Industrial stacking manipulator

Abstract

The utility model discloses an industrial stacking manipulator, which belongs to the technical field of stacking manipulators, and comprises an industrial manipulator body, the end part of the industrial manipulator body is connected with a connecting seat, one side of the connecting seat is provided with a connecting box, and an inner cavity of the connecting box is provided with a through type clamping component for fixedly stacking objects. A rotating motor is installed on the inner side wall of the connecting base, an output shaft of the rotating motor is connected with a rotating shaft penetrating through the connecting base, the free end of the rotating shaft is connected with the connecting box, baffles are installed on the peripheral side of the rotating shaft, cushion blocks used for limiting rotation of the rotating shaft are symmetrically welded to the inner bottom face of the connecting base, and limiting blocks are symmetrically welded to one side face of the connecting box. Limiting grooves matched with the limiting blocks in a sliding mode are formed in one side face of the connecting base in a circular array mode, and the clamping assembly comprises a driving motor, a two-way threaded rod, two moving rods and two grabbing rods. According to the industrial stacking manipulator, the problem that inverted objects are inconvenient to turn over is solved, and the labor amount of workers is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizing manipulators, and particularly relates to an industrial palletizing manipulator. Background Technique

[0002] The palletizing manipulator can neatly and automatically stack packaged goods with different external dimensions on the pallet. To make full use of the area of the pallet and the stability of the stacked materials, the robot is equipped with a material palletizing sequence and arrangement setter. However, most current palletizing manipulators lack a flipping structure. As a result, during the palletizing process, if the object is in an inverted state, it is necessary for workers to manually flip the inverted object and then palletize it through the manipulator. This operation not only reduces the efficiency of object palletizing but also increases the labor intensity of the workers.

[0003] For example, there is a palletizing manipulator with the Chinese publication number: CN219155890U, which: "includes a fixed bottom plate and a mechanical gripper. Support rods are arranged above the front and rear ends of the fixed bottom plate. A guide rod is fixedly installed inside the support rods. A moving base is arranged outside the support rods, and a driving rod is installed at the bottom of the moving base."

[0004] It can be seen that this cited patent document has the problem of needing workers to manually flip the inverted object. Content of the Utility Model

[0005] The purpose of the utility model is to provide an industrial palletizing manipulator to solve the problems raised in the background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: an industrial palletizing manipulator, including an industrial manipulator body. A connecting seat is connected to the end of the industrial manipulator body. A connecting box is arranged on one side of the connecting seat. A clamping assembly for fixedly palletizing objects is installed in the inner cavity of the connecting box and penetrates through it. A rotating motor is installed on the inner side wall of the connecting seat. The output shaft of the rotating motor is connected to a rotating shaft that penetrates the connecting seat. The free end of the rotating shaft is connected to the connecting box. A baffle is installed on the circumference of the rotating shaft. Block pads for restricting the rotation of the rotating shaft are symmetrically welded to the inner bottom surface of the connecting seat. Limiting blocks are symmetrically welded to one side surface of the connecting box. Limiting grooves that are slidably adapted to the limiting blocks are arranged in a circular array on one side surface of the connecting seat.

[0007] Preferably, the clamping assembly includes a driving motor, a bidirectional threaded rod, two moving rods, and two gripping rods. The driving motor is installed on one side surface of the connecting box.

[0008] Preferably, one end of the bidirectional threaded rod penetrates the connecting box and is connected to the output end of the driving motor. The two moving rods are both threadedly sleeved on the circumference of the bidirectional threaded rod.

[0009] Preferably, the two gripping rods are respectively connected to the two moving rods, and the end portions of the two gripping rods are respectively connected with a bottom supporting block for supporting an object.

[0010] Preferably, a limiting plate is welded to the inner side wall of the connection box, and the two moving rods are both slidably sleeved on the periphery of the limiting plate.

[0011] Preferably, a plurality of sliding grooves are equidistantly arranged on the inner top surface and the inner bottom surface of the limiting groove, and a rolling ball is arranged in the inner cavity of each sliding groove.

[0012] Preferably, the plurality of rolling balls respectively abut against the limiting blocks, and a sliding rail for moving the industrial manipulator body for palletizing is slidably arranged on the bottom surface of the industrial manipulator body.

[0013] Compared with the prior art, the technical effects and advantages of the present utility model are as follows:

[0014] For this industrial palletizing manipulator, power is provided by a rotating motor, enabling the connection box to be flipped, thereby driving the clamped object to be flipped, so that the inverted object can face upwards. Compared with the existing device that uses a gripper to palletize the object, this device can flip the inverted object, avoiding the need for manual flipping of the object first and then palletizing by the manipulator, which is both time-saving and labor-saving.

[0015] Through the arrangement of the clamping assembly, the object can be clamped, facilitating subsequent palletizing. The connected plurality of bottom supporting blocks can support the bottom of the object, reducing the situation of dropping due to unstable clamping. Moreover, bottom supporting blocks are connected to both the top end and the bottom end of the gripping rod, thereby being able to support the bottom of the flipped object and preventing it from dropping after flipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 is a structural schematic diagram of the present utility model;

[0018] Figure 2 is a structural schematic diagram of the rotating motor and the rotating shaft of the present utility model;

[0019] Figure 3 is a cross-sectional view of the connection seat of the present utility model;

[0020] Figure 4 is of the present utility modelFigure 3 Schematic diagram of the structure at A in the middle;

[0021] Figure 5 This is a schematic diagram of the structure of the connection box and the moving rod of the present utility model.

[0022] Explanation of the reference numerals in the drawings:

[0023] In the figure: 1. Industrial manipulator body; 2. Connection seat; 3. Connection box; 4. Rotating motor; 5. Rotating shaft; 6. Baffle; 7. Spacer block; 8. Limiting block; 9. Limiting groove; 10. Sliding groove; 11. Ball; 12. Driving motor; 13. Bidirectional threaded rod; 14. Moving rod; 15. Gripping rod; 16. Bottom supporting block; 17. Limiting plate. Specific implementation manner

[0024] In the following description, a large number of specific details are given to provide a more thorough understanding of the present utility model. However, it is obvious to those skilled in the art that the present utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present utility model, some well-known technical features in the art are not described.

[0025] Unless otherwise defined, the up, down, left, right, front, back, inner and outer directions involved in this article are based on the up, down, left, right, front, back, inner and outer directions in the drawings shown in the present utility model, and are hereby explained together.

[0026] The connection method can adopt existing methods such as bonding, welding, bolt connection, etc., depending on actual needs.

[0027] As Figures 1 to 5 shown, an industrial palletizing manipulator includes an industrial manipulator body 1. A slide rail for moving the industrial manipulator body 1 for palletizing is slidably provided on the bottom surface of the industrial manipulator body 1, and an electric push rod is installed on one side surface of the slide rail. The electric push rod is connected to the industrial manipulator body 1. By turning on the electric push rod, the industrial manipulator body 1 can be driven to move around the slide rail, thereby expanding the activity range. The industrial manipulator body 1 adopts the existing HBS-75 type floor-mounted mobile hard-arm type manipulator equipment.

[0028] A connecting seat 2 is connected to the end of the industrial robot manipulator body 1. A connecting box 3 is provided on one side of the connecting seat 2. A through-type clamping assembly for fixing and palletizing objects is installed in the inner cavity of the connecting box 3. The clamping assembly includes a driving motor 12, a bidirectional threaded rod 13, two moving rods 14 and two gripping rods 15. The driving motor 12 is installed on one side surface of the connecting box 3. One end of the bidirectional threaded rod 13 penetrates through the connecting box 3 and is connected to the output end of the driving motor 12. The two moving rods 14 are both threadedly sleeved on the periphery of the bidirectional threaded rod 13. The two gripping rods 15 are respectively connected to the two moving rods 14. By turning on the driving motor 12, the driving motor 12 drives the bidirectional threaded rod 13 to rotate, so that the bidirectional threaded rod 13 can drive the two moving rods 14 to move in opposite or relative directions, so that the two moving rods 14 respectively drive the gripping rods 15 to move, and the two gripping rods 15 can clamp and fix the object, facilitating subsequent palletizing operations.

[0029] A rotating motor 4 is installed on the inner side wall of the connecting seat 2. The output shaft of the rotating motor 4 is connected to a rotating shaft 5 that penetrates through the connecting seat 2. The free end of the rotating shaft 5 is connected to the connecting box 3. A baffle 6 is installed on the periphery of the rotating shaft 5. The inner bottom surface of the connecting seat 2 is symmetrically welded with pads 7 for restricting the rotation of the rotating shaft 5. If the object is in an inverted state, after fixing the object by the clamping assembly, turn on the rotating motor 4, so that the rotating motor 4 drives the rotating shaft 5 and the baffle 6 to rotate, and the baffle 6 rotates from the top surface of one of the pads 7 to the top surface of the other pad 7, ensuring that the rotating shaft 5 can rotate 180 degrees, driving the connecting box 3 to rotate 180 degrees, thereby synchronously driving the clamping assembly to rotate, enabling the inverted object to rotate 180 degrees, realizing the flipping of the object, making the front side of the object face up, and then performing the palletizing operation, avoiding the situation where the object needs to be manually flipped and then palletized by the industrial robot manipulator body 1, reducing the labor intensity of the staff.

[0030] Limiting blocks 8 are symmetrically welded on one side surface of the connecting box 3. Limiting grooves 9 that are slidably adapted to the limiting blocks 8 are arranged in a circular array on one side surface of the connecting seat 2. When the connecting box 3 rotates, it drives the limiting blocks 8 to rotate in the inner cavity of the limiting grooves 9, which can assist in supporting the rotation of the connecting box 3.

[0031] A plurality of sliding grooves 10 are equidistantly provided on the inner top surface and the inner bottom surface of the limiting groove 9. A rolling ball 11 is arranged in the inner cavity of each sliding groove 10. The plurality of rolling balls 11 respectively abut against the limiting blocks 8. When the limiting blocks 8 rotate in the inner cavity of the limiting grooves 9, the limiting blocks 8 abut against the plurality of rolling balls 11 to rotate, enabling the rolling balls 11 to assist the limiting blocks 8 to rotate, allowing the limiting blocks 8 to rotate better in the inner cavity of the limiting grooves 9, and also enabling the connecting box 3 to rotate better.

[0032] The end portions of the two gripping rods 15 are respectively connected with bottom supporting blocks 16 for supporting an object. After the object is gripped by the gripping rods 15, the bottom supporting blocks 16 can support the bottom surface of the object, reducing the situation of dropping due to unstable gripping. Moreover, the top and bottom ends of the gripping rods 15 are both connected with bottom supporting blocks 16, so as to support the bottom of the flipped object and reduce the situation of dropping.

[0033] A limiting plate 17 is welded to the inner side wall of the connecting box 3. Both of the two moving rods 14 are slidably sleeved on the periphery of the limiting plate 17. When the two moving rods 14 move, they will move on the periphery of the limiting plate 17, so that the limiting plate 17 can limit the movement of the two moving rods 14.

[0034] Working principle:

[0035] For this industrial palletizing manipulator, after the industrial manipulator body 1 is installed in the working area, the object can be clamped and fixed by the clamping assembly, and then cooperate with the industrial manipulator body 1 to move to a suitable area for palletizing. When some objects are in an inverted state, the inverted objects are clamped by the clamping assembly. At this time, the rotation motor 4 is started to drive the rotating shaft 5 and the baffle 6 to rotate, so that the baffle 6 rotates from the top surface of one cushion block 7 to the top surface of the other cushion block 7, ensuring that the rotating shaft 5 can rotate 180 degrees, which can drive the connecting box 3 to rotate 180 degrees, and then synchronously drive the clamping assembly to rotate, so that the inverted object can rotate 180 degrees to make the front of the object face upward. After the flipping is completed, it can be moved to a suitable area for palletizing. When the connecting box 3 rotates, it will drive the limiting block 8 to rotate in the inner cavity of the limiting groove 9, which can assist and support the rotation of the connecting box 3, avoiding the situation that the object needs to be flipped manually and then palletized by the industrial manipulator body 1, and reducing the labor intensity of the staff.

[0036] It should be noted that in this article, relational terms such as "one" and "two" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without more limitations. An element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0037] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. An industrial palletizing manipulator, comprising an industrial manipulator body (1), characterized in that: A connecting seat (2) is connected to the end of the industrial robot manipulator body (1). A connecting box (3) is provided on one side of the connecting seat (2). A clamping assembly for fixedly palletizing objects is installed in the inner cavity of the connecting box (3) in a penetrating manner. A rotating motor (4) is installed on the inner side wall of the connecting seat (2). The output shaft of the rotating motor (4) is connected to a rotating shaft (5) that penetrates the connecting seat (2). The free end of the rotating shaft (5) is connected to the connecting box (3). A baffle (6) is installed on the circumferential side of the rotating shaft (5). On the inner bottom surface of the connecting seat (2), cushion blocks (7) for restricting the rotation of the rotating shaft (5) are symmetrically welded. On one side surface of the connecting box (3), limiting blocks (8) are symmetrically welded. On one side surface of the connecting seat (2), limiting grooves (9) that are slidably adapted to the limiting blocks (8) are arranged in a circular array.

2. The industrial palletizing robot according to claim 1, characterized in that: The clamping assembly includes a driving motor (12), a bidirectional threaded rod (13), two moving rods (14), and two grasping rods (15). The driving motor (12) is installed on one side surface of the connecting box (3).

3. The industrial palletizing robot according to claim 2, characterized in that: One end of the bidirectional threaded rod (13) penetrates the connecting box (3) and is connected to the output end of the driving motor (12). The two moving rods (14) are both threadedly sleeved on the circumferential side of the bidirectional threaded rod (13).

4. The industrial palletizing manipulator according to claim 3, wherein: The two grasping rods (15) are respectively connected to the two moving rods (14). At the end parts of the two grasping rods (15), bottom supporting blocks (16) for supporting the object are respectively connected.

5. An industrial palletizing robot according to claim 4, characterized in that: A limiting plate (17) is welded on the inner side wall of the connecting box (3). The two moving rods (14) are both slidably sleeved on the circumferential side of the limiting plate (17).

6. The industrial palletizing robot according to claim 1, wherein: On the inner top surface and the inner bottom surface of the limiting groove (9), a plurality of sliding grooves (10) are equidistantly provided. In the inner cavity of each sliding groove (10), a rolling ball (11) is provided.

7. The industrial palletizing manipulator according to claim 6, wherein: A plurality of the rolling balls (11) respectively abut against the limiting blocks (8). A slide rail for moving the industrial robot manipulator body (1) for palletizing is slidably provided on the bottom surface of the industrial robot manipulator body (1).

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