Stacking manipulator
By designing adjustment and extrusion mechanisms in the palletizing robot, the contact area between the ply plate and the goods is increased, the problem of goods falling when the robot fails is solved, and stable palletization of the goods is achieved and damage is prevented.
Patent Information
- Application Number
- CN202423127868.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-18
- Publication Date
- 2025-01-17
- Estimated Expiration
- 2034-12-18
AI Technical Summary
When the existing palletizing robots fail to standby, they lack power to squeeze the goods, causing the goods to fall from between the plywood and cause damage.
A palletizing robot including an adjustment mechanism and an extrusion mechanism is designed to approach the second clamp and contact the cargo through the first clamp, and to increase the contact between the clamp and the cargo using components such as extension plates, guide rods, airbags and rubber plates. Area, ensuring that the cargo is still squeezed when the robot fails.
It effectively avoids the risk of goods falling off when the robot fails and stops standby, ensures the stability of goods and prevents damage.
Smart Images
Figure CN222361632U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulators, in particular to a palletizing manipulator. Background Art
[0002] The palletizing robot can stack (or unstack) packaged goods of different sizes neatly and automatically on a pallet (or production line, etc.). In order to make full use of the area of the pallet and the stability of the stacked materials, the robot has a material stacking sequence and arrangement setter, which can meet the needs from low speed to high speed, from packaging bags to cartons, from stacking one product to stacking multiple different products. It is used for product handling, palletizing, etc., and is widely used in different fields such as automobiles, logistics, home appliances, medicine, food and beverages, etc.
[0003] The existing palletizing robot squeezes the goods through two clamps and then drives the goods to move for palletizing. However, when the palletizing robot fails, the two clamps are in a stopped standby state. In this state, due to the lack of power to squeeze the goods, the goods are easily dropped from between the two clamps and damaged. Based on this, we proposed a palletizing robot. Utility Model Content
[0004] The purpose of the utility model is to provide a palletizing robot to solve the problems existing in the above-mentioned background technology.
[0005] The technical solution of the utility model is: a palletizing robot, including a robot body, a mounting frame installed at one end of the robot body, a second clamping plate fixedly connected to the bottom end of the mounting frame, a first clamping plate arranged below the mounting frame near the inner side of the second clamping plate, the first clamping plate and the second clamping plate are arranged at intervals, and also include an adjusting mechanism and a squeezing mechanism, the adjusting mechanism is arranged on the inner side of the second clamping plate, and the adjusting mechanism passes through the outer side of the first clamping plate, the adjusting mechanism is easy to rotate according to the movement of the first clamping plate, the squeezing mechanism is arranged on the outer side of the first clamping plate, the adjusting mechanism and the squeezing mechanism are in contact, and the squeezing mechanism is used to increase the contact area between the first clamping plate and the goods when the robot body suddenly stops and is in a standby state.
[0006] Preferably, a cylinder is installed on one side of the mounting frame, a connecting plate is fixedly connected to an output end of the cylinder, and one side of the first clamping plate is fixedly connected to one side of the connecting plate.
[0007] Preferably, the adjusting mechanism comprises two extension plates, the top inner side of the second clamping plate is fixedly connected with a guide rod, the guide rod passes through the outer side of the first clamping plate, one end of the guide rod is rotatably connected with the first rotating rod, both ends of the first rotating rod are fixedly connected with hollow plates, and a movable plate is slidably connected inside the hollow plate, the top ends of the two extension plates are respectively fixedly connected with the bottom ends of the two movable plates, the same second rotating rod is rotatably connected between the two extension plates, both ends of the second rotating rod pass through the outer sides of the two extension plates respectively, both ends of the second rotating rod are fixedly connected with mounting plates, and one side of the two mounting plates is fixedly connected to the outer side of the first clamping plate.
[0008] Preferably, the extrusion mechanism includes a second airbag, a mounting hole is opened on the inner side of the first clamping plate, a first airbag is fixedly connected to one side of the inner wall of the mounting hole, a plurality of rubber plates are fixedly connected to the inner wall of the mounting hole close to the first airbag, the plurality of rubber plates are arranged at equal intervals along the inner wall of the mounting hole, and a connecting tube is fixedly connected to one side of the first airbag.
[0009] Preferably, the extrusion mechanism also includes a placement box fixedly connected to the outer side of the first splint, one side of the second airbag is fixedly connected to a side of the inner wall of the placement box, two embedding holes are provided on one side of the placement box, the two embedding holes are symmetrically arranged, a spring is fixedly connected to the inside of the embedding hole, one end of the spring is fixedly connected to a moving rod, one end of the two moving rods are fixedly connected to the same guide plate, the inner side of the guide plate is fixedly connected to a top plate near the inside of the placement box, the connecting tube passes through the outer side of the first splint and the inner side of the placement box, and one end of the connecting tube is fixedly connected to the second airbag side.
[0010] Preferably, a rubber pad is fixedly connected to the inner side of the second clamping plate.
[0011] The utility model provides a palletizing robot through improvement, which has the following improvements and advantages compared with the prior art:
[0012] 1. When the utility model approaches the second clamping plate through the first clamping plate and clamps the goods, the two extension plates squeeze the guide plate, so that the guide plate drives the top plate to squeeze the second airbag, and cooperates with the connecting pipe to facilitate the inflation of the first airbag, so that the first airbag is squeezed out from between adjacent rubber plates and pressed and fitted with the goods, thereby increasing the contact area between the first clamping plate and the goods, so that when the manipulator body fails and stops waiting, the rubber plate and the first airbag cooperate with the rubber pad to keep squeezing the goods, so as to prevent the goods from falling off the manipulator body and causing damage. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a schematic diagram of the structure of the utility model;
[0014] Figure 2 This is a schematic diagram of the cylinder structure of the utility model;
[0015] Figure 3 This is a schematic diagram of the second splint structure of the utility model;
[0016] Figure 4 It is a partial cross-sectional view of the first splint of the utility model;
[0017] Figure 5 This is a schematic diagram of the guide plate structure of the utility model;
[0018] Figure 6 This is a cross-sectional view of the connecting pipe of the utility model;
[0019] Figure 7 This is a cross-sectional view of the hollow plate of the utility model.
[0020] Description of reference numerals:
[0021] 1. Manipulator body; 2. Mounting frame; 3. Cylinder; 4. Connecting plate; 5. First clamping plate; 6. Second clamping plate; 7. Guide rod; 8. Hollow plate; 9. Moving plate; 10. Extension plate; 11. Second rotating rod; 12. Mounting plate; 13. Mounting hole; 14. First airbag; 15. Rubber plate; 16. Connecting pipe; 17. Placement box; 18. Second airbag; 19. Embedding hole; 20. Spring; 21. Moving rod; 22. Guide plate; 23. Top plate; 24. Rubber pad; 25. First rotating rod. DETAILED DESCRIPTION
[0022] The present invention is further described below in conjunction with specific embodiments. However, people familiar with the art should understand that the detailed description given here in conjunction with the drawings is for better explanation, and the structure of the present invention necessarily exceeds these limited embodiments. For some equivalent replacement schemes or common means, they are no longer described in detail herein, but still fall within the scope of protection of the present application.
[0023] Figure 1-Figure 7 It is the best embodiment of the utility model, and the following Figure 1-Figure 7 The utility model is further described.
[0024] See attached Figure 1-Figure 7A palletizing robot comprises a robot body 1, a mounting frame 2 is installed at one end of the robot body 1, a second clamping plate 6 is fixedly connected to the bottom end of the mounting frame 2, a first clamping plate 5 is arranged below the mounting frame 2 near the inner side of the second clamping plate 6, the first clamping plate 5 and the second clamping plate 6 are arranged at intervals, and also comprises an adjusting mechanism and a squeezing mechanism, the adjusting mechanism is arranged on the inner side of the second clamping plate 6, and the adjusting mechanism passes through the outer side of the first clamping plate 5, the adjusting mechanism is convenient to rotate according to the movement of the first clamping plate 5, the squeezing mechanism is arranged on the outer side of the first clamping plate 5, the adjusting mechanism and the squeezing mechanism are in contact, and the squeezing mechanism is used to increase the contact area between the first clamping plate 5 and the goods when the robot body 1 suddenly stops and is in a standby state.
[0025] In this embodiment, by cooperating with the adjusting mechanism and the squeezing mechanism, when the first clamp plate 5 approaches the inner side of the second clamp plate 6 to squeeze the goods, the contact area between the first clamp plate 5 and the goods can be increased. When the manipulator body 1 fails and stops in standby mode, the squeezing mechanism can maintain squeezing of the goods to prevent the goods from falling off the manipulator body 1 and causing damage.
[0026] Specifically, a cylinder 3 is installed on one side of the mounting frame 2 , an output end of the cylinder 3 is fixedly connected to a connecting plate 4 , and one side of the first clamping plate 5 is fixedly connected to one side of the connecting plate 4 .
[0027] In this embodiment, the cylinder 3 is used to facilitate pushing the first clamping plate 5 toward the inner side of the second clamping plate 6, thereby completing the clamping work of the goods.
[0028] Specifically, the adjustment mechanism includes two extension plates 10, a guide rod 7 is fixedly connected to the top inner side of the second clamping plate 6, the guide rod 7 passes through the outer side of the first clamping plate 5, one end of the guide rod 7 is rotatably connected to the first rotating rod 25, both ends of the first rotating rod 25 are fixedly connected to hollow plates 8, a movable plate 9 is slidably connected inside the hollow plate 8, the top ends of the two extension plates 10 are respectively fixedly connected to the bottom ends of the two movable plates 9, the same second rotating rod 11 is rotatably connected between the two extension plates 10, both ends of the second rotating rod 11 pass through the outer sides of the two extension plates 10 respectively, both ends of the second rotating rod 11 are fixedly connected to mounting plates 12, and one side of the two mounting plates 12 is fixedly connected to the outer side of the first clamping plate 5.
[0029] In this embodiment, rounded corners are arranged at the bottom ends of the two extension plates 10 .
[0030] Specifically, the extrusion mechanism includes a second airbag 18, a mounting hole 13 is opened on the inner side of the first clamping plate 5, a first airbag 14 is fixedly connected to one side of the inner wall of the mounting hole 13, a plurality of rubber plates 15 are fixedly connected to the inner wall of the mounting hole 13 close to the first airbag 14, the plurality of rubber plates 15 are arranged at equal intervals along the inner wall of the mounting hole 13, and a connecting tube 16 is fixedly connected to one side of the first airbag 14.
[0031] In this embodiment, the gas inside the second airbag 18 is conveniently introduced into the first airbag 14 through the connecting tube 16 , so as to inflate the first airbag 14 .
[0032] Specifically, the extrusion mechanism also includes a placement box 17 fixedly connected to the outer side of the first clamp plate 5, one side of the second airbag 18 is fixedly connected to one side of the inner wall of the placement box 17, two embedding holes 19 are opened on one side of the placement box 17, the two embedding holes 19 are symmetrically arranged, a spring 20 is fixedly connected inside the embedding hole 19, one end of the spring 20 is fixedly connected to a moving rod 21, one end of the two moving rods 21 is fixedly connected to the same guide plate 22, the inner side of the guide plate 22 is fixedly connected to the inside of the placement box 17 with a top plate 23, the connecting tube 16 passes through the outer side of the first clamp plate 5 and the inner side of the placement box 17, and one end of the connecting tube 16 is fixedly connected to the second airbag 18 side.
[0033] In this embodiment, one side surface of the guide plate 22 is configured as an arc-shaped surface that is recessed toward the outer side of the extension plate 10 .
[0034] Specifically, a rubber pad 24 is fixedly connected to the inner side of the second clamping plate 6 .
[0035] In this embodiment, when the first clamping plate 5 and the second clamping plate 6 squeeze the goods, the rubber pad 24 and the rubber plate 15 increase the friction between the second clamping plate 6 and the first clamping plate 5 and the goods, thereby ensuring the stability of the goods during stacking.
[0036] The operation process of the robot in this scheme is a mature existing technology and will not be described here.
[0037] The working principle and use process of the utility model are as follows: when in use, the cylinder 3 is started, so that the cylinder 3 drives the first clamping plate 5 to approach the second clamping plate 6 through the connecting plate 4, so that the first clamping plate 5 drives the rubber plate 15 and the first airbag 14 together with the rubber pad 24 on one side of the second clamping plate 6 to squeeze the goods, so as to maintain the stability of the goods when moving. In this process, the first clamping plate 5 moves along the outer wall of the guide rod 7, and cooperates with the first rotating rod 25, so that when the hollow plate 8 rotates, the moving plate 9 moves downward inside it, and the moving plate 9 drives the two extension plates 10 to rotate on the second rotating rod 11. The two springs 20 make the outer wall of the guide plate 22 mostly located outside the placement box 17 in the initial state. When the bottom ends of the two extension plates 10 contact the guide plate 22, the guide plate 22 is squeezed, so that the guide plate 22 drives the two moving rods 21 to move, and then the moving rod 21 drives the spring 20 to compress, so that the guide plate 22 drives the top plate 23 to squeeze the second airbag 18, and cooperates with the connecting pipe 16 to facilitate the inflation of the first airbag 14, causing the second airbag 18 to be squeezed out from between the adjacent rubber plates 15 and squeezed and fitted with the cargo, thereby increasing the contact area between the first clamping plate 5 and the cargo, so that when the manipulator body 1 fails and stops in standby, the rubber plate 15 and the second airbag 18 cooperate with the rubber pad 24 to keep squeezing the cargo, so as to prevent the cargo from falling off the manipulator body 1 and causing damage.
[0038] The above is only the preferred embodiment of the utility model, and does not limit the utility model in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the utility model without departing from the technical solution of the utility model still belongs to the protection scope of the technical solution of the utility model.
Claims
1. A palletizing robot, characterized in that: The invention comprises a manipulator body (1), a mounting frame (2) being mounted at one end of the manipulator body (1), a second clamping plate (6) being fixedly connected to the bottom end of the mounting frame (2), a first clamping plate (5) being arranged below the mounting frame (2) and close to the inner side of the second clamping plate (6), the first clamping plate (5) and the second clamping plate (6) being arranged at intervals, and further comprising an adjusting mechanism and a squeezing mechanism, the adjusting mechanism being arranged at the inner side of the second clamping plate (6) and the adjusting mechanism penetrating the outer side of the first clamping plate (5), the adjusting mechanism being apt to rotate according to the movement of the first clamping plate (5), the squeezing mechanism being arranged at the outer side of the first clamping plate (5), the adjusting mechanism and the squeezing mechanism being arranged in contact with each other, and the squeezing mechanism being used to increase the contact area between the first clamping plate (5) and the goods when the manipulator body (1) suddenly stops and is in a standby state.
2. A palletizing robot according to claim 1, characterized in that: A cylinder (3) is mounted on one side of the mounting frame (2); an output end of the cylinder (3) is fixedly connected to a connecting plate (4); and one side of the first clamping plate (5) is fixedly connected to one side of the connecting plate (4).
3. A palletizing robot according to claim 1, characterized in that: The adjustment mechanism comprises two extension plates (10), the inner top of the second clamping plate (6) is fixedly connected to a guide rod (7), the guide rod (7) passes through the outer side of the first clamping plate (5), one end of the guide rod (7) is rotatably connected to a first rotating rod (25), both ends of the first rotating rod (25) are fixedly connected to a hollow plate (8), the hollow plate (8) is slidably connected to a movable plate (9), the tops of the two extension plates (10) are respectively fixedly connected to the bottoms of the two movable plates (9), the two extension plates (10) are rotatably connected to the same second rotating rod (11), both ends of the second rotating rod (11) pass through the outer sides of the two extension plates (10), both ends of the second rotating rod (11) are fixedly connected to mounting plates (12), and one side of the two mounting plates (12) is fixedly connected to the outer side of the first clamping plate (5).
4. A palletizing robot according to claim 1, characterized in that: The squeezing mechanism comprises a second airbag (18), a mounting hole (13) is formed on the inner side of the first clamping plate (5), a first airbag (14) is fixedly connected to one side of the inner wall of the mounting hole (13), a plurality of rubber plates (15) are fixedly connected to the inner wall of the mounting hole (13) close to the first airbag (14), the plurality of rubber plates (15) are arranged at equal intervals along the inner wall of the mounting hole (13), and a connecting pipe (16) is fixedly connected to one side of the first airbag (14).
5. A palletizing robot according to claim 4, characterized in that: The squeezing mechanism further comprises a first clamping plate (5) having a placement box (17) fixedly connected to the outside thereof, one side of the second airbag (18) being fixedly connected to one side of the inner wall of the placement box (17), one side of the placement box (17) being provided with two embedding holes (19), the two embedding holes (19) being symmetrically arranged, a spring (20) being fixedly connected to the inside of the embedding hole (19), one end of the spring (20) being fixedly connected to a moving rod (21), one end of the two moving rods (21) being fixedly connected to the same guide plate (22), the inner side of the guide plate (22) being fixedly connected to a top plate (23) near the inside of the placement box (17), the connecting tube (16) passing through the outer side of the first clamping plate (5) and the inner side of the placement box (17), and one end of the connecting tube (16) being fixedly connected to one side of the second airbag (18).
6. A palletizing robot according to claim 3, characterized in that: A rubber pad (24) is fixedly connected to the inner side of the second clamping plate (6).