Self-adaptive unstacking and stacking robot

Abstract

The utility model provides a self-adaptive unstacking and stacking robot, and belongs to the technical field of robots. Comprising a bottom plate, a mechanical arm is fixedly assembled on the top of the bottom plate, and a clamping assembly is arranged at the end of the mechanical arm. The driving wheel is driven by the motor to rotate, the driven wheel is driven by rotation of the driving wheel to rotate, then the connecting plate is driven to rotate, the clamping assembly can select a proper angle for clamping according to the shape of an object, and then the clamping plate is driven by the air cylinder to move transversely. The toothed plates are driven to move through displacement of the clamping plates, then the gears are driven to rotate, the toothed plates and the clamping plates in the opposite positions are driven to move through rotation of the gears, the two clamping plates are matched to clamp an object, and finally the object is moved to the designated position in cooperation with the mechanical arm. According to the device, the proper angle and size can be selected according to the size and shape of an object to clamp and transfer the object, and the application range of the device can be widened.

Description

Technical Field

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

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can perform tasks such as work or movement through programming and automatic control.

[0003] An existing adaptive depalletizing and stacking overhead rail robot can refer to the utility model patent with Chinese patent publication number CN217534611U, which discloses an adaptive depalletizing and stacking overhead rail robot, including a box body, the upper surface of which is fixedly connected to a control mechanism, the output end of the control mechanism is fixedly installed with a suction cup, the front of the box body is fixedly connected to a control panel, a carrier plate is provided above the box body, and two groups of sliding holes are opened on the upper surface of the box body.

[0004] However, during actual use of the device, it was found that the device is conducive to adjusting the height of small items, making it easier for the suction cup to suck up small items. However, the device uses a suction cup to suck up small items, and when faced with larger items, the suction cup cannot suck them up, which reduces the adaptability of the device. Therefore, this application provides an adaptive destacking and stacking robot to meet the needs. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide an adaptive palletizing and depalletizing robot to solve the problem that the existing device uses a suction cup to suck small items, but when facing larger items, the suction cup cannot suck them up, thereby reducing the adaptability of the device.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] The cam is secured to the bottom of the gear train and is adapted to move the gear train to the cam, wherein the cam is secured to the bottom of the gear train with respect to the gear train, and the cam is secured to the bottom of the gear train with respect to the gear train.

[0008] A groove is provided on one side of the clamping plate close to the gear, and a protective pad is fixedly mounted on the inner wall of the groove.

[0009] The top of the base plate is fixedly equipped with two hanging rings.

[0010] The bottom of the base plate is fixedly equipped with an anti-skid pad, which is a rubber pad.

[0011] The bottom of the connecting plate is fixedly equipped with a positioning groove, and the tooth plate is slidably connected to the positioning groove.

[0012] The number of the tooth plates and the clamping plates is two, and the two tooth plates and the clamping plates are symmetrically distributed on both sides of the gear.

[0013] Compared with the prior art, the present invention has at least the following beneficial effects:

[0014] 1. In the above scheme, the driving wheel is driven by the motor to rotate, and the rotation of the driving wheel drives the driven wheel to rotate, and then drives the connecting plate to rotate, so that the clamping assembly can select a suitable angle for clamping according to the shape of the object, and then the card plate is driven by the cylinder to perform lateral displacement, and the displacement of the card plate drives the tooth plate to move, and then drives the gear to rotate. The rotation of the gear drives the tooth plate and card plate in the opposite position to move, so that the two card plates cooperate to clamp the object, and finally cooperate with the robotic arm to move the object to the designated position. This device is conducive to selecting the appropriate angle and size to clamp and transport the object according to the size and shape of the object, which is conducive to improving the adaptability of the device.

[0015] 2. In the above scheme, by providing the groove and the protective pad, it is beneficial for the protective pad to contact the outer wall of the object first when clamping the object, thereby protecting the outer wall of the object and preventing the metal from causing wear on the outer wall of the object, while also increasing the friction between the contact surface of the clamping plate and the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and to enable one skilled in the relevant art to make and use the present disclosure.

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the adaptive depalletizing and palletizing robot;

[0018] Figure 2 This is a schematic diagram of the cross-sectional structure of the adaptive depalletizing and palletizing robot from the first perspective;

[0019] Figure 3 It is an enlarged schematic diagram of the three-dimensional structure of the clamping component;

[0020] Figure 4 for Figure 2 A in the middle is an enlarged schematic diagram of the three-dimensional structure.

[0021] [reference numerals]

[0022] 1. Base plate; 2. Robotic arm;

[0023] 3. Clamping assembly; 31. Motor; 32. Driving wheel; 33. Driven wheel; 34. Connecting plate; 35. Gear; 36. Tooth plate; 37. Clamping plate; 38. Cylinder; 39. Limiting groove;

[0024] 4. Groove; 5. Protective pad; 6. Lifting ring; 7. Anti-slip pad; 8. Positioning groove.

[0025] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments, and the adjustments or modifications made are still included in the scope of the appended claims. DETAILED DESCRIPTION

[0026] The following is a detailed description of the adaptive palletizing and depalletizing robot provided by the present invention, with reference to the accompanying drawings and specific embodiments. It should also be noted that, to provide a more detailed description, the following embodiments are listed as optimal and preferred embodiments, and those skilled in the art may also adopt other alternative implementations. Furthermore, the accompanying drawings are intended only to provide a more detailed description of the embodiments and are not intended to limit the present invention to any specific extent.

[0027] It should be noted that references in the specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. In addition, when specific features, structures, or characteristics are described in conjunction with an embodiment, it is within the knowledge of those skilled in the relevant art to implement such features, structures, or characteristics in conjunction with other embodiments (whether or not explicitly described).

[0028] In general, terms can be understood, at least in part, from their use in context. For example, depending at least in part on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending at least in part on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0029] It will be understood that the meanings of “on,” “over,” and “above” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on” something, but also includes being “on” something with intervening features or layers, and “on” or “over” means not only “on” or “above” something, but also includes being “on” or “above” something with no intervening features or layers.

[0030] Additionally, spatially relative terms such as "below," "beneath," "lower," "above," and "upper" may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as illustrated in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein should be similarly interpreted accordingly.

[0031] like Figure 1 、 Figure 3 and Figure 4 As shown, the embodiment of the present invention provides an adaptive depalletizing and stacking robot, comprising: a base plate 1, a mechanical arm 2 is fixedly mounted on the top of the base plate 1, and a clamping assembly 3 is provided at the end of the mechanical arm 2; the clamping assembly 3 includes a motor 31 provided at the end of the mechanical arm 2 to provide driving force, a driving wheel 32 is fixedly mounted at the bottom end of the output shaft of the motor 31, a driven wheel 33 is rotatably connected to the bottom end of the mechanical arm 2, the outer wall of the driving wheel 32 is meshed with the driven wheel 33, and a connecting plate 34 is fixedly mounted at the bottom of the driven wheel 33, and a gear 35 is rotatably connected to the bottom of the connecting plate 34, and the outer wall of the gear 35 is meshed with a gear The bottom of the connecting plate 34 is fixedly equipped with a cylinder 38 that provides driving force. The end of the output shaft of the cylinder 38 is fixedly connected to the card plate 37. A limiting groove 39 is provided at the bottom of the connecting plate 34. The top of the card plate 37 is slidably connected to the limiting groove 39. There are two tooth plates 36 and card plates 37, and the two tooth plates 36 and card plates 37 are symmetrically distributed on both sides of the gear 35. By limiting the number and position of the tooth plates 36 and card plates 37, it is convenient to clamp and fix the objects through the cooperation of the two card plates 37.

[0032] like Figure 3 and Figure 4As shown, a groove 4 is provided on one side of the clamping plate 37 close to the gear 35, and a protective pad 5 is fixedly mounted on the inner wall of the groove 4. By setting the groove 4 and the protective pad 5, it is beneficial for the protective pad 5 to first contact the outer wall of the object when clamping the object, thereby protecting the outer wall of the object and preventing the metal from causing wear on the outer wall of the object, while also increasing the friction between the contact surface of the clamping plate 37 and the object.

[0033] like Figure 1 and Figure 2 As shown, the top of the base plate 1 is fixedly equipped with a lifting ring 6, and there are two lifting rings 6. By providing the lifting ring 6, it is convenient to change the position of the device through the lifting ring 6, thereby improving the convenience of the device.

[0034] like Figure 1 and Figure 2 As shown, the bottom of the base plate 1 is fixedly equipped with an anti-skid pad 7, which is a rubber pad. The provision of the anti-skid pad 7 is conducive to increasing the friction between the device and the contact surface, thereby improving the stability of the device during use.

[0035] like Figure 3 As shown, the bottom of the connecting plate 34 is fixedly equipped with a positioning groove 8, and the tooth plate 36 is slidably connected to the positioning groove 8. By providing the positioning groove 8, it is beneficial to limit the movement of the tooth plate 36 and improve the stability of the tooth plate 36 when moving.

[0036] The technical solution provided by the present utility model is that when working, the motor 31 drives the driving wheel 32 to rotate, and the rotation of the driving wheel 32 drives the driven wheel 33 to rotate, and then drives the connecting plate 34 to rotate, so that the clamping assembly 3 can select a suitable angle for clamping according to the shape of the object, and then drives the clamping plate 37 to move horizontally through the cylinder 38, and the displacement of the clamping plate 37 drives the tooth plate 36 to move, and then drives the gear 35 to rotate. The rotation of the gear 35 drives the tooth plate 36 and the clamping plate 37 in the opposite position to move, so that the two clamping plates 37 cooperate to clamp the object, and finally cooperate with the robot arm 2 to move the object to the specified position;

[0037] By providing the groove 4 and the protective pad 5, the protective pad 5 is advantageously in contact with the outer wall of the object when clamping the object, thereby protecting the outer wall of the object and preventing the metal from causing wear on the outer wall of the object, while also increasing the friction between the contact surface of the clamping plate 37 and the object.

[0038] This invention encompasses any alternatives, modifications, equivalents, and solutions that do not depart from the spirit and scope of this invention. While specific details are described in detail in the preferred embodiments of this invention to provide a thorough understanding, those skilled in the art will be able to fully understand this invention without these details. Furthermore, to avoid unnecessary confusion regarding the essence of this invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0039] Those skilled in the art will understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An adaptive palletizing and unpalletizing robot, characterized in that: include: A base plate (1), a mechanical arm (2) is fixedly mounted on the top of the base plate (1), and a clamping assembly (3) is provided at the end of the mechanical arm (2); The clamping assembly (3) comprises a motor (31) mounted on the end of the mechanical arm (2), the bottom end of the output shaft of the motor (31) is fixedly equipped with a driving wheel (32), the bottom end of the end of the mechanical arm (2) is rotatably connected to a driven wheel (33), the outer wall of the driving wheel (32) is meshed with the driven wheel (33), the bottom of the driven wheel (33) is fixedly equipped with a connecting plate (34), the bottom of the connecting plate (34) is rotatably connected to a gear (35), the outer wall of the gear (35) is meshed with a toothed plate (36), the end of the toothed plate (36) away from the gear (35) is fixedly equipped with a card plate (37), the bottom of the connecting plate (34) is fixedly equipped with a cylinder (38), the end of the output shaft of the cylinder (38) is fixedly connected to the card plate (37), the bottom of the connecting plate (34) is provided with a limiting groove (39), and the top of the card plate (37) is slidably connected to the limiting groove (39).

2. The adaptive depalletizing and palletizing robot according to claim 1, characterized in that: A groove (4) is provided on one side of the clamping plate (37) close to the gear (35), and a protective pad (5) is fixedly mounted on the inner wall of the groove (4).

3. The adaptive depalletizing and palletizing robot according to claim 1, characterized in that: The top of the base plate (1) is fixedly equipped with a hanging ring (6), and the number of the hanging rings (6) is two.

4. The adaptive depalletizing and palletizing robot according to claim 1, characterized in that: The bottom of the base plate (1) is fixedly equipped with an anti-skid pad (7), and the anti-skid pad (7) is a rubber pad.

5. The adaptive depalletizing and palletizing robot according to claim 1, characterized in that: The bottom of the connecting plate (34) is fixedly equipped with a positioning groove (8), and the tooth plate (36) is slidably connected to the positioning groove (8).

6. The adaptive depalletizing and palletizing robot according to claim 1, characterized in that: The number of the tooth plates (36) and the clamping plates (37) is two, and the two tooth plates (36) and the clamping plates (37) are symmetrically distributed on both sides of the gear (35).

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