Composite stacking robot
By designing a composite palletizing robot and using composite palletizing fixtures, automated palletizing of pallets and cartons was achieved, solving the incompatibility problem in existing technologies, reducing costs and improving the degree of automation.
Patent Information
- Application Number
- CN202423201292.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-24
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2034-12-24
AI Technical Summary
Existing palletizing robots cannot be compatible with both pallets and cartons, thus failing to achieve automated palletizing. Furthermore, they require separate pallet stacking machines, which are costly and space-consuming.
Design a composite palletizing robot, including a structure connecting a robotic arm and a clamp, including a flange fixing seat connected to the clamp, and using a cylinder and a pull arm, a hook arm and a suction cup to automate pallet and carton handling.
It enables automated palletizing of pallets and cartons, reducing costs, minimizing space requirements, and increasing automation.
Smart Images
Figure CN223722110U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical equipment technical field, especially a kind of composite stacking robot. BACKGROUND
[0002] Stacking robot is a kind of mechanical equipment for stacking, it has quite extensive application in stacking industry, using stacking robot to work not only greatly saves labor, and stacking robot operation flexible and accurate, fast and efficient, high stability;Its mechanical structure generally includes stacking manipulator and the stacking clamp connected at the end of mechanical arm.
[0003] But the stacking clamp of existing stacking robot cannot be compatible with tray and carton (i.e. product to be stacked) simultaneously, still need to design a kind of stacking tray machine separately, tray is placed separately, to place carton on it, cost is higher, and it occupies more space, otherwise it is difficult to realize automatic stacking.
[0004] Therefore, in view of the above scheme in actual production and implementation use's lack, and correct, improve, and in the spirit of seeking good spirit and concept, and by the aid of professional knowledge, experience, and in many parties, cleverness, test, special provide a kind of composite stacking robot, to solve the stacking robot of present time cannot be compatible with tray and carton simultaneously, cannot realize the problem of automatic stacking. UTILITY MODEL CONTENT
[0005] The utility model is to provide a kind of composite stacking robot, to solve the stacking robot of present time cannot be compatible with tray and carton simultaneously, cannot realize the problem of automatic stacking.
[0006] The technical scheme of the utility model is as follows:
[0007] The utility model provides a kind of composite palletizing robot, including palletizing mechanical arm, the palletizing mechanical arm includes mechanical arm base and gripper connecting head, the gripper connecting head is connected with composite palletizing gripper, the composite palletizing gripper includes flange fixed seat and gripper connecting frame, the top and bottom of flange fixed seat are connected with gripper connecting head, gripper connecting frame respectively, four support arms and two cylinder connecting seats are provided on the gripper connecting frame, cylinder is rotatably connected on the cylinder connecting seat, the top of support arm is provided with bearing with seat, two adjacent bearing with seat are provided with claw shaft, the claw shaft is provided with cylinder pull arm rotatably connected with cylinder, the both ends of claw shaft are connected with hook arm by keyless expansion sleeve respectively, the inside of the bottom of each hook arm is provided with hook tooth, the hook arm of one of corresponding pair of hook arms is rotatably connected with the hook arm of the other, the hook arm of the same claw shaft is parallelly arranged, and the hook arm on the two claw shafts cooperates to form hook arm assembly, the bottom of gripper connecting frame is connected with suction disc fixed plate, and the bottom side of suction disc fixed plate is provided with a plurality of suction discs.
[0008] As a preferred embodiment, the piston end of the cylinder is provided with a cylinder elbow joint, and the cylinder is rotatably connected with the cylinder pull arm by the cylinder elbow joint.
[0009] As a preferred embodiment, a connecting plate is arranged between the flange fixed seat and the gripper connecting frame, and the top and bottom of the connecting plate are connected with the flange fixed seat and the gripper connecting frame respectively.
[0010] As a preferred embodiment, the gripper connecting frame includes an outer frame and two parallel middle beams, and the connecting plate and the suction disc fixed plate are fixed at the top and bottom positions of the middle beams respectively.
[0011] As a preferred embodiment, the outer frame is rectangular, and each of the four end corners at the top of the outer frame is provided with a support arm.
[0012] As a preferred embodiment, a claw link is arranged between the corresponding two hook arms, and the two ends of the claw link are rotatably connected with the two hook arms respectively.
[0013] As a preferred embodiment, a claw connecting shaft is arranged on the hook arm, the two ends of the claw link are connected with fish-eye joints matched with the claw connecting shaft, and the two ends of the claw link are rotatably connected with the claw connecting shaft by the fish-eye joints.
[0014] In the corresponding pair of hook arms, the claw connecting shaft of one hook arm is arranged above the keyless expansion sleeve, the claw connecting shaft of the other hook arm is arranged below the keyless expansion sleeve, and the distance between the claw connecting shaft and the keyless expansion sleeve is the same.
[0015] As a preferred embodiment, a plurality of suction disc buffer rods are arranged on the suction disc fixing plate in the longitudinal direction, and the suction disc is arranged at the bottom of the suction disc buffer rod.
[0016] When the hook arms are in the retracted state, the bottom of the hook arms is flush with the furniture connecting frame, and the two corresponding hook arms do not interfere with each other.
[0017] In actual use, the composite palletizing robot is generally used in cooperation with a carton logistics drum line and a pallet limiting frame.
[0018] The working principle of the utility model is as follows:
[0019] The clamping pallet: the cylinder retracts, drives the cylinder elbow joint to rotate, and the cylinder elbow joint and the cylinder pull arm are fixed and connected, so they can be regarded as a whole, the cylinder drives the cylinder pull arm to rotate synchronously, the cylinder pull arm drives the hook arm through the keyless expansion tensioning sleeve, the hook arm is opened, the clamping space formed by the cooperation of the hook arms is larger than the size of the palletizing pallet, the palletizing mechanical arm is positioned at both ends of the palletizing pallet forklift hole, the cylinder is extended, the hook arm is stressed, the palletizing pallet is clamped, and the palletizing pallet is placed into the palletizing pallet limiting frame, the cylinder is extended, the hook arm is opened, and the palletizing pallet is installed in place.
[0020] Here, the opening or closing of the hook arm refers to the state of the hook arm assembly formed by the four hook arms.
[0021] Palletizing operation: the cylinder retracts, the hook arm is closed, the composite palletizing robot is positioned above the logistics drum line carton, the suction disc sucks the carton, the suction disc buffer rod plays a buffering role to protect the composite palletizing robot from being overloaded when it is pressed down, the composite palletizing robot moves to palletize on the palletizing pallet, and the process is repeated until the palletizing pallet is full, the forklift carries away the full pallet, the composite palletizing robot clamps the buffer pallet again and places it in the limiting frame, and continues to palletize, and the process is repeated.
[0022] Here, the opening or closing of the hook arm refers to the state of the hook arm assembly formed by the four hook arms.
[0023] The utility model has the advantages of:
[0024] The composite palletizing clamp can adapt to pallets and cartons, can automatically place pallets and palletize cartons, does not need to be separately provided with a stacking machine, has low cost, occupies less space, has good compatibility, has high automation degree, and well solves the problems that the current palletizing robot cannot simultaneously adapt to pallets and cartons and cannot realize automatic palletizing. BRIEF DESCRIPTION OF DRAWINGS
[0025] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.
[0026] Figure 1 Structure diagram of the embodiment of the present application Figure 1 ;
[0027] Figure 2 Structure diagram of the embodiment of the present application Figure 1 ;
[0028] Figure 3 Structure diagram of the embodiment of the present application
[0029] Figure 4 State diagram of the paper box in the present application
[0030] Figure 5 Structure diagram of the composite stacking clamp in the present application Figure 1 ;
[0031] Figure 6 Structure diagram of the composite stacking clamp in the present application Figure 2 ;
[0032] Figure 7 Diagram of the composite stacking clamp clamping the stacking tray in the present application
[0033] Figure 8 State diagram of the stacking operation in the present application
[0034] In the drawings, 1 is a clamp connecting end, 2 is a composite stacking clamp, 3 is a stacking mechanical arm, 4 is a mechanical arm base, 5 is a cylinder, 6 is a flange fixing seat, 7 is a keyless expansion sleeve, 8 is a hook claw connecting rod, 9 is a hook arm, 10 is a connecting plate, 11 is a suction cup, 12 is a cylinder elbow joint, 13 is a cylinder pull arm, 14 is a hook claw rotating shaft, 15 is a clamp connecting frame, 16 is a hook claw connecting shaft, 17 is a fish eye joint, 18 is a paper box, 19 is an outer frame, 20 is a bearing with seat, 21 is a cylinder connecting seat, 22 is a supporting arm, 23 is a suction cup buffer rod, 24 is a suction cup fixing plate, 25 is a hook tooth, 26 is a stacking tray, 27 is a paper box logistics roller line, 28 is a buffer tray group, and 29 is a stacking tray limiting frame. DETAILED DESCRIPTION
[0035] Clearly, the described embodiments are merely a part of the embodiments of the present application, but not all the embodiments.
[0036] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the direction indications also change accordingly.
[0037] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features.
[0038] In the description of the embodiments, unless otherwise explicitly specified and limited, the terms "set", "connected" and the like should be broadly understood. For example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or connected through an intermediate medium, or the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0039] Referring to Figures 1 to 7 A composite stacking robot, comprising a stacking mechanical arm 3, the stacking mechanical arm 3 comprising a mechanical arm base 4 and a clamp connecting end head 1, a composite stacking clamp 2 is connected at the clamp connecting end head 1, the composite stacking clamp 2 comprising a flange fixing seat 6 and a clamp connecting frame 15, the top and bottom of the flange fixing seat 6 are connected with the clamp connecting end head 1 and the clamp connecting frame 15 respectively, four supporting arms 22 and two cylinder connecting seats 21 are arranged on the clamp connecting frame 15, a cylinder 5 is rotatably connected on the cylinder connecting seat 21, a bearing seat 20 is arranged on the top of the supporting arm 22, a hook claw rotating shaft 14 is arranged between the adjacent two bearing seats 20, a cylinder pull arm 13 rotatably connected with the cylinder 5 is arranged on the hook claw rotating shaft 14, a hook arm 9 is connected to the two ends of the hook claw rotating shaft 14 by means of a keyless expansion sleeve 7, a hook tooth 25 is arranged on the inner side of the bottom of each hook arm 9, the hook arms 9 at the two ends of one hook claw rotating shaft 14 and the hook arms 9 at the two ends of the other hook claw rotating shaft 14 correspond to each other respectively, the hook arms 9 on the same hook claw rotating shaft 14 are arranged in parallel, the hook arms 9 on the two hook claw rotating shafts 14 cooperate to form a hook arm assembly, a suction disc fixing plate 24 is connected to the bottom of the clamp connecting frame 15, and a plurality of suction discs 11 are arranged on the bottom side of the suction disc fixing plate 24.
[0040] The piston end of the air cylinder 5 is provided with an air cylinder elbow joint 12, and the air cylinder 5 is rotationally connected with an air cylinder pull arm 13 through the air cylinder elbow joint 12.
[0041] A connecting plate 10 is arranged between the flange fixing seat 6 and the clamp connecting frame 15, and the top and bottom of the connecting plate 10 are connected with the flange fixing seat 6 and the clamp connecting frame 15 respectively.
[0042] The clamp connecting frame 15 comprises an outer frame 19 and two parallel middle cross beams, and the connecting plate 10 and the suction cup fixing seat 11 are fixed at the top and bottom positions of the middle cross beams respectively.
[0043] The outer frame 19 is rectangular, and each of the four end corners of the top of the outer frame 19 is provided with a support arm 22.
[0044] A hook claw connecting rod 8 is arranged between the two corresponding hook arms 9, and the two ends of the hook claw connecting rod 8 are rotationally connected with the two hook arms 9 respectively.
[0045] The hook arm 9 is provided with a hook claw connecting shaft 16, the two ends of the hook claw connecting rod 8 are connected with fish eye joints 17 matched with the hook claw connecting shaft 16, and the two ends of the hook claw connecting rod 8 are rotationally connected with the hook claw connecting shaft 16 through the fish eye joints 17.
[0046] The scheme is provided with two air cylinders, and there may be deviation in starting time, the transmission of the hook claw connecting rod 8 can make the actions of the two pairs of hook arms 9 consistent, and ensure that the clamping action is normally performed.
[0047] Among the corresponding pair of hook arms 9, the hook claw connecting shaft 16 of one hook arm 9 is arranged at the upper position of the keyless expansion sleeve 7, the hook claw connecting shaft 16 of the other hook arm 9 is arranged at the lower position of the keyless expansion sleeve 7, and the spacing between the hook claw connecting shaft 16 and the keyless expansion sleeve 7 is the same.
[0048] A plurality of suction cup buffer rods 23 are arranged on the suction cup fixing plate 24 in the longitudinal direction, and the suction cup 11 is arranged at the bottom of the suction cup buffer rod 23. The suction cup buffer rod 23 herein belongs to the application of conventional technology, and is provided with a spring, which provides flexibility and resilience to prevent damage caused by hard contact between the suction cup 11 and the adsorbed object.
[0049] When the hook arm 9 is in the retracted state, the bottom of the hook arm 9 is flush with the furniture connecting frame, and the corresponding two hook arms 9 do not interfere with each other. Figures 1 to 4
[0050] In actual use, the composite stacking robot is generally used in cooperation with a carton logistics drum line 27 and a stacking tray limiting frame 29, as shown in Figure 8 .
[0051] Working principle of the utility model:
[0052] Clamping pallet: the cylinder 5 retracts, drives the cylinder elbow joint 12 to rotate, the cylinder elbow joint 12 is solidly connected with the cylinder pull arm 13 and can be regarded as the whole movement, the cylinder 5 drives the cylinder pull arm 13 to rotate synchronously, the cylinder pull arm 13 is driven by the keyless expansion sleeve 7 to tighten the hook arm 9, the hook arm 9 is opened, and the clamping space formed by the cooperation of each hook arm 9 is greater than the size of the palletizing pallet, the palletizing mechanical arm 3 is positioned to the two ends of the palletizing pallet forklift hole, the cylinder 5 extends, the hook arm 9 is stressed, the palletizing pallet is clamped, and the palletizing pallet is placed into the palletizing pallet limiting frame 29, the cylinder 5 extends, the hook arm 9 is opened, and the palletizing pallet is installed in place.
[0053] Here, the opening or closing of the hook arm 9 refers to the state of the hook arm 9 assembly formed by the four hook arms 9.
[0054] Palletizing operation: the cylinder 5 retracts, the hook arm 9 is closed, the composite palletizing robot is positioned above the logistics drum line carton, the suction cup 11 sucks the carton 18, and the suction cup buffer rod 23 plays a buffering role to protect the composite palletizing robot from being overloaded when it is pressed down, the composite palletizing robot moves to palletize on the palletizing pallet 26, and the process is repeated until a stack of the palletizing pallet 26 is full, the forklift takes away the full pallet, the composite palletizing robot clamps the buffer pallet again and places it in the limiting frame, and continues to palletize, and the process is repeated.
[0055] Here, the opening or closing of the hook arm 9 refers to the state of the hook arm 9 assembly formed by the four hook arms 9.
[0056] The beneficial effects of the utility model are:
[0057] The composite palletizing clamp can adapt to pallets and cartons, can automatically place pallets and palletize cartons, does not need to separately provide a stacking machine, has low cost, occupies less space, has good compatibility, has high automation degree, and well solves the problems that the current palletizing robot cannot simultaneously adapt to pallets and cartons and cannot realize automatic palletizing.
[0058] The above only describes the preferred embodiments of the utility model, and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection range of the utility model. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary technical personnel in the art; when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection range required by the utility model.
Claims
1. A composite palletizing robot comprising a palletizing robot arm, the palletizing robot arm comprising a robot base and a gripper connection head, characterized in that, The clamp connecting end is connected with a composite stacking clamp, the composite stacking clamp comprises a flange fixing seat and a clamp connecting frame, the top and bottom of the flange fixing seat are connected with the clamp connecting end and the clamp connecting frame respectively, four supporting arms and two cylinder connecting seats are arranged on the clamp connecting frame, a cylinder is rotatably connected on the cylinder connecting seat, a bearing is arranged on the top of the supporting arm, a hook shaft is arranged between two adjacent bearings, a cylinder pull arm is rotatably connected on the hook shaft, a hook arm is connected on the two ends of the hook shaft by means of a keyless expansion sleeve, a hook tooth is arranged on the inner side of the bottom of the hook arm, the hook arms on the two ends of one hook shaft correspond to the hook arms on the two ends of another hook shaft respectively, a suction disc fixing plate is connected on the bottom of the clamp connecting frame, and a plurality of suction discs are arranged on the bottom side of the suction disc fixing plate.
2. A composite palletizing robot according to claim 1, characterized in that, The piston end of the cylinder is provided with a cylinder elbow joint, and the cylinder is rotatably connected with the cylinder pull arm by means of the cylinder elbow joint.
3. The composite palletizing robot according to claim 1, wherein, A connecting plate is arranged between the flange fixing seat and the clamp connecting frame, and the top and bottom of the connecting plate are connected with the flange fixing seat and the clamp connecting frame respectively.
4. A composite palletizing robot according to claim 3, characterized in that, The clamp connecting frame comprises an outer frame and two parallel middle beams, and the connecting plate and the suction disc fixing plate are fixed on the top and bottom of the middle beams respectively.
5. A composite palletizing robot according to claim 4, characterized in that, The outer frame is rectangular, and one supporting arm is arranged at each of the four corners of the top of the outer frame.
6. The composite palletizing robot according to claim 1, wherein, A hook connecting rod is arranged between the two corresponding hook arms, and the two ends of the hook connecting rod are rotatably connected with the two hook arms respectively.
7. A composite palletizing robot according to claim 6, characterized in that A hook connecting shaft is arranged on the hook arm, a fish eye joint matched with the hook connecting shaft is connected on the two ends of the hook connecting rod, and the two ends of the hook connecting rod are rotatably connected with the hook connecting shaft by means of the fish eye joint.
8. The composite palletizing robot according to claim 1, wherein, A plurality of suction disc buffer rods are arranged on the suction disc fixing plate in the longitudinal direction, and the suction disc is arranged on the bottom of the suction disc buffer rod.