Robot stacking equipment
Through the rectangular frame plate and a motor-driven screw transmission system, combined with pressure sensors and controllers, the problem that existing palletizing robots cannot realize orderly arrangement of goods, realize accurate stacking and rowing arrangement of goods, improve the number and range of stacking, and meet practical application needs.
Patent Information
- Application Number
- CN202422166622.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2025-09-02
- Estimated Expiration
- 2034-09-04
AI Technical Summary
The existing palletizing robots can only stack goods vertically, and cannot arrange the goods in an orderly manner, resulting in the need to be transported and separated in time after palletizing before they can be continued, which limits the quantity and scope of the stacking and cannot meet the actual needs.
The screw transmission system driven by rectangular frame plates, screw rods, and motors is used, combined with pressure sensors and controllers, to realize longitudinal palletization and row arrangement of goods. The motor controls the rotation of the screw rod and the movement of the carrier block, and achieves precise placement of goods with clamping components.
The orderly vertical stacking and row arrangement of goods has been realized, the quantity and range of stacking have been improved, the actual application needs have been met, and the production efficiency has been improved.
Smart Images
Figure CN223291864U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a robot palletizing device. Background Art
[0002] Industrial robots have a certain degree of automation and can rely on their own control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Palletizing robots are a type of industrial robot and are widely used in the palletizing industry, providing higher production efficiency for modern production.
[0003] When in use, common palletizing robots can generally only stack and stack goods vertically, and are unable to arrange the stacked goods in rows in an orderly manner. As a result, the palletized goods need to be transported away from the palletizing robot in a timely manner before they can continue to be stacked. As a result, the palletizing robot can stack a small number of goods and a small range of goods that can be stacked, which cannot meet the needs of actual applications. Utility Model Content
[0004] The purpose of the present application is to provide a robotic palletizing device to solve the problem raised in the above-mentioned background technology that the existing palletizing robots can generally only stack goods in the vertical direction when in use, and cannot arrange the stacked goods in rows in an orderly manner, resulting in the need to transport the stacked goods away from the palletizing robot in a timely manner before continuing to stack the goods. As a result, the palletizing robot can only stack a small number of goods and a small range of goods that can be stacked, which cannot meet actual application needs.
[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a robot palletizing device, comprising a rectangular frame plate, wherein a screw rod is rotatably connected between the left and right inner walls of the rectangular frame plate through a bearing, a slider is threadedly connected to the screw rod, and the slider slides with the inner wall of the rectangular frame plate, a first motor is provided on the left side of the rectangular frame plate, the screw rod is driven by the first motor, a conveying assembly is provided on the rectangular frame plate, a palletizing assembly is provided on the slider, the conveying assembly is used for conveying goods to the position where the palletizing assembly is located, the palletizing assembly is used for palletizing goods, a fixing rod is fixed on the slider, and the fixing rod is fixed on the slider. A carrier block is fixed to the other end of the fixed rod, and a first pressure sensor is provided on the right side of the carrier block. Two fixed blocks are fixed to the back of the rectangular frame plate, and a sliding rod is fixed between the two fixed blocks. The outer sliding sleeve of the sliding rod is connected with a plurality of slip rings, and the slip rings are threaded with bolts, and the bolts are used to lock the sliding rod and the slip rings. A second motor is provided on the slip ring, and a carrier plate is fixed to the output shaft end of the second motor. A second pressure sensor is provided on the right side of the carrier plate, and the carrier plate is arranged parallel to the carrier block. A controller is provided on the conveying assembly, and the first pressure sensor and the second pressure sensor are both electrically connected to the controller.
[0006] Furthermore, the conveying assembly includes a U-shaped seat, the rectangular frame plate, the controller and the two fixed blocks are all arranged on the U-shaped seat, two transmission rollers are rotatably connected between the front and rear inner walls of the U-shaped seat through bearings, and a conveyor belt is arranged on the outside of the two transmission rollers. A third motor is arranged on the U-shaped seat, and one of the transmission rollers is driven by the third motor.
[0007] Furthermore, a support plate is fixed between the front and rear inner walls of the U-shaped seat, and the support plate is located inside the conveyor belt.
[0008] Furthermore, the screw rod and the sliding rod are arranged in parallel, and the plurality of second pressure sensors are arranged linearly from left to right, and the second pressure sensors and the carrier block are located on the same horizontal axis.
[0009] Furthermore, the stacking assembly includes a fixed plate, which is fixedly mounted on a slider, a fourth motor is provided at the bottom of the fixed plate, a support plate is provided above the fixed plate, the support plate is driven by the fourth motor, a first electric push rod is provided on the top of the support plate, a connecting plate is fixedly mounted on the output end of the first electric push rod, two guide rods are slidably plugged on the connecting plate, a clamping assembly is provided at the bottom ends of the two guide rods, a limiting block is fixed at the top end of the guide rod, a third pressure sensor is provided at the bottom of the connecting plate, the third pressure sensor is located above the clamping assembly, and the third pressure sensor is electrically connected to the controller, and the clamping assembly is used for clamping goods.
[0010] Furthermore, the clamping assembly includes a U-shaped plate, which is fixedly mounted on the guide rod. A second electric push rod is provided on the front and rear sides of the U-shaped plate. A connecting block is fixedly mounted on the output end of the second electric push rod. A splint is provided on the other side of the connecting block, and a fourth pressure sensor is provided between the connecting block and the splint. The fourth pressure sensor is electrically connected to the controller.
[0011] In summary, the technical effects and advantages of the utility model are:
[0012] 1. In the present invention, the first motor can be used to drive the screw to rotate, so that the screw drives the stacking assembly to move intermittently along the extension direction of the screw in a screw transmission manner. After the goods transported by the conveying assembly contact the first pressure sensor, they are blocked by the carrier block and cannot continue to move forward. The controller cooperates with the first pressure sensor to control the stacking assembly to clamp the goods and complete the longitudinal stacking process. After stacking to the specified height, the controller will control the first motor to drive the carrier block and the stacking assembly to move forward. After the carrier block touches several second pressure sensors arranged linearly in sequence, the stacking assembly will stop intermittently, completing the stacking operation of goods arranged in rows, which better meets the actual needs of goods stacking.
[0013] 2. In the present invention, the height of the clamping assembly can be adjusted by using the first electric push rod until the clamping assembly touches the third pressure sensor. The controller controls the clamping assembly to clamp the goods and, under the traction of the first electric push rod, drives the goods to be lifted. The support plate driven by the fourth motor cooperates with the first electric push rod and the goods to rotate, so that the goods can be stacked in the designated position. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description.
[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of a robot palletizing device in an embodiment of the present application;
[0016] Figure 2 This is a positional relationship diagram of the conveying assembly, the fixing rod, the carrier block, and the first pressure sensor in the embodiment of the present application;
[0017] Figure 3 A diagram showing the positional relationship among the sliding rod, the slip ring, the carrier plate, and the second pressure sensor in an embodiment of the present application;
[0018] Figure 4 This is a partial structural diagram of the conveying assembly in an embodiment of the present application;
[0019] Figure 5 This is a schematic diagram of the overall structure of the palletizing assembly in an embodiment of the present application;
[0020] Figure 6 This is a partial structural diagram of the palletizing assembly in an embodiment of the present application.
[0021] In the figure: 1. rectangular frame plate; 2. screw rod; 3. slider; 4. first motor; 5. fixed rod; 6. carrier block; 7. first pressure sensor; 8. fixed block; 9. slide rod; 10. slip ring; 11. bolt; 12. carrier plate; 13. second motor; 14. second pressure sensor; 15. controller; 16. U-shaped seat; 17. transmission roller; 18. conveyor belt; 19. third motor; 20. support plate; 21. fixed plate; 22. fourth motor; 23. support plate; 24. first electric push rod; 25. connecting plate; 26. guide rod; 27. limit block; 28. third pressure sensor; 29. U-shaped plate; 30. second electric push rod; 31. connecting block; 32. splint; 33. fourth pressure sensor. DETAILED DESCRIPTION
[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.
[0023] Example: Reference Figure 1-6The robot palletizing device shown in the figure includes a rectangular frame plate 1, a screw rod 2 is rotatably connected between the left and right inner walls of the rectangular frame plate 1 through a bearing, a slider 3 is threadedly connected to the screw rod 2, and the slider 3 slides with the inner wall of the rectangular frame plate 1, a first motor 4 is provided on the left side of the rectangular frame plate 1, the screw rod 2 is driven by the first motor 4, a conveying component is provided on the rectangular frame plate 1, a palletizing component is provided on the slider 3, the conveying component is used to transport goods to the location of the palletizing component, the palletizing component is used for palletizing goods, and a fixing rod is fixed on the slider 3 5. The other end of the fixed rod 5 is fixed with a carrier block 6. A first pressure sensor 7 is provided on the right side of the carrier block 6. Two fixed blocks 8 are fixed to the back of the rectangular frame plate 1. A slide rod 9 is fixed between the two fixed blocks 8. The screw rod 2 is arranged in parallel with the slide rod 9. A plurality of slip rings 10 are slidably sleeved on the outside of the slide rod 9. Bolts 11 are threadedly connected on the slip ring 10. The bolts 11 are used to lock the slide rod 9 and the slip ring 10. A second motor 13 is provided on the slip ring 10. A carrier plate 12 is fixed to the output shaft end of the second motor 13. A second pressure sensor is provided on the right side of the carrier plate 12. 14, and the carrier plate 12 is arranged parallel to the carrier block 6, and multiple second pressure sensors 14 are arranged linearly from left to right, and the second pressure sensors 14 and the carrier block 6 are on the same horizontal axis, so that the carrier block 6 and the second pressure sensors 14 can accurately contact each other. A controller 15 is provided on the conveying assembly, and the first pressure sensor 7 and the second pressure sensor 14 are both electrically connected to the controller 15. By moving the position of the slip ring 10 along the slide bar 9, the spacing of the multiple second pressure sensors 14 can be adjusted, so that the spacing between two adjacent second pressure sensors 14 can be appropriately adjusted according to the different sizes of the goods, so that the goods can be arranged more compactly and neatly in the process of stacking in rows. When the carrier block 6 touches the second pressure sensor 14, the controller 15 controls the first motor 4 to stop running and at the same time controls the second motor 13 to drive the second pressure sensor 14 to rotate, so that the touched second pressure sensor 14 will not affect the next movement of the stacking assembly. The bolt 11 can be tightened with a wrench to lock the slide bar 9 and the slip ring 10, so that the position of the second pressure sensor 14 is temporarily fixed;
[0024] The first motor 4 can be used to drive the screw rod 2 to rotate, so that the screw rod 2 drives the stacking assembly to move intermittently along the extension direction of the screw rod 2 in a screw rod transmission manner. After the goods transported by the conveying assembly contact the first pressure sensor 7, they are blocked by the load block 6 and cannot continue to move forward. The controller 15 cooperates with the first pressure sensor 7 to control the stacking assembly to clamp the goods and complete the longitudinal stacking process. After stacking to the specified height, the controller 15 will control the first motor 4 to drive the load block 6 and the stacking assembly to move. After the load block 6 touches the multiple second pressure sensors 14 arranged linearly in turn, the stacking assembly will stop intermittently to complete the stacking operation of the goods arranged in rows.
[0025] The conveying assembly includes a U-shaped seat 16, a rectangular frame plate 1, a controller 15 and two fixed blocks 8 are all arranged on the U-shaped seat 16, two transmission rollers 17 are rotatably connected between the front and rear inner walls of the U-shaped seat 16 through bearings, and a conveyor belt 18 is arranged outside the two transmission rollers 17. A third motor 19 is provided on the U-shaped seat 16, and one of the transmission rollers 17 is driven by the third motor 19. A support plate 20 is fixed between the front and rear inner walls of the U-shaped seat 16, and the support plate 20 is located inside the conveyor belt 18;
[0026] The third motor 19 is used to pull the conveyor belt 18 to transport the goods, so that the goods can be close to the first pressure sensor 7, thereby completing the palletizing operation with the help of the palletizing assembly. The use of the pallet 20 can support the goods transported by the conveyor belt 18, making the goods more stable during transportation.
[0027] Among them, the palletizing assembly includes a fixed plate 21, which is fixedly mounted on the slider 3, a fourth motor 22 is provided at the bottom of the fixed plate 21, a support plate 23 is provided above the fixed plate 21, and the support plate 23 is driven by the fourth motor 22, a first electric push rod 24 is provided on the top of the support plate 23, and a connecting plate 25 is fixedly mounted on the output end of the first electric push rod 24, two guide rods 26 are slidably plugged on the connecting plate 25, and a clamping assembly is provided at the bottom end of the two guide rods 26, and a limit block 27 is fixed at the top end of the guide rod 26, and a third pressure sensor 28 is provided at the bottom of the connecting plate 25, and the third pressure sensor 28 is located above the clamping assembly, and the third pressure sensor 28 is electrically connected to the controller 15, and the clamping assembly is used for clamping goods;
[0028] The height of the clamping assembly can be adjusted using the first electric push rod 24 until the clamping assembly contacts the third pressure sensor 28. The controller 15 then controls the clamping assembly to clamp the cargo and, under the traction of the first electric push rod 24, lift the cargo. The support plate 23 driven by the fourth motor 22 rotates in coordination with the first electric push rod 24 and the cargo, allowing the cargo to be stacked in the designated position.
[0029] The clamping assembly includes a U-shaped plate 29, which is fixedly mounted on the guide rod 26. A second electric push rod 30 is provided on the front and rear sides of the U-shaped plate 29. A connecting block 31 is fixedly mounted on the output end of the second electric push rod 30. A clamping plate 32 is provided on the other side of the connecting block 31. A fourth pressure sensor 33 is provided between the connecting block 31 and the clamping plate 32. The fourth pressure sensor 33 is electrically connected to the controller 15.
[0030] The two second electric push rods 30 can push the two clamping plates 32 closer to each other, so that the two clamping plates 32 can firmly clamp the goods under the coordinated control of the controller 15 and the fourth pressure sensor 33, so as to facilitate the subsequent stacking of the goods.
[0031] Working principle of this utility model:
[0032] During use, the spacing of the multiple slip rings 10 is adjusted along the slide bar 9 according to the size of the goods, so that the spacing between the multiple second pressure sensors 14 is slightly larger than the width of the goods, and the spacing between two adjacent second pressure sensors 14 is kept consistent, and the third motor 19 is controlled to pull the conveyor belt 18 to transport the goods;
[0033] When the cargo touches the first pressure sensor 7, the controller 15 receives the corresponding signal and can control the first electric push rod 24 to extend, pushing the U-shaped plate 29 down. When the U-shaped plate 29 touches the cargo and cannot move down further, the connecting plate 25 will continue to move down along the two guide rods 26 until the third pressure sensor 28 touches the U-shaped plate 29. The controller 15 determines that the U-shaped plate 29 is in contact with the cargo and controls the two second electric push rods 30 to extend, so that the two second electric push rods 30 push the two splints 32 closer to each other until the two fourth pressure sensors 33 press the pressure The signal is transmitted to the controller 15, and the controller 15 determines that the two clamps 32 firmly clamp the goods. Then, the controller 15 controls the first electric push rod 24 to retract, so that the goods move up. When the goods reach the highest point, the fourth motor 22 drives the goods to rotate 180 degrees. Then, the first electric push rod 24 pushes the goods down until the third pressure sensor 28 touches the U-shaped plate 29 again. Then, the clamping assembly puts down the goods and returns to the starting position, waiting for the next piece of goods to touch the first pressure sensor 7. This is repeated, and the goods can be stacked in order in the longitudinal direction.
[0034] When the number of goods stacked in the longitudinal direction reaches the set value, the controller 15 will control the first motor 4 to operate, so that the first motor 4 drives the screw rod 2 to rotate, and the screw rod 2 drives the stacking assembly to move closer to the first second pressure sensor 14 arranged linearly in a screw transmission manner until the carrier block 6 touches the second pressure sensor 14. After receiving the relevant signal, the controller 15 will control the first motor 4 to stop running, and the controller 15 will synchronously control the second motor 13 to drive the second pressure sensor 14 to flip 180°, so that the second pressure sensor 14 no longer blocks its next movement after contacting the carrier block 6. After that, the stacking of goods can continue until the goods are stacked in rows.
[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A robotic palletizing device comprising a rectangular frame plate (1), characterized in that: A screw rod (2) is rotatably connected between the left and right inner walls of the rectangular frame plate (1) via a bearing, a slider (3) is threadedly connected to the screw rod (2), and the slider (3) is slidably matched with the inner wall of the rectangular frame plate (1). A first motor (4) is provided on the left side of the rectangular frame plate (1), and the screw rod (2) is driven by the first motor (4). A conveying assembly is provided on the rectangular frame plate (1), and a stacking assembly is provided on the slider (3). The conveying assembly is used to transport goods to the location of the stacking assembly, and the stacking assembly is used for stacking goods. A fixing rod (5) is fixed on the slider (3), and a carrier block (6) is fixed to the other end of the fixing rod (5). A first pressure sensor (7) is provided on the right side of the carrier block (6). Two fixed blocks (8) are fixed on the back of the shaped frame plate (1), a slide bar (9) is fixed between the two fixed blocks (8), the outer sliding sleeve of the slide bar (9) is connected with a plurality of slip rings (10), the slip rings (10) are threadedly connected with bolts (11), the bolts (11) are used to lock the slide bar (9) and the slip rings (10), a second motor (13) is provided on the slip ring (10), the output shaft end of the second motor (13) is fixed with a carrier plate (12), a second pressure sensor (14) is provided on the right side of the carrier plate (12), and the carrier plate (12) is arranged parallel to the carrier block (6), a controller (15) is provided on the conveying assembly, and the first pressure sensor (7) and the second pressure sensor (14) are both electrically connected to the controller (15).
2. The robot palletizing device according to claim 1, characterized in that: The conveying assembly includes a U-shaped seat (16), the rectangular frame plate (1), the controller (15) and the two fixed blocks (8) are all arranged on the U-shaped seat (16), two transmission rollers (17) are rotatably connected between the front and rear inner walls of the U-shaped seat (16) through bearings, and a conveyor belt (18) is arranged outside the two transmission rollers (17). A third motor (19) is arranged on the U-shaped seat (16), and one of the transmission rollers (17) is driven by the third motor (19).
3. The robot palletizing device according to claim 2, characterized in that: A support plate (20) is fixed between the front and rear inner walls of the U-shaped seat (16), and the support plate (20) is located inside the conveyor belt (18).
4. The robot palletizing device according to claim 1, characterized in that: The screw rod (2) and the slide rod (9) are arranged in parallel, and the plurality of second pressure sensors (14) are arranged linearly from left to right, and the second pressure sensors (14) and the carrier block (6) are located on the same horizontal axis.
5. The robot palletizing device according to claim 1, characterized in that: The stacking assembly includes a fixed plate (21), which is fixedly mounted on the slider (3), a fourth motor (22) is provided at the bottom of the fixed plate (21), a support plate (23) is provided above the fixed plate (21), and the support plate (23) is driven by the fourth motor (22), a first electric push rod (24) is provided at the top of the support plate (23), a connecting plate (25) is fixedly mounted on the output end of the first electric push rod (24), two guide rods (26) are slidably plugged on the connecting plate (25), a clamping assembly is provided at the bottom ends of the two guide rods (26), a limit block (27) is fixed at the top end of the guide rod (26), a third pressure sensor (28) is provided at the bottom of the connecting plate (25), the third pressure sensor (28) is located above the clamping assembly, and the third pressure sensor (28) is electrically connected to the controller (15), and the clamping assembly is used for clamping goods.
6. The robot palletizing device according to claim 5, characterized in that: The clamping assembly includes a U-shaped plate (29), the U-shaped plate (29) is fixedly mounted on the guide rod (26), a second electric push rod (30) is provided on the front and rear sides of the U-shaped plate (29), a connecting block (31) is fixedly mounted on the output end of the second electric push rod (30), a clamping plate (32) is provided on the other side of the connecting block (31), and a fourth pressure sensor (33) is provided between the connecting block (31) and the clamping plate (32), and the fourth pressure sensor (33) is electrically connected to the controller (15).