Full-automatic manipulator stacking machine for barreled water

Abstract

According to the full-automatic mechanical arm stacking machine for the barreled water, the bracket grabbing assembly with the movable clamping jaws on the left side and the right side and the product fixing assembly with the step-shaped bent plates which are sequentially and oppositely arranged in pairs are arranged on the clamp installed on the mechanical arm of the stacking machine in a matched mode; the movable clamping jaw does opening and closing movement within a limited range along with opening and closing of the first air cylinder fixed below the top plate through the first push-pull assembly, so that the movable clamping jaw clamps a bracket to be carried when closed and loosens the bracket when opened, the whole bracket and all products arranged on the bracket can be carried at a time, and the stacking efficiency is improved. The two opposite bent plates do opening and closing movement within a limited range along with opening and closing of an output shaft of a second air cylinder fixedly connected to the upper portion of the top plate through a second push-pull assembly, so that the bottled products on the bracket are positioned or loosened row by row when the bent plates are opened, and bottle heads of the bottled products on the bracket are clamped row by row when the bent plates are closed; therefore, the device is stable and does not shake in the carrying process.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizers, in particular to a fully automatic manipulator palletizer for bottled water. Background Art

[0002] At present, after filling, large-bottle beverage products are arranged in a matrix on the bracket. Due to the equipment layout or site constraints, they need to be transferred before subsequent packaging. Most of the palletizing devices on the market can only grab a single bare bottle or a single row of bare bottles for transfer and then stacking them on another bracket. This operation is inefficient, and the bottle stacking process on the same bracket is prone to collision with the already stacked products. The fully automatic robotic palletizer for bottled water is used to transport the bracket and the bottled beverage products arranged on the bracket together to reduce the workload of handling and stacking. When grabbing, the robotic palletizer needs to consider both the grabbing of the bracket and the stability of the bottled beverage products on the bracket during the handling process. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the existing technology and provide a fully automatic manipulator palletizer for bottled water, which improves the palletizing efficiency and the stability of the product during the handling process by cooperating with a bracket grabbing component fixedly installed on the manipulator clamp and a product fixing component.

[0004] The purpose of this utility model is achieved through the following technical solutions:

[0005] A fully automatic robotic palletizer for bottled water comprises a base, a robotic arm fixed to the top of the base, and a clamp connected to the robotic arm, the clamp comprising a top plate fixedly mounted on the robotic arm, a bracket grabbing assembly mounted below the top plate, and a product fixing assembly, the bracket grabbing assembly comprising two movable claws fixedly connected to the left and right sides of the top plate, the movable claws being connected to a first push-pull assembly, the first push-pull assembly being connected to a first cylinder fixed below the top plate, so that the movable claws are opened and closed within a limited range as the first cylinder is opened and closed through the first push-pull assembly, the product fixing assembly comprising a plurality of groups of stepped bent plates arranged in pairs facing each other, connected sequentially from front to back below the top plate, a second push-pull assembly being connected between each group of bent plates, the second push-pull assembly being connected to the output shaft of a second cylinder correspondingly fixed above the top plate, so that each group of bent plates is opened and closed within a limited range as the second cylinder is opened and closed through the second push-pull assembly, the robotic arm and the first and second cylinders are all electrically connected to a control device.

[0006] In a preferred embodiment, the bending plate is composed of a first vertical plate, a first horizontal plate, a second vertical plate, and a second horizontal plate connected in sequence. The top plate is fixedly provided with a connecting column corresponding to each group of bending plates. An inverted trumpet-shaped component is provided between the connecting column facing each group of bending plates. The trumpet mouth of the inverted trumpet-shaped component abuts against the two second vertical plates. Four connecting plates are evenly spaced from left to right between the first horizontal plates of each group of facing bending plates. The connecting plates are fixedly connected to the top plate, and the connecting plates are movably mounted on the two first horizontal plates by screws.

[0007] The second push-pull assembly includes two groups of push-pull frames and a second connecting shaft that are inclined toward each other and connected to the first vertical plate of each group of the bent plates. The push-pull frame includes a branch and a connecting part. The connecting part is fixedly connected to the first vertical plate by bolts. One end of the branch is fixed to the connecting part, and the other end is close to the end surface and is provided with an elliptical through hole along the length direction of the branch. The second connecting shaft passes horizontally through the elliptical through hole.

[0008] The output shaft of the second cylinder extends vertically from the bottom of the top plate toward between the first vertical plates of the bent plate. The second connecting shaft is vertically connected and fixed to the upper part of the output shaft. A spring is sleeved on the lower part of the output shaft.

[0009] There are four groups of bending plates facing each other, and each group of bending plates is provided with two second cylinders on the left and right. Correspondingly, each group of bending plates is also provided with two sets of second push-pull components on the left and right, which are respectively connected to the output shafts of the second cylinders.

[0010] A strip having the same shape and length as the second transverse plate is fixed to the second transverse plate toward the top plate. The strip is thicker than the second transverse plate and is fixedly connected to the second vertical plate.

[0011] In a preferred embodiment, the movable claw includes a fixed arm and a movable arm, the fixed arm is fixedly connected to the top plate by a bolt, and the two movable arms on the same side are fixedly connected by a connecting rod.

[0012] The first push-pull assembly consists of a screw rod connected to the first cylinder and two push-pull plates. One end of the two push-pull plates is fixedly connected to the first connecting shaft, and the other end is movably sleeved on the connecting rod. The screw rod is connected to the middle part of the first connecting shaft. As the screw rod connected to the first cylinder pushes and pulls the first connecting shaft, the push-pull plate drives the movable arm connected to the connecting rod to open and close.

[0013] The first end of the movable arm is connected to the fixed arm, and the second ends of the two movable arms on the same side are fixedly connected to a long strip baffle. The long strip baffles connected to the movable arms on the left and right sides of the top plate are provided with relative claw plates at the position where the movable arms are connected.

[0014] In a preferred embodiment, the manipulator is equipped with a servo motor group to control the manipulator to rotate 360 ​​degrees and move up and down, and the servo motor group is electrically connected to the control device.

[0015] The palletizer of the utility model is provided with a bracket grabbing assembly with movable claws on the left and right sides of the clamp installed on the palletizer manipulator, and a product fixing assembly with stepped bent plates arranged in pairs facing each other in front and back, the movable claws are opened and closed within a limited range by a first push-pull assembly as the first cylinder fixed below the top plate is opened and closed, so that the movable claws clamp the bracket to be transported and support it from both sides of the bracket when closed, and release the bracket when opened, so that the entire bracket and all the products arranged on it can be transported at one time, thereby improving the palletizing efficiency; the two opposing bent plates are opened and closed within a limited range as the output shaft of the second cylinder fixed above the top plate is opened and closed by a second push-pull assembly, so that the bent plates position the bottled products arranged in a matrix on the bracket in row or release the entire row of bottled products when opened, and clamp the bottle heads of the bottled products arranged in a matrix on the bracket in row when closed, thereby fixing the bottled products on the bracket and making them stable and not shaking during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic diagram of a fully automatic robotic palletizer for bottled water;

[0018] Figure 2 is a three-dimensional schematic diagram of the fixture;

[0019] Figure 3 This is the front view of the fixture;

[0020] Figure 4 A side view of the fixture. DETAILED DESCRIPTION

[0021] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "first," "second," "perpendicular," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended solely for the purpose of describing specific embodiments and are not intended to limit this invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] See Figures 1 to 4 An embodiment of a fully automatic manipulator palletizer for bottled water, the palletizer includes a base 1, a manipulator 2 fixed on the top of the base 1, a fixture fixedly connected to the manipulator 2, the fixture includes a top plate 31 fixedly installed on the manipulator 2, a bracket grabbing assembly and a product fixing assembly installed below the top plate 31, the bracket grabbing assembly includes two movable claws 32 fixedly connected to the left and right sides of the top plate, the movable claws 32 are connected to the first push-pull assembly, and the first push-pull assembly is connected to the first cylinder 33 fixed below the top plate 31, so that the movable claws 32 pass The first push-pull assembly opens and closes with the first cylinder 33 and performs opening and closing movements within a limited range. The product fixing assembly includes multiple groups of stepped bending plates 34 arranged in pairs facing each other and connected in sequence from front to back below the top plate 31. The second push-pull assembly is connected between each group of bending plates. The second push-pull assembly is connected to the output shaft of the second cylinder 35 fixed correspondingly above the top plate, so that each group of bending plates 34 performs opening and closing movements within a limited range as the second cylinder 35 opens and closes through the second push-pull assembly. The manipulator 2 and the first cylinder 33 and the second cylinder 35 are all electrically connected to the control device.

[0025] In this embodiment, the fixture installed on the palletizer robot 2 is configured to have a tray grabbing assembly with movable claws 32 on the left and right sides and a product fixing assembly with multiple groups of stepped bending plates 34 arranged in pairs in front and back, which cooperate with each other. The movable claws 32 are opened and closed within a limited range by a first push-pull assembly along with a first cylinder 33 fixed below the top plate. When the movable claws 32 are closed, they clamp the tray to be transported and support it from both sides of the tray. When they are opened, they release the tray. In this way, the entire tray and all the products arranged on it can be transported at one time, thereby improving the palletizing efficiency. The two opposing bending plates 34 are opened and closed within a limited range along with the output shaft of a second cylinder 35 fixed above the top plate by a second push-pull assembly. When the bending plates 34 are opened, they position the bottled products arranged in a matrix on the tray in rows or release the entire row of bottled products. When they are closed, they clamp the bottle heads of the bottled products arranged in a matrix on the tray in rows, fixing the bottled products on the tray so that they are stable and do not shake during transportation.

[0026] In a specific embodiment of this embodiment, the bending plates 34 are composed of a first vertical plate 341, a first horizontal plate 342, a second vertical plate 343, and a second horizontal plate 344, which are connected in sequence. A connecting post 311 is fixedly provided on the top plate 31 corresponding to each group of the bending plates 34. An inverted trumpet-shaped component is provided between the connecting posts 311 facing each group of the bending plates 34. The trumpet-shaped component's mouth abuts against the two second vertical plates 343. Four connecting plates 345 are evenly spaced from left to right between the first horizontal plates 342 of each group of facing bending plates 34. The connecting plates 345 are fixedly connected to the top plate 31 and are movably mounted on the two first horizontal plates 342 via screws. In this way, the connecting plates 345 evenly secure the bending plates 34 below the top plate 31 under load. The connecting plates 345 are not completely fastened to the bending plates 34, allowing the bending plates 34 to open and close within a certain range when pushed and pulled by the second push-pull assembly.

[0027] The second push-pull assembly comprises two sets of obliquely facing push-pull frames 346 and a second connecting shaft 347 connected to the first vertical plates 341 of each set of bent plates 34. The push-pull frames 346 consist of a branch 3461 and a connecting portion 3462. The connecting portion 3462 is bolted to the first vertical plates 341. One end of the branch 3461 is fixed to the connecting portion 3462, and the other end, near the end surface, is provided with an elliptical through-hole 3463 along the length of the branch 3461. The second connecting shaft 347 passes horizontally through the elliptical through-hole 3463. The output shaft of the second cylinder 35 extends vertically from the bottom of the top plate 31 toward the space between the first vertical plates 341 of the bent plates. The second connecting shaft 347 is vertically connected and fixed to the upper portion of the output shaft, and a spring is sleeved on the lower portion of the output shaft. In this way, when the output shaft of the second cylinder 35 is pressed downward, the branches 3461 of the push-pull frame 346 apply force to the first vertical plates 341 on both sides within a certain range, thereby realizing the opening and closing movement of the bending plate 34 within a limited range as the second cylinder 35 opens and closes.

[0028] In this embodiment, there are four groups of bending plates 34 facing each other, and each group of bending plates 34 is provided with two second cylinders 35 on the left and right. Correspondingly, each group of bending plates 34 is also provided with two sets of second push-pull components on the left and right, which are respectively connected to the output shafts of the second cylinders 35.

[0029] In a specific implementation scheme of this embodiment, a slat 348 having the same length as the second transverse plate 344 is fixed to the second transverse plate 344 toward the top plate 31. The slat 348 is thicker than the second transverse plate 344 and is fixedly connected to the second vertical plate 343. In this way, during the opening and closing process of the bending plate 34, when the bending plate 34 fixes the bottle head, the slat 348 can increase the clamping area between the bending plate 34 and the bottle head, thereby further ensuring that the product lifted by the robot arm will not tilt or fall due to shaking during the product handling process.

[0030] In a specific implementation of this embodiment, the movable claw 32 includes a fixed arm 321 and a movable arm 322 . The fixed arm 321 is fixedly connected to the top plate 31 by a bolt, and the two movable arms 322 on the same side are fixedly connected by a connecting rod 323 .

[0031] The first push-pull assembly is a screw connected to the first cylinder 33 and two push-pull plates 324. One end of the two push-pull plates 324 is fixedly connected to the first connecting shaft 325, and the other end is movably sleeved on the connecting rod 323. The screw is connected to the middle part of the second connecting shaft 325. As the screw connected to the first cylinder pushes and pulls the first connecting shaft 325, the push-pull plate 324 drives the movable arm 322 connected to the connecting rod 323 to open and close.

[0032] The first end of the movable arm 322 is connected to the fixed arm 321, and the second ends of the two movable arms 322 on the same side are fixedly connected to the long strip baffle 326. The long strip baffle 326 on the movable arms 322 on the left and right sides of the top plate 31 is provided with relative claw plates 327 at the position where the movable arms 322 are connected.

[0033] In this specific embodiment, one end of the movable arm 322 is connected to the fixed arm 321, so that the movable arm 322 can move within a certain range based on the fixed arm 321. This method not only ensures the flexibility of the movable arm 322, but also provides stable support for the movable arm through the fixed arm 321. A long strip baffle 326 is fixedly connected between the second ends of the two movable arms 322 on the same side, which enhances the connection strength between the movable arms 322 on the same side and makes the entire structure more stable. At the same time, the long strip baffle 326 can also play a supporting and protective role, preventing the objects to be picked up from directly impacting the movable arm during stacking. It can also provide a certain side barrier when lifting and transporting objects, improving the stability of the objects during transportation and preventing them from falling.

[0034] In a specific implementation scheme of this embodiment, the manipulator 2 is equipped with a servo motor group to control the manipulator 2 to rotate 360 ​​degrees and move up and down, and the servo motor group is electrically connected to the control device.

[0035] The above-described embodiments merely represent several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present utility model patent shall be determined by the appended claims.

Claims

1. A fully automatic manipulator palletizer for bottled water, characterized in that: The lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting of the lifting 2. The fully automatic manipulator palletizer for bottled water according to claim 1, characterized in that: The bent plate is composed of a first vertical plate, a first horizontal plate, a second vertical plate, and a second horizontal plate connected in sequence. The top plate is fixedly provided with a connecting column corresponding to each group of bent plates. An inverted trumpet-shaped component is provided between the connecting column facing each group of bent plates. The trumpet mouth of the inverted trumpet-shaped component abuts against the two second vertical plates. Four connecting plates are evenly spaced from left to right between the first horizontal plates of each group of facing bent plates. The connecting plates are fixedly connected to the top plate and are movably mounted on the two first horizontal plates by screws.

3. The fully automatic manipulator palletizer for bottled water according to claim 2 is characterized in that: The second push-pull assembly includes two groups of push-pull frames and a second connecting shaft that are inclined toward each other and connected to the first vertical plate of each group of the bent plates. The push-pull frame includes a branch and a connecting part. The connecting part is fixedly connected to the first vertical plate by bolts. One end of the branch is fixed to the connecting part, and the other end is close to the end surface and is provided with an elliptical through hole along the length direction of the branch. The second connecting shaft passes horizontally through the elliptical through hole.

4. The fully automatic manipulator palletizer for bottled water according to claim 3 is characterized in that: The output shaft of the second cylinder extends vertically from the bottom of the top plate toward between the first vertical plates of the bent plate. The second connecting shaft is vertically connected and fixed to the upper part of the output shaft. A spring is sleeved on the lower part of the output shaft.

5. The fully automatic manipulator palletizer for bottled water according to claim 4 is characterized in that: There are four groups of bending plates facing each other, and each group of bending plates is provided with two second cylinders on the left and right. Correspondingly, each group of bending plates is also provided with two sets of second push-pull components on the left and right, which are respectively connected to the output shafts of the second cylinders.

6. The fully automatic manipulator palletizer for bottled water according to claim 5, characterized in that: A strip having the same shape and length as the second transverse plate is fixed to the second transverse plate toward the top plate. The strip is thicker than the second transverse plate and is fixedly connected to the second vertical plate.

7. The fully automatic manipulator palletizer for bottled water according to claim 1 is characterized in that: The movable claw includes a fixed arm and a movable arm. The fixed arm is fixedly connected to the top plate through a bolt, and the two movable arms on the same side are fixedly connected through a connecting rod.

8. The fully automatic manipulator palletizer for bottled water according to claim 7 is characterized in that: The first push-pull assembly consists of a screw rod connected to the first cylinder and two push-pull plates. One end of the two push-pull plates is fixedly connected to the first connecting shaft, and the other end is movably sleeved on the connecting rod. The screw rod is connected to the middle part of the first connecting shaft. As the screw rod connected to the first cylinder pushes and pulls the first connecting shaft, the push-pull plate drives the movable arm connected to the connecting rod to open and close.

9. The fully automatic manipulator palletizer for bottled water according to claim 8, characterized in that: The first end of the movable arm is connected to the fixed arm, and the second ends of the two movable arms on the same side are fixedly connected to a long strip baffle. The long strip baffles connected to the movable arms on the left and right sides of the top plate are provided with relative claw plates at the position where the movable arms are connected.

10. The fully automatic manipulator palletizer for bottled water according to claim 1, characterized in that: The manipulator is equipped with a servo motor group to control the 360-degree rotation and up and down movement of the manipulator, and the servo motor group is electrically connected to the control device.

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