates 4 away from each other, and the object is released.

[0028] Embodiment 3

[0029] like Figure 1-Figure 4As shown, the utility model proposes an automatic packaging and palletizing robot. Compared with the first or second embodiment, the lifting component 6 in this embodiment includes a first hydraulic cylinder 601 and a lifting plate 602; the first hydraulic cylinder 601 is arranged on the support block 5; the lifting plate 602 is slidably arranged on the clamping plate 4 and connected to the output end of the first hydraulic cylinder 601; the support component 7 is rotatably arranged on the lifting plate 602.

[0030] The support assembly 7 includes a second motor 701 and a support plate 702 ; the second motor 701 is disposed on the lifting plate 602 ; the support plate 702 is rotatably disposed on the lifting plate 602 and is connected to the output end of the second motor 701 .

[0031] When supporting an object in this embodiment, the robot arm 1 drives the object slightly away from the ground, starts the first hydraulic cylinder 601, the first hydraulic cylinder 601 drives the lifting plate 602 to descend, the lifting plate 602 drives the support plate 702 to descend, so that the support plate 702 moves to the bottom of the object, starts the second hydraulic cylinder 8 to release the clamping connection with the support plate 702, starts the second motor 701, the second motor 701 drives the support plate 702 to rotate 180°, and then starts the first hydraulic cylinder 601 so that the support plate 702 abuts against the bottom of the object to support it, so as to prevent the object from falling off during transportation, and starts the second hydraulic cylinder 8 so that it is clamped with the support plate 702 again, so as to prevent the support plate 702 from being disturbed by external forces and affecting the handling.

[0032] The implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. An automated packaging and palletizing robot, characterized in that: It comprises a robot arm (1), a connecting plate (2), a clamping plate (4), a supporting block (5), a lifting component (6) and a supporting component (7); The connecting plate (2) is arranged on the output end of the robot arm (1); two clamping plates (4) are arranged, and both are slidably arranged on the connecting plate (2); a bidirectional moving mechanism (3) for driving the two clamping plates (4) to move closer or farther is arranged on the connecting plate (2); two supporting blocks (5), two lifting assemblies (6) and two supporting assemblies (7) are arranged; the two supporting blocks (5) are respectively arranged on the two clamping plates (4); the lifting assemblies (6) are slidably arranged on the supporting blocks (5); and the supporting assemblies (7) are rotatably arranged on the lifting assemblies (6).

2. The automatic packaging and palletizing robot according to claim 1, characterized in that: The bidirectional moving mechanism (3) comprises a first motor (301) and a bidirectional screw rod (302); the first motor (301) is arranged on a connecting plate (2); the bidirectional screw rod (302) is rotatably arranged on the connecting plate (2) and is connected to the output end of the first motor (301); the bidirectional screw rod (302) comprises a left-handed portion and a right-handed portion, and the two clamping plates (4) are respectively threadedly connected to the left-handed portion and the right-handed portion.

3. The automatic packaging and palletizing robot according to claim 1, characterized in that: The lifting assembly (6) comprises a first hydraulic cylinder (601) and a lifting plate (602); the first hydraulic cylinder (601) is arranged on a support block (5); the lifting plate (602) is slidably arranged on a clamping plate (4) and is connected to an output end of the first hydraulic cylinder (601); and the support assembly (7) is rotatably arranged on the lifting plate (602).

4. The automatic packaging and palletizing robot according to claim 3, characterized in that: The support assembly (7) comprises a second motor (701) and a support plate (702); the second motor (701) is arranged on the lifting plate (602); the support plate (702) is rotatably arranged on the lifting plate (602) and is connected to the output end of the second motor (701).

5. The automatic packaging and palletizing robot according to claim 4, characterized in that: A second hydraulic cylinder (8) is provided on the lifting plate (602); a fixing hole (9) is provided on the supporting plate (702); two fixing holes (9) are provided; and the output end of the second hydraulic cylinder (8) is slidably embedded in the fixing hole (9).

6. The automatic packaging and palletizing robot according to claim 1, characterized in that: The two support blocks (5) are staggered in the horizontal direction.

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