Multi-stack and multi-box type automatic palletizing robot
By combining cylinder, rotating, and suction cup components, the problem of existing palletizing robots being limited to palletizing only a single box type and pallet has been solved. This enables automatic palletizing of multiple pallet sizes and various material box types, improving material discharge efficiency and operational intelligence.
Patent Information
- Application Number
- CN202422947824.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-02
- Publication Date
- 2025-10-24
- Estimated Expiration
- 2034-12-02
AI Technical Summary
Existing palletizing robots can only palletize a single box type and a single pallet. The switching is cumbersome, which affects the palletizing rate and cannot achieve automatic palletizing of multiple specifications of pallets and multiple material box types.
By employing a combination of cylinder assemblies, rotating assemblies, palletizing gripper assemblies, and suction cup assemblies, automatic palletizing operations of multiple stack types and multiple box types are achieved. Through the cooperation of clamping cylinders, locking valves, position detection cylinders, and negative pressure detectors, automatic gripping and palletizing of multiple specifications of pallets and various types of material boxes can be realized.
It enables automatic palletizing of various pallet sizes and material box types in small spaces, simplifies the material delivery process, improves material output efficiency, and meets the enterprise's needs for generalization and intelligence.
Smart Images
Figure CN223467898U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a kind of automatic stacking robots of multi-stack type, multi-box type, and specifically relates to a kind of automatic stacking robots of multi-stack type, multi-box type. BACKGROUND
[0002] With the rapid development of industrial automation, as the automation equipment of stacking various objects to the specified position, the stacking robot has become one of the indispensable technologies in manufacturing industry at present, especially in the automatic discharge stacking after material packaging is completed.
[0003] After material is packed, boxed and completed, it is discharged and stacked by the stacking robot, and then the stacking robot in the prior art is usually completed by cylinder mechanism, and can only be stacked for single box type and single stack board type, and the switching is complicated in stacking process, and more cannot be manually switched and debugged, which greatly affects the stacking rate. SUMMARY
[0004] In view of the deficiencies in the prior art, the utility model provides a kind of automatic stacking robots of multi-stack type, multi-box type, realize the grasping of multiple specifications stack board and subsequent automatic stacking operation of multiple material box types in small site, without manually switching and debugging, simplify material delivery process, improve discharging efficiency.
[0005] In order to achieve the above purpose, the utility model provides a kind of automatic stacking robots of multi-stack type, multi-box type, including installation frame;The top of the installation frame is provided with flange lock plate, and the flange lock plate is rotatably connected with the wrist of the robot;There are several parallelly arranged horizontal plates in the middle of the bottom of the installation frame, and the horizontal plate is fixedly installed with cylinder assembly;The head of the cylinder assembly is connected with rotating assembly;The bottom corner of the installation frame is provided with stacking gripper assembly, and one end of the stacking gripper assembly is connected with rotating assembly;The two sides of the bottom of the installation frame are fixedly provided with suction disc mounting plate, and the bottom of the suction disc mounting plate is provided with suction disc assembly.
[0006] The utility model is cooperatively provided with cylinder assembly, rotating assembly, stacking gripper assembly and suction disc assembly, the cylinder assembly can drive rotating assembly to rotate and detect whether the stack board is in place by telescopic movement, and the rotating assembly can drive the stacking gripper assembly to move synchronously during rotation, so that the stacking gripper assembly can be transformed between initial state, waiting state and gripping state according to actual conditions, and the suction disc assemblies installed on both sides of the suction disc mounting plate can suck large material box and small material box, finally realizing automatic stacking operation of multiple stack boards and multiple box types, simplifying material delivery process and improving discharging efficiency.
[0007] Further, the air cylinder assembly comprises a pair of embracing air cylinders, the pair of embracing air cylinders are oppositely directed and symmetrically arranged at an angle on the horizontal plate; the embracing air cylinder comprises a cylinder body and a telescopic rod; the horizontal plate is provided with a fixing seat, and the cylinder body is fixedly installed at the end of the fixing seat; the telescopic rod is movably installed at the end of the cylinder body away from the fixing seat; the head of the telescopic rod is connected with a Y-shaped joint, and the Y-shaped joint is movably connected with a rotating assembly. The embracing air cylinder is installed at the middle of the bottom of the installation frame, and the two sides are symmetrically arranged at an angle to ensure load balance. The air is converted into mechanical energy by expansion in the embracing air cylinder, and the telescopic rod is pushed to extend and retract, and the telescopic rod is driven to rotate the rotating assembly through the Y-shaped joint, thereby realizing the pallet grabbing operation.
[0008] Further, the embracing air cylinder further comprises a plurality of embracing valves; the embracing valve is provided with three or more than three, and each two embracing valves are arranged on the cylinder body at a specific interval. By arranging a plurality of embracing valves, the on-off position of the embracing valve can control the extension length of the telescopic rod, realize multi-position control, and be compatible with pallet grabbing operations of different sizes.
[0009] Further, the air cylinder assembly further comprises a position detection air cylinder; the position detection air cylinder is arranged on the horizontal plate between the pair of embracing air cylinders; the position detection air cylinder is vertically arranged, and the head is fixedly connected with a position detection plate. The position detection plate is used to detect whether the pallet pressed by the automatic stacking robot is in place.
[0010] Further, the rotating assembly comprises a rotating shaft, a transmission plate and a limiting block; a vertical first fixing plate is fixedly installed around the installation frame, the first fixing plate is provided with a bearing seat, and the both ends of the rotating shaft pass through the bearing seat; one end of the transmission plate is hingedly connected with the Y-shaped joint, and the transmission plate away from the Y-shaped joint is sleeved on the rotating shaft; a pair of limiting blocks are sleeved on the rotating shaft and located on both sides of the end of the transmission plate. The bearing seat can fixedly install the both ends of the rotating shaft on the installation frame; the limiting blocks installed on both sides of the end of the transmission plate limit the swing amplitude of the transmission plate on the rotating shaft. Through the cooperation of the Y-shaped joint and the transmission plate, the telescopic rod can transmit the motion track to the transmission plate when the telescopic rod extends and retracts, and the transmission plate drives the rotating shaft to rotate clockwise or counterclockwise.
[0011] Further, the end of the rotating shaft outside the bearing seat is provided with a lock shaft block; a positioning ring is arranged in the lock shaft block, the positioning ring is sleeved on the rotating shaft; and one end of the stacking gripper assembly is rotationally connected to the rotating shaft between the positioning ring and the lock shaft block. The lock shaft block can fix the end of the stacking gripper assembly on the rotating shaft, the positioning ring and the lock shaft block are arranged in cooperation, and the function of fixing and positioning the stacking hook plate is achieved. When the telescopic rod is telescopically moved, the rotating shaft can be driven to rotate, and then the stacking gripper assembly is driven to move, and the stacking gripper assembly is changed between the initial state, the waiting state and the gripping state to realize the stacking operation of the pallet.
[0012] Further, the stacking gripper assembly comprises a group of stacking hook plates, and the group of stacking hook plates comprises four or more than four stacking hook plates; each stacking hook plate is arranged around the mounting frame; and the stacking hook plate away from the rotating shaft is arranged towards the bottom of the mounting frame. The mounting frame is provided with the stacking hook plates at four corners, so that the pallets can be gripped from all around, and the gripping force is stronger.
[0013] Further, the suction disc mounting plate is provided with two or more than two suction disc mounting plates, each suction disc mounting plate is fixedly provided with a second fixing plate around the suction disc mounting plate; and the second fixing plate is fixedly arranged on the mounting frame around the suction disc mounting plate.
[0014] Further, a negative pressure detection table is fixedly arranged on the upper end surface of the suction disc mounting plate. The negative pressure detection table can monitor the negative pressure value of the material box sucked by the suction disc assembly in real time, and when the negative pressure value reaches the set standard, the negative pressure detection table determines that the suction is successful, and the automatic stacking robot sends the sucked material box to a designated place, so that the material is prevented from falling off in the middle of the high-speed movement in the air due to unstable suction force, and the safety factor is improved.
[0015] Further, the suction disc assembly comprises a group of large material box suction discs and a group of small material box suction discs; the large material box suction discs are fixedly arranged on the lower end surface of the suction disc mounting plate in the transverse direction, and the small material box suction discs are fixedly arranged on the lower end surface of the suction disc mounting plate in the vertical direction. Through the cooperation of the cylinder assembly, the rotating assembly and the stacking gripper assembly, the large material box suction discs can suck large material boxes, and the small material box suction discs can suck small material boxes, so that the multi-box type gripping operation is realized.
[0016] Advantages
[0017] The automatic stacking robot realizes the gripping operation of various pallet specifications in a small space through the cooperation of the holding cylinder, the dead valve, the in-place detection cylinder, the rotating assembly and the stacking gripper assembly, and manual switching and debugging are not needed, so that the automatic stacking robot is simple and efficient. Through the cooperation of the large material box suction disc, the small material box suction disc and the negative pressure detection table, the automatic stacking robot realizes the automatic stacking operation of various material box types, the switching is intelligent, and the general and intelligent stacking application requirements of enterprises are met. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 It is a schematic view of the embodiment of the utility model;
[0019] Figures 2 to 4 It is a structural schematic view of the automatic stacking robot of multi-stack type and multi-box type;
[0020] Figure 5 It is Figure 2 It is an enlarged schematic view of A;
[0021] Figure 6 It is Figure 2 It is an enlarged schematic view of B;
[0022] Figure 7 It is Figure 3 It is an enlarged schematic view of C.
[0023] In the drawing: 1, mounting frame; 11, flange lock plate; 12, cross plate; 13, suction cup mounting plate; 14, first fixed plate; 15, second fixed plate; 2, cylinder assembly; 21, holding cylinder; 211, cylinder body; 212, telescopic rod; 213, locking valve; 214, fixed seat; 215, Y-shaped joint; 22, in-place detection cylinder; 221, in-place plate; 3, rotating assembly; 31, rotating shaft; 32, transmission plate; 33, limiting block; 34, bearing seat; 35, lock shaft block; 36, positioning ring; 4, stacking gripper assembly; 41, stacking hook plate; 5, suction cup assembly; 51, negative pressure detection table; 52, large material box suction cup; 53, small material box suction cup; 6, robot; 7, pallet fixed stand column; 71, pallet support; 8, stacking centering cylinder line; 9, side pushing cylinder line. DETAILED DESCRIPTION
[0024] The embodiments of the utility model are described in detail below, and the embodiments described below are examples and are intended to explain the utility model, and cannot be understood as the limitation of the utility model.
[0025] Please refer to Figures 1 to 7 The utility model provides a technical scheme
[0026] A multi-stack type, multi-box type automatic stacking robot, comprising
[0027] The mounting frame 1 is provided with a flange lock plate 11 at the top end, which is rotationally connected with the wrist of the robot 6; a plurality of transverse plates 12 are arranged side by side in the middle of the bottom of the mounting frame 1, and a cylinder assembly 2 is fixedly installed on the transverse plate 12; the head of the cylinder assembly 2 is connected with a rotating assembly 3; a stacking gripper assembly 4 is arranged at the bottom corner of the mounting frame 1, and one end of the stacking gripper assembly 4 is connected with the rotating assembly 3; a suction disc mounting plate 13 is fixedly arranged on both sides of the bottom of the mounting frame 1, and a suction disc assembly 5 is arranged at the bottom of the suction disc mounting plate 13.
[0028] The cylinder assembly 2, the rotating assembly 3, the stacking gripper assembly 4 and the suction disc assembly 5 are cooperatively arranged, the cylinder assembly 2 can drive the rotating assembly 3 to rotate and detect whether the automatic stacking robot is in place by telescopic movement, the rotating assembly 3 can drive the stacking gripper assembly 4 to move synchronously during the rotating process, so that the stacking gripper assembly 4 can be switched between the initial state, the waiting state and the gripping state according to the actual situation, and the suction disc assemblies 5 arranged on both sides of the suction disc mounting plate 13 can suck large material boxes and small material boxes, so that the automatic stacking operation of various stacking plates and various box types is realized, the material delivery process is simplified, and the discharging efficiency is improved.
[0029] In the embodiment, preferably, the cylinder assembly 2 comprises a pair of clamping cylinders 21, the pair of clamping cylinders 21 arranged on the transverse plate 12 face in opposite directions and are symmetrically arranged at an oblique angle; the clamping cylinder 21 comprises a cylinder body 211 and a telescopic rod 212; a fixed seat 214 is arranged on the transverse plate 12, and the end of the cylinder body 211 is fixedly installed on the fixed seat 214; the telescopic rod 212 is movably installed at the end of the cylinder body 211 away from the fixed seat 214; the head of the telescopic rod 212 is connected with a Y-shaped joint 215, and the Y-shaped joint 215 is movably connected with the rotating assembly 3. The clamping cylinder 21 is installed at the middle of the bottom of the mounting frame 1, and the two sides are symmetrically arranged at an oblique angle to ensure load balance. Air is converted into mechanical energy in the clamping cylinder 21 by expansion, and the telescopic rod 212 is driven to extend and retract, the telescopic rod 212 is driven to rotate through the Y-shaped joint 215, and then the stacking plate grabbing operation is realized.
[0030] In the embodiment, preferably, the clamping cylinder 21 further comprises a plurality of dead valves 213; the dead valves 213 are arranged at a specific interval on the cylinder body 211. By arranging a plurality of dead valves 213, the on-off position of the dead valves 213 can control the extension length of the telescopic rod 212, so that multi-position control is achieved, and different size specifications of the stacking plate grabbing operation are compatible.
[0031] In this embodiment, preferably, the cylinder assembly 2 further comprises a position detection cylinder 22; the position detection cylinder 22 is arranged on the transverse plate 12 between the pair of embracing cylinders 21; the position detection cylinder 22 is arranged vertically, and a head portion of the position detection cylinder 22 is fixedly connected with a position detection plate 221. The position detection plate 221 is used for detecting whether the automatic stacking robot is in a position.
[0032] In this embodiment, preferably, the rotating assembly 3 comprises a rotating shaft 31, a transmission plate 32 and a limiting block 33; the four peripheries of the mounting frame 1 are fixedly installed with vertical first fixed plates 14, the first fixed plates 14 are provided with bearing seats 34, and both ends of the rotating shaft 31 pass through the bearing seats 34; one end of the transmission plate 32 is hingedly connected to the Y-shaped joint 215, and the transmission plate 32 away from the Y-shaped joint 215 is sleeved on the rotating shaft 31; a pair of limiting blocks 33 are sleeved on the rotating shaft 31 and located on both sides of the end portion of the transmission plate 32. The bearing seats 34 can fixedly install both ends of the rotating shaft 31 on the mounting frame 1; the limiting blocks 33 installed on both sides of the end portion of the transmission plate 32 limit the swing range of the transmission plate 32 on the rotating shaft 31. Through the cooperation of the Y-shaped joint 215 and the transmission plate 32, the movement track of the telescopic rod 212 can be transmitted to the transmission plate 32, and the transmission plate 32 drives the rotating shaft 31 to rotate clockwise or counterclockwise.
[0033] In this embodiment, preferably, the end portion of the rotating shaft 31 outside the bearing seat 34 is provided with a shaft locking block 35; the inside of the shaft locking block 35 is provided with a positioning ring 36, the positioning ring 36 is sleeved on the rotating shaft 31; one end of the stacking gripper assembly 4 is rotatably connected to the rotating shaft 31 between the positioning ring 36 and the shaft locking block 35. The shaft locking block 35 can fix the end portion of the stacking gripper assembly 4 on the rotating shaft 31, and the positioning ring 36 and the shaft locking block 35 are cooperatively arranged to fix and position the stacking hook plate 41. The telescopic rod 212 can drive the rotating shaft 31 to rotate, and then drive the stacking gripper assembly 4 to move, so that the stacking gripper assembly 4 can realize the grasping operation of the stack plate by changing between the initial state, the waiting state and the grasping state.
[0034] In this embodiment, preferably, the stacking gripper assembly 4 comprises a group of stacking hook plates 41, and each of the stacking hook plates 41 is provided on the four peripheries of the mounting frame 1; the stacking hook plates 41 away from the rotating shaft 31 are towards the bottom of the mounting frame 1. The mounting frame 1 is provided with the stacking hook plates 41 on the four corners, so that the stack plate can be grasped from all directions, and the grasping force is stronger.
[0035] In this embodiment, preferably, the suction cup mounting plate 13 is provided with two or more, and each of the suction cup mounting plate 13 is fixedly installed with a second fixing plate 15 around the four sides; the second fixing plate 15 is fixedly installed with the four sides of the suction cup mounting plate 13 on the mounting frame 1.
[0036] In this embodiment, preferably, the suction cup mounting plate 13 is provided with two or more, and each of the suction cup mounting plate 13 is fixedly installed with a second fixing plate 15 around the four sides; the second fixing plate 15 is fixedly installed with the four sides of the suction cup mounting plate 13 on the mounting frame 1.
[0037] In this embodiment, preferably, the suction cup mounting plate 13 is provided with two or more, and each of the suction cup mounting plate 13 is fixedly installed with a second fixing plate 15 around the four sides; the second fixing plate 15 is fixedly installed with the four sides of the suction cup mounting plate 13 on the mounting frame 1.
[0038] The working process of the automatic stacking robot is as follows:
[0039] The automatic stacking robot is further provided with a pallet fixing column 7, a stacking centering cylinder line 8, and a side pushing cylinder line 9; the pallet fixing column 7 is used for fixing and storing a pallet support 71, and the side pushing cylinder line 9 is provided with a material box to be stacked.
[0040] When the automatic stacking robot grabs the pallet, the stacking gripper assembly 4 is in a waiting state, that is, the clamping cylinder 21 is in a fully retracted state, at this time the telescopic rod 212 is retracted, the stacking hook plate 41 is in an outward expansion state, the in-place detection cylinder 22 is extended, and when the in-place plate 221 contacts the pallet and is lifted to a set height, it is considered that the grabbing height of the stacking gripper assembly 4 is reached; at this time, the telescopic rod 212 can determine the extension length according to the size specification of the pallet, and after the telescopic rod 212 extends to the corresponding position, the locking valve 213 determines the air cut-off position according to the extension length of the telescopic rod 212, realizes air cut-off locking, the telescopic rod 212 extends to drive the rotating shaft 31 to rotate, the expansion amplitude of the stacking hook plate 41 is reduced, and the stacking gripper assembly 4 is switched from the waiting state to the gripping state, after the pallet is taken out from the pallet support 71 and sent to the stacking centering drum line 8, the stacking gripper assembly 4 is switched to the waiting state and waits for grabbing again. Specifically, the size specification of the pallet that can be grabbed by the stacking gripper assembly 4 can be between 900mm and 1300mm, and through the cooperation of the clamping cylinder 21, the in-place detection cylinder 22, the locking valve 213 and the rotating assembly 3, the automatic stacking robot realizes multi-pallet grabbing operation without manual switching and debugging, which is simple and efficient.
[0041] When the automatic stacking robot grabs the material box, the stacking gripper assembly 4 is in an initial state, that is, the clamping cylinder 21 is in a fully extended state, at this time the telescopic rod 212 is extended, the stacking hook plate 41 is fully retracted, the stacking gripper assembly 4 is located above the suction cup assembly 5, and does not affect the suction cup assembly 5 to suck the material box. The bottom of the suction cup mounting plate 13 is provided with a large material box suction cup 52 and a small material box suction cup 53, the robot 6 controls the stacking robot to suck the material box from the side pushing drum line 9, the negative pressure detection table 51 detects the suction negative pressure value of the suction cup assembly 5 in real time, and the stacking robot sends the successfully sucked material box to the pallet of the stacking centering drum line 8, so as to facilitate the subsequent process. Through the cooperation of the large material box suction cup 52, the small material box suction cup 53 and the negative pressure detection table 51, the stacking robot realizes multi-box suction operation without manual switching and debugging, which is simple and efficient.
Claims
1. A multi-stack, multi-box type automatic palletizing robot, characterized by: The utility model provides a kind of automatic palletizing system, including installation frame (1);The top of the installation frame (1) is provided with flange lock plate (11), the flange lock plate (11) is rotatably connected with the wrist of robot (6);Several parallelly arranged transverse plates (12) are in the bottom of the installation frame (1), and the transverse plate (12) is fixedly installed with cylinder assembly (2);The head of the cylinder assembly (2) is connected with rotating assembly (3);The bottom corner of the installation frame (1) is provided with stack gripper assembly (4), one end of the stack gripper assembly (4) is connected with rotating assembly (3);Sucking disc mounting plate (13) is fixed on the bottom of the installation frame (1) two sides, and the bottom of the sucking disc mounting plate (13) is provided with sucking disc assembly (5).
2. The multi-stack, multi-box type automatic stacking robot according to claim 1, characterized by: The cylinder assembly (2) includes a pair of holding cylinders (21), and the pair of holding cylinders (21) on the transverse plate (12) face in opposite directions and are symmetrically inclined; The holding cylinder (21) includes a cylinder body (211) and a telescopic rod (212); The transverse plate (12) is provided with a fixed seat (214), and the end of the cylinder body (211) is fixedly installed on the fixed seat (214); The cylinder body (211) is movably installed with the telescopic rod (212) at an end away from the fixed seat (214); The head of the telescopic rod (212) is connected with a Y-shaped joint (215), and the Y-shaped joint (215) is movably connected with the rotating assembly (3).
3. The multi-stack, multi-box automatic palletizing robot of claim 2, wherein: The holding cylinder (21) further includes a plurality of locking valves (213); The locking valve (213) is provided with three or more than three, and every two locking valves (213) are arranged at intervals on the cylinder body (211).
4. The multi-stack, multi-box automatic palletizing robot of claim 2, wherein: The cylinder assembly (2) further includes a position detection cylinder (22); The position detection cylinder (22) is arranged on the transverse plate (12) between the pair of holding cylinders (21); The position detection cylinder (22) is vertically arranged, and the head is fixedly connected with a position plate (221).
5. The multi-stack, multi-case automatic palletizing robot according to claim 1, wherein: The rotating assembly (3) includes a rotating shaft (31), a transmission plate (32) and a limiting block (33); The installation frame (1) is fixedly installed with a vertical first fixed plate (14) around, the first fixed plate (14) is provided with a bearing seat (34), and the both ends of the rotating shaft (31) pass through the bearing seat (34); One end of the transmission plate (32) is hinged to the Y-shaped joint (215), and the transmission plate (32) is sleeved on the rotating shaft (31) away from the Y-shaped joint (215); A pair of limiting blocks (33) are sleeved on the rotating shaft (31) and located on both sides of the end of the transmission plate (32).
6. The multi-stack, multi-box automatic palletizing robot of claim 5, wherein: The end of the rotating shaft (31) outside the bearing seat (34) is provided with a shaft locking block (35); The inner side of the shaft locking block (35) is provided with a positioning ring (36), and the positioning ring (36) is sleeved on the rotating shaft (31); One end of the stack gripper assembly (4) is rotatably connected to the rotating shaft (31) between the positioning ring (36) and the shaft locking block (35).
7. The multi-stack, multi-case automatic palletizing robot of claim 6, wherein: The stacking gripper assembly (4) comprises a set of stacking hooks (41), and the set of stacking hooks (41) is provided with four or more; each stacking hook (41) is arranged around the mounting frame (1); the stacking hook (41) away from the rotating shaft (31) end faces the bottom of the mounting frame (1).
8. The multi-stack, multi-box automatic palletizing robot of claim 1, wherein: The suction disc mounting plate (13) is provided with two or more, and a second fixing plate (15) is fixedly installed around each suction disc mounting plate (13); the second fixing plate (15) fixedly installs the four around of the suction disc mounting plate (13) on the mounting frame (1).
9. The multi-stack, multi-box automatic depiling robot according to claim 1, wherein: The negative pressure detection table (51) is fixedly installed on the upper end surface of the suction disc mounting plate (13).
10. The multi-stack, multi-box automatic palletizing robot of claim 1, wherein: The suction disc assembly (5) comprises a set of large material box suction discs (52) and a set of small material box suction discs (53); the large material box suction disc (52) is fixed horizontally on the lower end surface of the suction disc mounting plate (13), and the small material box suction disc (53) is fixed vertically on the lower end surface of the suction disc mounting plate (13).