Cargo grabbing mechanism and stacking robot

Abstract

The embodiment of the utility model provides a cargo grabbing mechanism and a stacking robot. The cargo grabbing mechanism comprises a mounting base, a grabbing driving assembly and a grabbing assembly. Wherein the grabbing driving assembly is arranged on the mounting seat; the grabbing assembly is hinged to the mounting base. The grabbing assembly is provided with a grabbing space, the grabbing driving assembly is connected with the grabbing assembly, the grabbing driving assembly drives the grabbing assembly to act, the grabbing space is enlarged or reduced so as to pick and place the goods, and the problem that a clamping jaw of an existing goods moving device cannot clamp and move the goods, and then a large amount of manpower and material resources are consumed is solved.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a cargo grabbing mechanism and a palletizing robot. Background Art

[0002] With the development of science and technology, the work of manual handling, stacking and destacking of goods has been gradually replaced by cargo moving equipment, such as gantry robots. This type of cargo moving equipment operates flexibly, accurately, quickly and efficiently, greatly saving labor while significantly improving the efficiency of cargo moving and stacking.

[0003] In the field of warehousing and logistics, there are many kinds of columnar goods that need to be moved and stacked, such as oil drums. However, since the sides of these columnar goods are relatively smooth and lack gripping space, the grippers of existing cargo moving equipment cannot grip and move them, which consumes a lot of manpower and material resources, greatly limiting the efficiency of moving columnar goods. Utility Model Content

[0004] The embodiments of the present application provide a cargo grabbing mechanism and a palletizing robot, which are used to solve the problem in the prior art that cargo moving equipment cannot clamp and move columnar cargo.

[0005] In a first aspect, an embodiment of the present application provides a cargo grabbing mechanism, comprising:

[0006] Mounting seat;

[0007] A grabbing drive assembly is disposed on the mounting seat;

[0008] The grabbing assembly has a grabbing space, the grabbing assembly is hinged on the mounting seat, the grabbing driving assembly is connected to the grabbing assembly, and the grabbing driving assembly drives the grabbing assembly to move, so that the grabbing space becomes larger or smaller to pick up and place goods.

[0009] In a feasible implementation, the gripping assembly includes a plurality of clamping jaws, and the plurality of clamping jaws are hinged on a mounting seat at intervals, and the plurality of clamping jaws enclose a gripping space.

[0010] In a feasible implementation, a plurality of clamping jaws are hinged on the mounting base at even intervals.

[0011] In a feasible implementation, the clamp includes a first claw body and a second claw body, the first claw body is hinged to the mounting seat, the second claw body is hinged to the first claw body, the grasping drive assembly is hinged to all the second claw bodies respectively, and all the second claw bodies enclose a grasping space.

[0012] In a feasible implementation, the second claw body includes a first claw portion, a second claw portion and a third claw portion, the first claw portion, the second claw portion and the third claw portion are connected end to end in sequence, there is an angle between the first claw portion and the second claw portion, and there is an angle between the second claw portion and the third claw portion.

[0013] In a feasible implementation, the grabbing drive assembly includes a linear drive member and a connecting member. The linear drive member is arranged on a mounting seat. The connecting member is hinged to the grabbing assembly. The linear drive member drives the grabbing assembly to move through the connecting member to control the grabbing space to expand or shrink.

[0014] In a feasible implementation, the linear drive member is configured as a second cylinder, and a self-locking mechanism is provided at the end of the second cylinder, and the self-locking mechanism is used to lock the telescopic rod of the second cylinder.

[0015] In a second aspect, an embodiment of the present application provides a palletizing robot, comprising:

[0016] Fixed frame;

[0017] A first direction moving component is arranged on a fixed frame;

[0018] A second direction moving component is arranged on the first direction moving component, and the first direction moving component drives the second direction moving component to move along the first direction;

[0019] The third direction moving component is arranged on the second direction moving component, and the second direction moving component drives the third direction moving component to move along the second direction.

[0020] As in the cargo grabbing mechanism of the first aspect, the cargo grabbing mechanism is arranged on a third-direction moving component, and the third-direction moving component drives the cargo grabbing mechanism to move along the third direction.

[0021] In a feasible implementation, the first direction moving component includes a first driving component and a first guiding component, the first driving component is arranged on a fixed frame, the first guiding component is arranged on the fixed frame along the first direction, the second direction moving component is cooperatively arranged on the first guiding component, the first driving component is connected to the second direction moving component, and the first driving component drives the second direction moving component to move along the first direction.

[0022] In a feasible implementation, the second direction moving assembly includes a first mounting frame, a second driving assembly and a second guiding assembly, the first mounting frame is arranged on the first guiding assembly, and the first driving assembly is connected to the first mounting frame;

[0023] The second driving component is arranged on the first mounting frame, the second guiding component is arranged on the first mounting frame along the second direction, the third directional moving component is cooperatively arranged on the second guiding component, the second driving component is connected to the third directional moving component, and the second driving component drives the third directional moving component to move along the second direction.

[0024] In a feasible implementation, the third directional moving assembly includes a second mounting frame, a third driving assembly and a third guiding assembly, the second mounting frame is arranged on the second guiding assembly, and the second driving assembly is connected to the second mounting frame;

[0025] The third driving assembly is arranged on the second mounting frame, the third guiding assembly is arranged on the second mounting frame along the third direction, the cargo grabbing mechanism is connected to the third guiding assembly, and the third driving assembly is connected to the cargo grabbing mechanism.

[0026] In a feasible implementation, the palletizing robot further includes an image acquisition component, which is disposed on one side of the fixed frame and is used to collect information about the goods.

[0027] In the first aspect, the embodiment of the present application provides a cargo grabbing mechanism, including a mounting seat, a grabbing drive assembly and a grabbing assembly. The grabbing drive assembly is arranged on the mounting seat; the grabbing assembly is hinged on the mounting seat. The grabbing assembly has a grabbing space, the grabbing drive assembly is connected to the grabbing assembly, and the grabbing drive assembly drives the grabbing assembly to move, so that the grabbing space becomes larger or smaller to pick up and place cargo, which solves the problem that the clamps of the existing cargo moving equipment cannot grab and move cargo, thereby consuming a lot of manpower and material resources.

[0028] In the second aspect, an embodiment of the present application provides a palletizing robot, comprising a cargo grabbing mechanism in any of the technical solutions in the above-mentioned schemes, and thus having all the beneficial effects of the cargo grabbing mechanism in any of the technical solutions in the above-mentioned schemes, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute improper limitations on the present invention.

[0030] In the attached picture:

[0031] Figure 1 It is a structural schematic diagram of a palletizing robot provided in one embodiment of the present application;

[0032] Figure 2 yes Figure 1 Schematic diagram of the assembly of the first direction moving component and the fixed frame of the palletizing robot;

[0033] Figure 3 yes Figure 1 A schematic diagram of the structure of the second direction moving component of the palletizing robot;

[0034] Figure 4 yes Figure 1 Schematic diagram of the assembly of the third-direction moving component and the cargo grabbing mechanism of the palletizing robot.

[0035] Figure 5 yes Figure 1 Schematic diagram of the structure of the cargo grabbing mechanism of the medium palletizing robot.

[0036] Description of reference numerals:

[0037] 100-fixed frame; 200-first direction moving assembly; 300-second direction moving assembly; 400-third direction moving assembly; 500-cargo grabbing mechanism; 600-visual camera; 700-oil drum; 800-setting frame;

[0038] 110-column; 120-rectangular frame; 210-first drive assembly; 220-first guide assembly; 310-first mounting frame; 320-second drive assembly; 330-second guide assembly; 410-second mounting frame; 420-third drive assembly; 430-third guide assembly; 510-mounting seat; 520-grasping drive assembly; 530-grasping assembly;

[0039] 211-first motor; 212-first transmission shaft; 213-first synchronous pulley; 214-second synchronous pulley; 215-first synchronous belt; 216-first driving pulley; 217-first driven pulley; 218-second synchronous belt; 221-first linear guide; 321-second motor; 322-second transmission shaft; 323-third synchronous pulley; 324-fourth synchronous pulley; 325-third synchronous belt; 326-second driving pulley; 327-second driven pulley; 328-fourth synchronous belt; 331-second linear guide; 332-second slider; 431-guide rod; 432-third slider; 511-first mounting plate; 512-support column; 513-second mounting plate; 514-mounting space; 521-linear driving member (521); 522-connecting member (522); 531-clamping claw; 532-hooking claw;

[0040] 5311-first claw body; 5312-second claw body; 5313-grasping space;

[0041] 531a - first claw; 531b - second claw; 531c - third claw. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0043] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0044] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] With the development of science and technology, the work of manual handling, stacking and destacking of goods has been gradually replaced by cargo moving equipment, such as gantry robots. This type of cargo moving equipment operates flexibly, accurately, quickly and efficiently, greatly saving labor while significantly improving the efficiency of cargo moving and stacking.

[0047] In the field of warehousing and logistics, there are many kinds of columnar goods that need to be moved and stacked, such as oil drums. However, since the sides of these columnar goods are relatively smooth and lack gripping space, the grippers of existing cargo moving equipment cannot grip and move them, which consumes a lot of manpower and material resources, greatly limiting the efficiency of moving columnar goods.

[0048] In order to solve the above problems, the embodiment of the present application provides a cargo grabbing mechanism and a palletizing robot. The solution provided by the embodiment of the present application will be described in detail below in conjunction with the drawings in the specification.

[0049] Figure 1 It is a structural schematic diagram of a palletizing robot provided in one embodiment of the present application.

[0050] Reference Figure 1 As shown, an embodiment of the present application provides a palletizing robot, including a fixed frame 100 , a first direction moving component 200 , a second direction moving component 300 , a third direction moving component 400 , a cargo grabbing mechanism 500 and a visual camera 600 .

[0051] Exemplarily, the fixing frame 100 may be a steel structure truss, which is welded by steel. Specifically, the fixing frame 100 includes a plurality of columns 110 and a rectangular frame 120. At least one column 110 is provided at each of the four corners of the rectangular frame 120, one end of each column 110 is vertically welded to the rectangular frame 120, and the other end of each column 110 can be fixed to the ground by a fixing member such as a screw. In addition, a diagonal brace can be provided between the column 110 and the rectangular frame 120, so as to improve the connection strength between the column 110 and the rectangular frame 120, and also improve the stability of the rectangular frame 120.

[0052] Figure 2 yes Figure 1 Schematic diagram of the assembly of the first direction moving component 200 and the fixed frame 100 of the palletizing robot.

[0053] Reference Figure 1 and Figure 2As shown, illustratively, the first direction moving component 200 includes a first driving component 210 and a first guiding component 220. The first driving component 210 is disposed on the fixed frame 100, the first guiding component 220 is disposed on the fixed frame 100 along the first direction, the second direction moving component 300 is cooperatively disposed on the first guiding component 220, the first driving component 210 is connected to the second direction moving component 300, and the first driving component 210 drives the second direction moving component 300 to move along the first direction. The first driving component 210 can provide power for the movement of the second direction moving component 300. The first guiding component 220 guides the second direction component to move along the first direction. It should be noted that, in this embodiment, the first direction is the length direction of the rectangular frame 120, which can be referred to Figure 1 The x direction is shown in .

[0054] The first driving assembly 210 may be a chain transmission assembly or a belt transmission assembly. The first guiding assembly 220 may be a linear guide assembly, a guide rod 431 and a slider assembly, or a slide column assembly.

[0055] Continue to refer to Figure 1 and 2 As shown, exemplarily, in an embodiment of the present application, the first drive component 210 is a belt drive component, specifically including a first motor 211, a first transmission shaft 212, a first synchronous pulley 213, a second synchronous pulley 214, a first synchronous belt 215, a first driving pulley 216, a first driven pulley 217 and a second synchronous belt 218.

[0056] The first motor 211 is fixed to the rectangular frame 120 through a mounting bracket, the first transmission shaft 212 is arranged along the second direction and fixed to the rectangular frame 120 through a mounting bearing seat, and the first synchronous pulley 213 is fixed to the output shaft of the first motor 211 through a connecting key. It should be noted that the second direction is the width direction of the rectangular frame 120, which can be referred to Figure 1 shown in the y direction.

[0057] Both ends of the first transmission shaft 212 are fixedly provided with a first driving pulley 216 through a connecting key. A second synchronous pulley 214 is fixedly provided at a position opposite to the first synchronous pulley 213 of the first transmission shaft 212, and a first synchronous belt 215 is wound around the first synchronous pulley 213 and the second synchronous pulley 214. It can be understood that the first motor 211 drives the first transmission shaft 212 to rotate through the first synchronous pulley 213, the first synchronous belt 215 and the second synchronous belt 218, thereby driving the first driving pulley 216 at both ends of the first transmission shaft 212 to rotate. The first driven pulley 217 is rotatably provided at one end of the rectangular frame 120 opposite to the first driving pulley 216. The second synchronous belt 218 is wound around the first driving pulley 216 and the first driven pulley 217, and the first driving pulley 216 drives the first driven pulley 217 to rotate through the second synchronous belt 218.

[0058] Exemplarily, in the present embodiment, the first guide assembly 220 is a linear guide assembly. Specifically, the first guide assembly 220 includes a first linear guide 221 and a first slider (not shown in the figure), the first linear guide 221 is fixedly arranged on the rectangular frame 120 along the length direction (i.e., the first direction) of the rectangular frame 120, the first slider is fixedly arranged on the second direction moving assembly 300, and the first slider is cooperatively arranged on the first linear guide 221. The second synchronous belt 218 is fixedly connected to the second direction moving assembly 300. Through the cooperative sliding of the first linear guide 221 and the first slider, the second synchronous belt 218 drives the second direction moving assembly 300 to move along the first direction during the rotation process.

[0059] Figure 3 yes Figure 1 Schematic diagram of the structure of the second direction moving component 300 of the palletizing robot.

[0060] Reference Figure 3 As shown, illustratively, in the embodiment of the present application, the second direction moving assembly 300 includes a first mounting frame 310, a second driving assembly 320, and a second guiding assembly 330. The first mounting frame 310 is used to provide a mounting position for the second driving assembly 320 and the second guiding assembly 330. Exemplarily, the first mounting frame 310 can be a frame body welded from steel, and the frame body has a flat upper surface for arranging the second driving assembly 320 and the second guiding assembly 330.

[0061] Similarly, the second driving assembly 320 can be a chain transmission assembly or a belt transmission assembly. The second guiding assembly 330 can be a linear guide assembly, a guide rod 431 and a slider assembly, or a sliding column assembly.

[0062] Continue to refer to Figure 3As shown, in the embodiment of the present application, the second driving assembly 320 includes a second motor 321, a second transmission shaft 322, a third synchronous pulley 323, a fourth synchronous pulley 324, a third synchronous belt 325, a second driving pulley 326, a second driven pulley 327 and a fourth synchronous belt 328. The second motor 321 is fixed on the first mounting frame 310, for example, on its upper surface. The second slider 332 can be fixedly arranged on the lower surface of the first mounting frame 310.

[0063] The second transmission shaft 322 is rotatably arranged on the upper surface of the first mounting frame 310 through the mounting bearing seat along the width direction of the first mounting frame 310. The third synchronous pulley 323 is fixedly arranged on the output shaft of the second motor 321, and the second driving pulley 326 is fixedly arranged at both ends of the second transmission shaft 322 through a connecting key, and the fourth synchronous pulley 324 is fixedly arranged at the middle position of the second transmission shaft 322, and the third synchronous belt 325 is wound around the third synchronous pulley 323 and the fourth synchronous pulley 324. The second motor 321 drives the second transmission shaft 322 to rotate through the third synchronous pulley 323, the third synchronous belt 325 and the fourth synchronous pulley 324, thereby driving the second driving pulley 326 to rotate. The second driven pulley 327 is rotatably arranged at one end of the second mounting frame 410 opposite to the second driving pulley 326, that is, the second driving pulley 326 and the second driven pulley 327 are respectively located at the two ends of the first mounting frame 310 in its length direction, and the fourth synchronous belt 328 is wound around the second driving pulley 326 and the second driven pulley 327, and the second driving pulley 326 drives the second driven pulley 327 to rotate through the fourth synchronous belt 328.

[0064] It should be noted that the width direction of the first mounting frame 310 can refer to Figure 3 As shown in the y direction, the length direction of the first mounting frame 310 can refer to Figure 3 The x direction is shown in .

[0065] In addition, illustratively, the second guide assembly 330 is a linear guide assembly. Specifically, the second guide assembly 330 includes a second linear guide 331 and a second slider 332. The second linear guide 331 is fixedly arranged on the first mounting frame 310 along the length direction of the first mounting frame 310, and the second slider 332 is fixedly arranged on the third directional moving assembly 400, and the second slider 332 is cooperatively arranged on the second linear guide 331. The fourth synchronous belt 328 is fixedly connected to the third directional moving assembly 400. Through the cooperative sliding of the second linear guide 331 and the second slider 332, the third synchronous belt 325 can drive the third directional moving assembly 400 to move along the length direction of the first mounting frame 310 during the rotation process, that is, to move in the second direction.

[0066] Figure 4 yes Figure 1 FIG. 4 is a schematic diagram of the assembly of the third direction moving component 400 and the cargo grabbing mechanism 500 of the palletizing robot.

[0067] Reference Figure 4 As shown, the third directional moving assembly 400 includes a second mounting frame 410, a third driving assembly 420 and a third guiding assembly 430. The second mounting frame 410 is disposed on the second guiding assembly 330, and the second driving assembly 320 is connected to the second mounting frame 410.

[0068] The second mounting frame 410 is configured as a fixing plate. In order to ensure the strength of the fixing plate, the fixing plate can be a steel fixing plate. The third driving assembly 420 can be a cylinder, a hydraulic cylinder or other linear grab driving assembly 520. The third guiding assembly 430 can be a linear guide assembly, a guide rod and a slider assembly, or a sliding column assembly.

[0069] Continue to refer to Figure 4 As shown, in the embodiment of the present application, the third driving assembly 420 includes a first cylinder, the cylinder body of the first cylinder is fixedly arranged at the center of the fixed plate, and the third guiding assembly 430 is configured as a guide rod 431 and a slider assembly, specifically including a plurality of guide rods 431 and a plurality of third sliders 432. Among them, the plurality of third sliders 432 are all arranged on the fixed plate and are evenly distributed around the circumference of the first cylinder. The ends of the plurality of guide rods 431 are all fixedly arranged on the cargo grabbing mechanism 500, and each guide rod 431 is matched and arranged in the corresponding third slider 432. In addition, the second slider 332 of the second guiding assembly 330 is fixedly arranged on the lower surface of the fixed plate, and the fourth synchronous belt 328 in the second driving assembly 320 is connected to the fixed plate, so that the fourth synchronous belt 328 can drive the fixed plate to slide on the second linear guide rail 331 through the second slider 332, thereby driving the third directional moving assembly 400 to move as a whole along the length direction (second direction) of the first mounting frame 310.

[0070] Figure 5 yes Figure 1 A schematic structural diagram of a cargo grabbing mechanism 500 of a medium palletizing robot.

[0071] Reference Figure 5 As shown, exemplarily, the cargo grabbing mechanism 500 includes a mounting seat 510 , a grabbing drive assembly 520 , and a grabbing assembly 530 . The grabbing drive assembly 520 is fixedly disposed on the mounting seat 510 .

[0072] In some examples, the mounting base 510 includes a first mounting plate 511, a plurality of support columns 512, and a second mounting plate 513. The first mounting plate 511 and the second mounting plate 513 are arranged opposite to each other, and both ends of the plurality of support columns 512 are fixedly connected to the first mounting plate 511 and the second mounting plate 513, respectively. The plurality of support columns 512, the first mounting plate 511, and the second mounting plate 513 together enclose an installation space 514, and the grab drive assembly 520 is fixedly installed in the installation space 514. Exemplarily, the grab drive assembly 520 includes a linear drive member 521, such as a pneumatic cylinder, an oil cylinder, or an electric cylinder. The first mounting plate 511 and the second mounting plate 513 may be rectangular or circular.

[0073] In the embodiment of the present application, the linear drive member 521 is configured as a second cylinder. The cylinder body of the second cylinder is fixed on the side of the first mounting plate 511 facing the second mounting plate 513, and the telescopic rod of the second cylinder passes through the second mounting plate 513 and extends toward one end of the grab assembly 530. In addition, in some examples, a self-locking mechanism is provided at the end of the second cylinder, and the self-locking mechanism can be a cylinder self-locking head, which is used to lock the telescopic rod of the second cylinder to prevent the telescopic rod from moving when the cylinder is out of gas or leaking, causing the cargo to fall. The self-locking head is a prior art in the art and will not be described in detail here.

[0074] The grabbing assembly 530 is hinged on the second mounting plate 513, and the second cylinder is connected to the grabbing assembly 530. The second cylinder can drive the grabbing assembly 530 to move during the movement, thereby changing the size of the grabbing space 5313 at the end of the grabbing assembly 530, so as to pick up and place the goods, solving the problem that the clamping claw 531 of the existing cargo moving equipment cannot clamp and move the goods, thereby consuming a lot of manpower and material resources.

[0075] Continue to refer to Figure 5 As shown, illustratively, the grab assembly 530 includes a plurality of clamps 531, which are arranged around the outer periphery of the second mounting plate 513, and one end of each clamp 531 is hinged on the second mounting plate 513, and the plurality of clamps 531 enclose a grab space 5313. The telescopic rod of the second cylinder is hinged to the middle position of each clamp 531. During the extension and retraction process, the second cylinder can drive the clamp 531 to rotate around the second mounting plate 513, control the size of the grab space 5313, and thus realize the picking and placing of the goods.

[0076] like Figure 5 As shown, in some examples, the grabbing drive assembly 520 may also include a connecting member 522, which is in the shape of a plate and fixed to the end of the telescopic rod of the second cylinder. The connecting member 522 is respectively hinged to the middle position of each clamping jaw 531, thereby facilitating the second cylinder to drive the clamping jaw 531 to rotate.

[0077] In addition, it is understood that the arrangement of the plurality of clamps 531 can be adjusted according to the volume and shape of the cargo. For example, when the cargo is a columnar object such as an oil drum 700, the plurality of clamps 531 can be hinged on the second mounting plate 513 at even intervals, and the ends of the plurality of clamps 531 are distributed in a circumference, so that the force applied by the ends of the clamps 531 to the columnar object is consistent, thereby ensuring the stability of grabbing the columnar cargo.

[0078] Continue to refer to Figure 5 As shown, in some examples, the clamping claw 531 includes a first claw body 5311 and a second claw body 5312, the first claw body 5311 is hinged to the mounting seat 510, the second claw body 5312 is hinged to the first claw body 5311, the second cylinder is hinged to all the second claw bodies 5312, and all the second claw bodies 5312 enclose a grasping space 5313. During the process of the second cylinder extending and retracting, the distance between the end of the telescopic rod of the second cylinder and the second mounting plate 513 changes, and the relative positions of the first claw body 5311 and the second claw body 5312 change, thereby changing the size of the grasping space 5313. Specifically, when the telescopic rod of the second cylinder is retracted, the distance between the end of the telescopic rod and the second mounting plate 513 decreases, and the end of the second claw body 5312 away from the second mounting plate 513 will be retracted inward, thereby making the grasping space 5313 enclosed by the second claw body 5312 smaller, so as to grasp the goods. On the contrary, when the telescopic rod of the second cylinder is extended, the distance between the end of the telescopic rod and the second mounting plate 513 increases, and the end of the second claw body 5312 away from the second mounting plate 513 will expand outward, thereby enlarging the grasping space 5313 enclosed by the second claw body 5312 to put down the goods.

[0079] Continue to refer to Figure 5 As shown, the second claw body 5312 includes a first claw portion 531a, a second claw portion 531b and a third claw portion 531c. The first claw portion 531a, the second claw portion 531b and the third claw portion 531c can all be made of steel plates.

[0080] The first claw 531a, the second claw 531b and the third claw 531c are connected end to end in sequence, and there is an angle between the first claw 531a and the second claw 531b, and there is an angle between the second claw 531b and the third claw 531c, so that the second cylinder can change the size of the grasping space 5313 by changing the distance between the telescopic rod and the second mounting plate 513.

[0081] In addition, a hook 532 is provided at one end of the third claw 531c away from the second claw 531b, and the hook 532 protrudes from the surface of the third claw 531c, and the hook 532 extends toward the grasping space 5313, so as to facilitate grasping the outer edge of the goods. For example, when the goods are oil drums 700, the oil drums 700 have a protruding upper edge, and the hook 532 can be clamped on the upper edge, thereby facilitating grasping the oil drums 700. It is understandable that in order to adapt to different goods, the hook 532 can be set according to actual needs. Alternatively, the end of the third claw 531c away from the second claw 531b can be set as a recess, so that the protruding upper edge of the oil drum 700 is clamped in the recess.

[0082] Continue to refer to Figure 1 As shown, in an embodiment of the present application, the palletizing robot also includes an image acquisition component, which is arranged on one side of the fixed frame 100 and faces the goods to be palletized to collect information about the goods. Exemplarily, the image acquisition component can be a visual camera 600 connected to a controller. The visual camera 600 can be set on the rectangular frame 120 through a setting frame 800, and is located above the rectangular frame 120, and it can clearly collect images of the goods and obtain position information. The controller connected to the visual camera 600 controls the first direction moving component 200, the second direction moving component 300 and the third direction moving component 400 according to the position information of the goods to move the cargo grabbing mechanism 500 to a specified position to grab the goods, and complete the movement of the goods according to subsequent control.

[0083] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0084] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A cargo grabbing mechanism, characterized in that: include: Mounting seat (510); A grabbing drive assembly (520) is arranged on the mounting seat (510); The grabbing assembly (530) has a grabbing space (5313). The grabbing assembly (530) is hinged on the mounting seat (510). The grabbing drive assembly (520) is connected to the grabbing assembly (530). The grabbing drive assembly (520) selectively drives the grabbing assembly (530) to move, so that the grabbing space (5313) becomes larger or smaller to pick up and place goods.

2. The cargo grabbing mechanism according to claim 1, characterized in that: The gripping assembly (530) comprises a plurality of clamping jaws (531), wherein the plurality of clamping jaws (531) are hingedly connected to the mounting seat (510) at intervals, and the plurality of clamping jaws (531) enclose the gripping space (5313).

3. The cargo grabbing mechanism according to claim 2, characterized in that: The plurality of clamping jaws (531) are evenly spaced and hingedly connected to the mounting seat (510).

4. The cargo grabbing mechanism according to claim 2, characterized in that: The clamping claw (531) includes a first claw body (5311) and a second claw body (5312), the first claw body (5311) is hinged to the mounting seat (510), the second claw body (5312) is hinged to the first claw body (5311), the grasping drive assembly (520) is hinged to all the second claw bodies (5312) respectively, and all the second claw bodies (5312) enclose the grasping space (5313).

5. The cargo grabbing mechanism according to claim 4, characterized in that: The second claw body (5312) includes a first claw portion (531a), a second claw portion (531b) and a third claw portion (531c). The first claw portion (531a), the second claw portion (531b) and the third claw portion (531c) are connected end to end in sequence. There is an angle between the first claw portion (531a) and the second claw portion (531b), and there is an angle between the second claw portion (531b) and the third claw portion (531c).

6. The cargo grabbing mechanism according to any one of claims 1 to 5, characterized in that: The grabbing drive assembly (520) comprises a linear drive member (521) and a connecting member (522); the linear drive member (521) is arranged on the mounting seat (510); the connecting member (522) is hinged to the grabbing assembly (530); the linear drive member (521) drives the grabbing assembly (530) to move via the connecting member (522) to control the grabbing space (5313) to expand or shrink.

7. The cargo grabbing mechanism according to claim 6, characterized in that: The linear drive member is configured as a second cylinder, and a self-locking mechanism is provided at the end of the second cylinder, and the self-locking mechanism is used to lock the telescopic rod of the second cylinder.

8. A palletizing robot, characterized in that: include: Fixed frame (100); A first direction moving component (200) is arranged on the fixing frame (100); A second direction moving component (300) is arranged on the first direction moving component (200), and the first direction moving component (200) drives the second direction moving component (300) to move along the first direction; A third direction moving component (400) is arranged on the second direction moving component (300), and the second direction moving component (300) drives the third direction moving component (400) to move along the second direction. The cargo grabbing mechanism (500) according to any one of claims 1 to 7, wherein the cargo grabbing mechanism (500) is arranged on the third-direction moving component (400), and the third-direction moving component (400) drives the cargo grabbing mechanism (500) to move along the third direction.

9. The palletizing robot according to claim 8, characterized in that: The first-direction moving component (200) comprises a first driving component (210) and a first guiding component (220); the first driving component (210) is arranged on the fixing frame (100); the first guiding component (220) is arranged on the fixing frame (100) along the first direction; the second-direction moving component (300) is cooperatively arranged on the first guiding component (220); the first driving component (210) is connected to the second-direction moving component (300); and the first driving component (210) drives the second-direction moving component (300) to move along the first direction.

10. The palletizing robot according to claim 9, characterized in that: The second direction moving assembly (300) comprises a first mounting frame (310), a second driving assembly (320) and a second guiding assembly (330), wherein the first mounting frame (310) is arranged on the first guiding assembly (220), and the first driving assembly (210) is connected to the first mounting frame (310); The second driving component (320) is arranged on the first mounting frame (310), the second guiding component (330) is arranged on the first mounting frame (310) along the second direction, the third directional moving component (400) is cooperatively arranged on the second guiding component (330), the second driving component (320) is connected to the third directional moving component (400), and the second driving component (320) drives the third directional moving component (400) to move along the second direction.

11. The palletizing robot according to claim 10, characterized in that: The third directional moving component (400) comprises a second mounting frame (410), a third driving component (420) and a third guiding component (430), wherein the second mounting frame (410) is arranged on the second guiding component (330), and the second driving component (320) is connected to the second mounting frame (410); The third driving assembly (420) is arranged on the second mounting frame (410), the third guiding assembly (430) is arranged on the second mounting frame (410) along the third direction, the cargo grabbing mechanism (500) is connected to the third guiding assembly (430), and the third driving assembly (420) is connected to the cargo grabbing mechanism (500).

12. The palletizing robot according to claim 8, characterized in that: The palletizing robot further comprises an image acquisition component, which is arranged on one side of the fixing frame (100) and is used to acquire information about the goods.

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