Stacking assembly with positioning function

Abstract

The utility model belongs to the technical field of stacking equipment, and particularly relates to a stacking assembly with a positioning function, which comprises a mechanical arm used for grabbing bottles, a stacking table used for stacking the bottles and a base used for fixing the mechanical arm and the stacking table, the swing arm is vertically installed on the rotating seat, a material grabbing plate is arranged on the swing arm, the material grabbing plate is distributed on the top of the stacking table in parallel, a groove is formed in the side, facing the stacking table, of the material grabbing plate, and two oppositely-arranged clamping plates are arranged in the groove. Compared with the prior art, the bottle grabbing device has the advantages that bottles can be hung on the grabbing plate through bottle caps, and compared with the mode of directly clamping the bottle caps, the hanging and clamping mode can reduce extrusion on the bottle caps, so that the damage rate of the bottle caps is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizing equipment, and in particular relates to a palletizing component with a positioning function. Background Art

[0002] In liquid filling operations, plastic bottles are usually used as filling containers. After filling is completed, in order to organize these plastic bottles, a palletizer is needed to stack them for storage. Specifically, the bottles are picked up by a robotic arm and placed in a designated location according to a predetermined path. This process is called palletizing.

[0003] In the existing technology, when grabbing a bottle, the robot usually directly clamps the bottle cap and then lifts the entire bottle. However, this causes excessive force on the bottle cap, which makes it easy to be damaged during transportation, affecting the sealing performance and storage quality of the bottle. In addition, during the palletizing process, the positioning between the bottles is not accurate enough, which easily leads to uneven arrangement of the palletized bottles, affecting the subsequent warehousing and transportation efficiency.

[0004] The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country to those skilled in the art. Utility Model Content

[0005] In view of this, the utility model provides a palletizing assembly with a positioning function, the purpose of which is to enable the bottle to be hung on the grabbing plate through the bottle cap by the arrangement of the groove and the clamping ring. Compared with directly clamping the bottle cap, this hanging and clamping method can reduce the squeezing of the bottle cap, thereby reducing the damage rate of the bottle cap.

[0006] The technical solutions adopted in this utility model are as follows:

[0007] A palletizing assembly with a positioning function comprises a robotic arm for grabbing bottles, a palletizing platform for stacking bottles, and a base for fixing the robotic arm and the palletizing platform, wherein the robotic arm comprises a rotating seat and a swing arm, the rotating seat is connected to the base, the swing arm is vertically mounted on the rotating seat, a grabbing plate is provided on the swing arm, and the grabbing plates are distributed in parallel on the top of the palletizing platform, wherein the grabbing plate is provided with a groove on the side facing the palletizing platform, two oppositely arranged clamps are provided in the groove, and half rings are provided on the sides of the two clamps facing each other, and a telescopic rod for closing the clamps is provided between the sides of the two clamps away from each other and the inner wall of the groove, and when the two clamps are closed to each other, the two half rings form a clamping ring.

[0008] As a preferred technical solution, a clamping hole is provided on the inner wall of the groove, wherein the clamping hole and the clamping ring are parallel to each other.

[0009] Furthermore, the snap ring includes an upper snap ring and a lower snap ring that are connected in sequence, wherein the inner diameter of the upper snap ring is larger than that of the lower snap ring.

[0010] Furthermore, the upper snap ring faces one side of the clamping hole, and the lower snap ring faces the top of the stacking platform.

[0011] Furthermore, a lifting arm for lifting the grabbing plate is provided between the grabbing plate and the swing arm.

[0012] Furthermore, a rubber pad is provided on the inner wall surface of the clamping ring.

[0013] Furthermore, a plurality of strip grooves are provided on the surface of the stacking platform facing the material grabbing plate.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0015] By setting the groove and the clamping ring, the bottle can be hung on the grabbing plate by the bottle cap. Compared with directly clamping the bottle cap, this hanging and clamping method can reduce the squeezing of the bottle cap, thereby reducing the damage rate of the bottle cap. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be described by way of examples with reference to the accompanying drawings, in which:

[0017] Figure 1 This is a structural diagram of a palletizing assembly with a positioning function provided by the utility model;

[0018] Figure 2 This is a structural diagram of the material grabbing plate provided by the utility model;

[0019] Figure 3 This is a schematic diagram of the connection structure of the splint provided by the utility model;

[0020] Figure 4 It is a structural schematic diagram of the groove provided by the utility model;

[0021] Figure 5 This is a schematic diagram of the effect of the grabbing plate provided by the utility model grabbing bottles.

[0022] Robotic arm 1; palletizing platform 2; grab plate 3; lifting arm 4; groove 5; clamping plate 6; telescopic rod 7; lower retaining ring 8; upper retaining ring 9; clamping hole 10. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] Example 1

[0025] In the existing technology, when a robot grasps a bottle, it usually directly clamps the bottle cap and then lifts the entire bottle. However, this practice often causes the bottle cap to be subjected to excessive pressure, which can easily damage the bottle cap during transportation, affecting the sealing and storage quality of the bottle. In addition, during the palletizing process, due to inaccurate positioning between bottles, the bottles after palletizing may be arranged unevenly, which will further affect the subsequent warehousing and transportation efficiency.

[0026] Therefore, in order to solve the problem that the existing robot arm is easy to damage the bottle cap when grabbing the bottle, resulting in the quality of the finished product being easily damaged, and to achieve the function of reducing the pressure on the bottle cap and improving the grabbing efficiency, the utility model discloses a stacking assembly with a positioning function, Figure 1-Figure 5 , including a robotic arm 1 for grabbing bottles and a palletizing platform 2 for stacking bottles, and a base for fixing the robotic arm 1 and the palletizing platform 2, wherein the robotic arm 1 includes a rotating seat and a swing arm, the rotating seat is connected to the base, and the swing arm is vertically installed on the rotating seat. Specifically, a grabbing plate 3 is provided on the swing arm, and the grabbing plates 3 are distributed in parallel on the top of the palletizing platform 2, wherein the grabbing plate 3 is provided with a groove 5 on the side facing the palletizing platform 2, and two oppositely arranged clamping plates 6 are provided in the groove 5, and a semi-ring is provided on the side of the two clamping plates 6 facing each other, and a telescopic rod 7 for closing the clamping plates 6 is provided between the side of the two clamping plates 6 away from each other and the inner wall of the groove 5. When the two clamping plates 6 are closed to each other, the two semi-rings form a clamping ring;

[0027] When the bottle cap is clamped in the bottle 5, the two clamping plates 6 are separated from each other, and then the gripping plate 3 continues to sink until the bottle cap can enter the groove 5. Then the telescopic rod 7 is started to close the two clamping plates 6, so that the clamping ring can be arranged between the bottle cap and the bottle mouth of the bottle. In this way, the bottle can be hung on the gripping plate 3 by the bottle cap. Compared with the prior art of directly clamping the bottle cap, this hanging and clamping method can reduce the squeezing of the bottle cap, thereby reducing the damage rate of the bottle cap.

[0028] Furthermore, in order to reduce the shaking of the bottle cap entering the groove 5, a clamping hole 10 is provided on the inner wall of the groove 5, wherein the clamping hole 10 and the clamping ring are parallel to each other. Through this arrangement, when the bottle cap of the bottle enters the groove 5, the clamping hole 10 can wrap around the top and outer wall of the bottle cap. Then, when the clamping plate 6 is closed, the clamping ring can be smoothly arranged between the bottom of the bottle cap and the bottle mouth. In this way, the bottle can be smoothly hung on the gripping plate 3 while reducing the probability of bottle body shaking caused by unstable bottle cap.

[0029] Furthermore, in order to improve the fit between the snap ring and the bottle cap and bottle mouth, the upper snap ring 9 faces one side of the clamping hole 10, and the lower snap ring 8 faces the top of the stacking platform 2. The snap ring includes an upper snap ring 9 and a lower snap ring 8 that are connected in sequence, wherein the inner diameter of the upper snap ring 9 is larger than the lower snap ring 8. When the snap ring is closed under the bottle cap, the upper snap ring 9 can support and clamp the bottom of the bottle cap. At the same time, the upper snap ring 9 can also cooperate with the clamping hole 10 to wrap the bottle cap, and then the lower snap ring 8 can be clamped at the bottle mouth to avoid possible shaking of the bottle body.

[0030] In this embodiment, the telescopic rod 7 is driven by a motor or a cylinder built into the gripping plate 3 .

[0031] In this embodiment, a rubber pad is provided on the inner wall surface of the clamping ring. Through the provision of the rubber pad, when a bottle filled with liquid is hung in the clamping ring, the elasticity of the rubber pad can absorb part of the impact force, thereby preventing the bottle cap from breaking or deforming due to hard contact during the force application process, and at the same time improving the stability and safety of the grip.

[0032] Furthermore, a plurality of strip grooves are provided on the surface of the stacking platform 2 facing the gripping plate 3. These strip grooves can increase the friction force on the surface of the stacking platform 2, preventing the bottles from sliding during the stacking process, thereby improving the stability and safety of the stacking.

[0033] Example 2

[0034] Based on the first embodiment, see Figure 1 The utility model further includes a lifting arm 4 for lowering the bottles onto the palletizing platform 2. Specifically, a lifting arm 4 for lifting the grabbing plate 3 is provided between the grabbing plate 3 and the swing arm;

[0035] In this embodiment, the vertical lifting movement of the grabbing plate 3 can be realized by setting the lifting arm 4, so that after grabbing the bottle, the bottle can be accurately placed at the designated position of the stacking platform 2. The lower end of the lifting arm 4 is connected to the grabbing plate 3, and the upper end is connected to the swing arm. Through the swinging of the swing arm and the extension and retraction of the lifting arm 4, the grabbing plate 3 can be accurately positioned in the vertical direction. At the same time, the rotating seat can change the direction of the grabbing plate 3.

[0036] In addition, the lifting and lowering action of the lifting arm 4 is driven by the hydraulic or pneumatic equipment built into the grab plate 3. The hydraulic or pneumatic equipment realizes the lifting and lowering of the lifting arm 4 by controlling the extension and contraction of the hydraulic cylinder or cylinder inside the lifting arm 4. Among them, the driving equipment of the lifting arm 4 is controlled by the upper computer.

[0037] Example 3

[0038] On the basis of the second embodiment, in the prior art, the positioning between the bottles is not accurate enough, which easily leads to uneven arrangement of the bottles after palletizing, affecting the subsequent storage and transportation efficiency. At the same time, during the palletizing process, the bottles may collide with each other, resulting in problems such as rollover. In order to solve the above problems, refer to Figure 1 , the utility model can also be adapted to the existing machine vision system, which includes a camera, an image acquisition card and a PLC controller;

[0039] Specifically, a camera is installed on the side of the grab plate 3 facing the palletizing platform 2 to capture images of the bottles. The image acquisition card can then read these images and convert them into digital signals that are transmitted to the PLC controller, which finally inputs the signals into the host computer through the PLC controller.

[0040] For example, when a bottle is grabbed by the robot arm 1, the grab plate 3 will move to the top of the palletizing platform 2 under the drive of the swing arm. At this time, the camera can take an image of the bottle on the palletizing platform 2 and import it into the image acquisition card. After analyzing the image containing the bottle position, the image acquisition card will convert the image into a digital signal and transmit it to the PLC controller. The PLC controller will then transmit the signal to the host computer, so that the host computer will adjust the swing arm and the lifting arm 4 accordingly according to the input signal, ensuring that the bottle can be accurately placed on the palletizing platform 2. At the same time, it can reduce the possibility of the bottle colliding with other palletized bottles when being placed down.

[0041] In addition, by adapting to the machine vision system, the positioning effect of the gripping plate 3 when gripping the bottle can be improved, so that the bottle cap can be accurately inserted into the clamping hole 10.

[0042] Example 4

[0043] On the basis of any one of the embodiments 1 and 3, in combination with the above solution, refer to Figure 1-4 The working principle of the palletizing assembly is as follows: first, the robotic arm 1 is started under the control of the host computer, and the rotating seat drives the swing arm to rotate above the bottle position. The grab plate 3 then moves to the top of the bottle. The image recognition module of the visual sensor mechanism determines the specific position and direction of the bottle. The grab plate 3 slowly descends under the drive of the lifting arm 4 until the groove 5 is aligned with the bottle cap.

[0044] Next, the gripper plate 3 continues to descend, allowing the bottle cap to enter the groove 5. At this point, the telescopic rod 7 is activated, pushing the clamping plate 6 closed. The clamping ring surrounds the bottom of the bottle cap and the bottle mouth, ensuring stable hanging of the bottle. Because the inner diameter of the clamping ring is designed to be larger at the top and smaller at the bottom, the upper clamping ring 9 first supports the bottom of the bottle cap, reducing pressure on the bottle cap, while the lower clamping ring 8 ensures the stability of the bottle mouth, effectively reducing the risk of bottle cap damage and bottle shaking.

[0045] After the bottles are stably suspended, the lifting arm 4, driven by hydraulic or pneumatic equipment, lifts the gripper plate 3, along with the bottles, to the appropriate height. The swing arm then swings, moving the gripper plate 3 to the designated position above the palletizing platform 2. At this point, the visual sensing mechanism comes into play again, ensuring the precise placement of the bottles. A camera captures real-time images of the palletizing platform 2. After analysis by the image acquisition card, the data is fed into the PLC controller, which transmits signals to the host computer, adjusting the movement of the lifting arm 4 and the swing arm to accurately place the bottles in the designated position.

[0046] After the bottle is placed, the clamping plate 6 opens under the action of the telescopic rod 7, the grab plate 3 releases the bottle cap, and the bottle is safely placed on the palletizing table. The grab plate 3 then rises and returns to its initial position, ready for the next round of grabbing and palletizing.

[0047] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0048] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A palletizing assembly with a positioning function, comprising a robotic arm (1) for grabbing bottles, a palletizing platform (2) for stacking bottles, and a base for fixing the robotic arm (1) and the palletizing platform (2), wherein: The robot arm (1) includes a rotating seat and a swing arm, the rotating seat is connected to the base, and the swing arm is vertically installed on the rotating seat, and is characterized in that a grab plate (3) is provided on the swing arm, and the grab plate (3) is distributed in parallel on the top of the stacking platform (2), wherein the grab plate (3) is provided with a groove (5) on the side facing the stacking platform (2), and two oppositely arranged clamps (6) are provided in the groove (5), and the sides of the two clamps (6) facing each other are both provided with a half ring, and a telescopic rod (7) for closing the clamps (6) is provided between the sides of the two clamps (6) away from each other and the inner wall of the groove (5), and when the two clamps (6) are closed to each other, the two half rings form a clamping ring.

2. The palletizing assembly with positioning function according to claim 1, characterized in that: A clamping hole (10) is provided on the inner wall of the groove (5), wherein the clamping hole (10) and the clamping ring are parallel to each other.

3. The palletizing assembly with positioning function according to claim 1, characterized in that: The snap ring comprises an upper snap ring (9) and a lower snap ring (8) which are connected in sequence, wherein the inner diameter of the upper snap ring (9) is larger than that of the lower snap ring (8).

4. The palletizing assembly with positioning function according to claim 3, characterized in that: The upper clamping ring (9) faces one side of the clamping hole (10), and the lower clamping ring (8) faces the top of the stacking platform (2).

5. The palletizing assembly with positioning function according to claim 1, characterized in that: A lifting arm (4) for lifting the material grabbing plate (3) is provided between the material grabbing plate (3) and the swing arm.

6. The palletizing assembly with positioning function according to claim 1, characterized in that: The inner wall surface of the clamping ring is provided with a rubber pad.

7. The palletizing assembly with positioning function according to claim 1, characterized in that: A plurality of strip-shaped grooves are provided on the surface of the stacking platform (2) facing the material grabbing plate (3).

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