Stacking manipulator

Abstract

The utility model relates to a stacking mechanical arm which comprises a clamping transmission mechanism and a clamping assembly, and the clamping assembly comprises two oppositely-arranged clamping plate sets. The clamping plate group comprises a plurality of clamping plates; unfolding assemblies are arranged between the clamping transmission mechanism and the two clamping plate sets respectively, and each unfolding assembly comprises a foundation frame connected with the clamping transmission mechanism; the sliding rod is fixedly assembled on the foundation frame; the two-way screw rod is fixedly assembled on the foundation frame and is parallel to the sliding rod; the connecting blocks are connected with the clamping plates and are arranged on the sliding rod in a sliding and sleeving manner; the two adjusting blocks are arranged on the two threaded parts of the two-way screw in a sleeving mode, and the two adjusting blocks are connected with the two connecting blocks, located at the two ends, of the connecting blocks correspondingly; the motor is fixedly arranged on the foundation frame, and the output end of the motor is connected with the two-way screw; the connecting assembly is connected with the clamping plates and used for sequentially connecting the clamping plates. The unfolding assembly can flexibly adjust the clamping range, cargoes of different sizes can be carried, and the cargoes are prevented from being damaged.

Description

Technical Field

[0001] This utility model belongs to the field of palletizing machine technology, specifically relating to a palletizing robot. Background Technology

[0002] Palletizing robots are widely used in modern industrial production, mainly for handling and palletizing goods, greatly improving production efficiency. In actual operation, the clamping performance of the palletizing robot directly affects the quality and safety of goods handling.

[0003] Currently, the clamping range of existing palletizing robots is usually fixed. When dealing with large boxes, if the clamping area is too small, the boxes can easily be damaged during clamping. For example, in logistics warehouses, when handling large appliance boxes, the clamps may not be able to fully accommodate the size of the boxes, and the concentrated clamping force in a small area can cause excessive pressure on the boxes, leading to dents, cracks, and other damage. This not only affects the appearance of the goods but may also damage the contents.

[0004] Furthermore, because the clamping range of the clamps is fixed, goods are prone to slipping due to the center of gravity when gripping them. It is difficult to maintain a stable center of gravity when handling larger items. When palletizing robots grip large boxes, if the clamps cannot be properly adjusted to accommodate the weight distribution of the goods, the goods may wobble and slip during handling. This not only reduces work efficiency but also poses safety hazards, potentially causing injury to surrounding personnel and equipment. Utility Model Content

[0005] The purpose of this invention is to provide a palletizing robot to solve the problems existing in the background art.

[0006] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model is as follows:

[0007] A palletizing robot includes a clamping transmission mechanism and a clamping assembly, wherein the clamping assembly includes two clamping plate groups arranged opposite to each other;

[0008] The clamping plate assembly includes multiple clamping plates;

[0009] An unfolding assembly is provided between the clamping transmission mechanism and the two clamping plate groups, and the unfolding assembly includes:

[0010] The base frame is connected to the clamping and transmission mechanism;

[0011] The slide bar is fixedly assembled on the base frame;

[0012] A bidirectional screw is fixedly mounted on the base frame and parallel to the slide bar;

[0013] Multiple connecting blocks, each of which is connected to a clamping plate, and each of which is slidably sleeved on the slide rod;

[0014] Two adjusting blocks are respectively fitted onto the two threaded portions of the bidirectional screw, and the two adjusting blocks are respectively connected to the two connecting blocks located at both ends of each connecting block;

[0015] The motor is fixedly mounted on the base frame, and the output end of the motor is connected to the bidirectional screw.

[0016] A connecting component is connected to each of the clamps, for connecting the clamps sequentially.

[0017] Optionally, the clamping plate is provided with a sliding groove;

[0018] The connection component includes:

[0019] Multiple first hinge blocks, and each first hinge block is slidably assembled inside a respective slide groove;

[0020] Multiple second hinge blocks are respectively assembled on each of the clamping plates and correspond to the first hinge block;

[0021] Multiple connecting rods are provided, with two connecting rods between each pair of adjacent clamping plates, and the two ends of the two connecting rods are respectively connected to the first hinge block and the second hinge block on the two adjacent clamping plates; so that the two connecting rods are staggered and hinged to each other at the staggered position.

[0022] Optionally, the slide is a T-shaped groove, and the first hinge block matches the slide.

[0023] Optionally, the slide bar is a circular rod, and a limiting groove is formed on the slide bar, and the connecting block matches the limiting groove.

[0024] Optionally, anti-slip grooves are provided on the opposite side of each clamp.

[0025] Optionally, a protective baffle matching the motor is mounted on the base frame.

[0026] The beneficial effects of this utility model are:

[0027] This palletizing robot features an unfolding assembly and a motor-driven bidirectional screw, which causes the adjusting block to slide the clamping plate along the slide bar, thus adjusting the clamping range. Compared to traditional robots with a fixed clamping range, it can adapt to goods of different sizes, preventing damage due to improper clamping. For example, when handling large appliance boxes, it can expand the clamping range, evenly distribute the clamping force, prevent the boxes from denting or cracking, and protect the goods and their contents. Attached Figure Description

[0028] This utility model can be further illustrated by the non-limiting embodiments given in the accompanying drawings.

[0029] Figure 1 This is a schematic diagram of the structure of a palletizing robot according to the present invention. Figure 1 ;

[0030] Figure 2 This is a schematic diagram of the structure of a palletizing robot according to the present invention. Figure 2 ;

[0031] Figure 3 This is a partial structural diagram of a palletizing robot according to the present invention. Figure 1 ;

[0032] Figure 4 This is a partial structural diagram of a palletizing robot according to the present invention. Figure 2 ;

[0033] The symbols for the main components are explained below:

[0034] Clamping transmission mechanism 1, clamping assembly 2, clamping plate 21, slide groove 22, anti-slip groove 23, unfolding assembly 3, base frame 31, slide rod 32, bidirectional screw 33, connecting block 34, adjusting block 35, motor 36, limiting groove 37, protective baffle 38, first hinge block 41, second hinge block 42, connecting rod 43. Detailed Implementation

[0035] To enable those skilled in the art to better understand this utility model, the technical solution of this utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] like Figure 1-4 As shown, a palletizing robot includes a clamping transmission mechanism 1 and a clamping assembly 2. The clamping assembly 2 includes two clamping plate groups arranged opposite each other. Each clamping plate group includes multiple clamping plates 21. An unfolding assembly 3 is provided between the clamping transmission mechanism 1 and the two clamping plate groups.

[0037] The unfolding component 3 includes: a base frame 31, which is connected to the clamping transmission mechanism 1; a slide bar 32, which is fixedly mounted on the base frame 31; and a bidirectional screw 33, which is fixedly mounted on the base frame 31 and parallel to the slide bar 32.

[0038] Multiple connecting blocks 34 are connected to each clamping plate 21, and each connecting block 34 is slidably sleeved on the slide rod 32; two adjusting blocks 35 are respectively sleeved on the two threaded parts of the bidirectional screw 33, and the two adjusting blocks 35 are respectively connected to the two connecting blocks 34 located at both ends of each connecting block 34; a motor 36 is fixedly mounted on the base frame 31, and the output end of the motor 36 is connected to the bidirectional screw 33.

[0039] The connecting components are connected to each clamp 21 respectively, and are used to connect each clamp 21 sequentially.

[0040] The clamping transmission mechanism 1 is part of the palletizing robot. Its main function is to provide power and control for the clamping action throughout the palletizing process. It is a key component for controlling the clamping assembly 2 to clamp goods. It can control the opening and closing degree of the clamping assembly 2 according to actual needs to adapt to goods of different sizes and shapes. It can be connected and cooperated with the robotic arm. It is existing technology and will not be described in detail here.

[0041] Clamping plate 21 is the part that comes into direct contact with the goods. Multiple clamping plates 21 form a clamping plate group, and the goods are clamped by the relative movement of the clamping plate group.

[0042] The base frame 31 serves as a connection and support. It is connected to the clamping transmission mechanism 1 and can be driven by the clamping transmission mechanism 1 to perform clamping actions, providing a stable installation base for the entire unfolding assembly 3 and ensuring that other components can work normally. The slide bar 32 provides a sliding track for the connecting block 34 and is also a load-bearing component for the connecting block 34 and the clamping plate 21, ensuring the stability and accuracy of the connecting block 34 during movement, and allowing each clamping plate 21 to move along a fixed direction.

[0043] The special thread design of the bidirectional screw 33 allows the two adjusting blocks 35 to move in opposite directions or away from each other under the drive of the motor 36, thereby causing the clamping plate 21 to unfold or retract, and adjusting the clamping range. The connecting block 34 serves as the connecting component between the clamping plate 21 and the slide rod 32. It connects the clamping plate 21 and the slide rod 32 together, allowing the clamping plate 21 to slide on the slide rod 32, and also transmitting the movement of the adjusting block 35 to the clamping plate 21.

[0044] An adjusting block 35 is fitted onto the threaded portion of the bidirectional screw 33. When the bidirectional screw 33 rotates, the adjusting block 35 moves along the bidirectional screw 33, and through its connection with the connecting block 34, drives the individual clamping plates 21 to move, thus enabling the clamping plates 21 to unfold or retract. A motor 36 provides power for the rotation of the bidirectional screw 33. By controlling the forward and reverse rotation and the speed of the motor 36, the degree of unfolding and retraction of the clamping plates 21 can be precisely controlled. A connecting assembly connects the individual clamping plates 21 sequentially, ensuring the coordination and consistency of the clamping plates 21 during movement, allowing them to unfold or retract synchronously.

[0045] The clamping transmission mechanism 1, clamping assembly 2, and unfolding assembly 3 are combined to form a highly efficient, stable, and flexible palletizing robot clamping system. This system can automatically adjust the clamping range according to the size of the goods, achieving stable clamping of goods of different sizes and improving the versatility and adaptability of the palletizing robot.

[0046] Specifically, the clamping plate 21 is provided with a sliding groove 22; the connecting assembly includes: a plurality of first hinge blocks 41, and each first hinge block 41 is slidably assembled inside each sliding groove 22; a plurality of second hinge blocks 42, each second hinge block 42 is respectively assembled on each clamping plate 21 and corresponds to the first hinge block 41; a plurality of connecting rods 43, two connecting rods 43 are provided between each two adjacent clamping plates 21, and the two ends of the two connecting rods 43 are respectively connected to the first hinge block 41 and the second hinge block 42 on the two adjacent clamping plates 21; so that the two connecting rods 43 are staggered and hinged to each other at the staggered position.

[0047] The first hinge block 41 is slidably assembled inside the slide groove 22 and is a key component of the connecting rod 43 and the clamping plate 21. The first hinge block 41 can slide within the slide groove 22, and when the clamping plate 21 is unfolded or retracted, it can move with the movement of the clamping plate 21 to ensure that the connection between the connecting rod 43 and the clamping plate 21 is always effective.

[0048] The second hinge block 42 is fixedly assembled on the clamping plate 21, corresponding to the first hinge block 41. It provides another connection point for the connecting rod 43, enabling the connecting rod 43 to form a stable connection structure with the clamping plate 21.

[0049] Two interlocking connecting rods 43 are provided between two adjacent clamping plates 21, and are hinged to each other at the intersection. The main function of the connecting rods 43 is to connect the clamping plates 21 together, and to transmit force through their own rotation and movement when the clamping plates 21 are unfolded or retracted, so as to ensure that the clamping plates 21 can move synchronously. When the clamping plates 21 are unfolded, the connecting rods 43 rotate as the first hinge block 41 slides in the slide groove 22, so that the distance between the clamping plates 21 gradually increases; when the clamping plates 21 are retracted, the connecting rods 43 rotate in the opposite direction, so that the distance between the clamping plates 21 gradually decreases.

[0050] During operation, when the motor 36 of the unfolding assembly 3 drives the bidirectional screw 33 to rotate, causing the adjusting block 35 to move the clamping plates 21 to unfold along the slide rod 32 to both sides, the first hinge block 41 will slide within the slide groove 22 because the adjacent clamping plates 21 are connected by connecting rods 43. As the first hinge block 41 slides, the interlocking connecting rods 43 will rotate around their hinge points, thereby pushing the adjacent clamping plates 21 to unfold in sequence, realizing the unfolding action of the entire clamping plate assembly. Conversely, when the motor 36 reverses and the adjusting block 35 moves the clamping plates 21 to retract towards the center, the first hinge block 41 slides in the opposite direction within the slide groove 22, and the connecting rods 43 rotate in the opposite direction, causing each clamping plate 21 to retract in sequence.

[0051] The connecting components and the sliding grooves 22 on the clamping plates 21 work together to make the entire clamping assembly 2 more stable and flexible during the unfolding and retraction process. When it is necessary to clamp goods of different sizes, each clamping plate 21 can unfold or retract synchronously according to the drive of the unfolding assembly 3, ensuring that the clamping range can adapt to the size of the goods.

[0052] Furthermore, the connection of the first hinge block 41, the second hinge block 42, and the connecting rod 43 allows the synchronous unfolding state of each clamping plate 21 to be at any position within the maximum stroke, which can better match the two states of size between the folded state and the fully unfolded state, thereby adapting to more clamping operation needs.

[0053] Furthermore, in an optional embodiment, the connecting component can be a connecting rope, which is connected to each clamp 21 in sequence so that each clamp 21 is connected in sequence.

[0054] The connecting rope has a simple structure. Compared to complex connecting assemblies composed of multiple hinge blocks and connecting rods, the manufacturing and installation of connecting ropes are more convenient, reducing production and maintenance costs. However, it cannot achieve synchronous deployment, and the connection method of connecting ropes is not as stable as rigid connecting rods when transmitting force. It also cannot allow the various clamping plates 21 to form a further integrated connection effect. For palletizing operations that handle lighter goods and have relatively low requirements for clamping precision, connecting rope assemblies are more suitable.

[0055] Furthermore, the slide 22 is a T-shaped groove, and the first hinge block 41 matches the slide 22.

[0056] The T-slot and the matching first hinge block 41 effectively prevent the first hinge block 41 from detaching from the slide 22. During the operation of the palletizing robot, the clamping plate 21 frequently expands and contracts. If a conventional straight slot were used, the first hinge block 41 might detach due to uneven force or vibration, affecting the clamping function. The special structure of the T-slot ensures that the first hinge block 41 is firmly restrained within the slot, guaranteeing a stable connection between the connecting components and the clamping plate 21, thus ensuring the reliability of the equipment operation.

[0057] Furthermore, the slide bar 32 is a circular rod, and a limiting groove 37 is provided on the slide bar 32, and the connecting block 34 matches the limiting groove 37.

[0058] The circular rod design significantly improves the smoothness of the sliding of the connecting block 34 on the slide bar 32. The circular cross-section makes the contact between the connecting block 34 and the slide bar 32 more uniform, and the friction force is evenly distributed, reducing jamming and resistance during the sliding process. When the motor 36 drives the bidirectional screw 33 to drive the adjusting block 35, thereby moving the connecting block 34 along the slide bar 32 to realize the unfolding or retracting operation of the clamping plate 21, the circular rod ensures that the connecting block 34 moves smoothly and quickly, improving the efficiency of the palletizing robot in adjusting the clamping range. For example, when frequently performing clamping operations of goods of different sizes, the circular slide bar allows the connecting block 34 to respond quickly, so that the clamping plate 21 can be adjusted to the appropriate position in time, improving the overall efficiency of the palletizing operation.

[0059] The limiting groove 37 matches the connecting block 34, and a portion of the connecting block 34 extends into the limiting groove 37, effectively preventing the connecting block 34 from rotating on the slide bar 32. When the palletizing robot is working, the connecting block 34 needs to move precisely along the axial direction of the slide bar 32. If the connecting block 34 rotates, the movement of the clamping plate 21 will become uncontrollable, making it impossible to accurately adjust the clamping range and affecting the clamping effect of the goods. The existence of the limiting groove 37 restricts the rotational freedom of the connecting block 34, ensuring that it can only slide linearly on the slide bar 32. Even when the clamping plate 21 is subjected to a large external force impact, the connecting block 34 will not rotate due to uneven force, ensuring that the clamping plate 21 can always stably clamp the goods, enhancing the reliability of the palletizing robot's operation.

[0060] Furthermore, anti-slip grooves 23 are provided on the opposite side of each clamping plate 21.

[0061] The primary function of the anti-slip groove 23 is to increase the friction between the clamping plate 21 and the goods. During palletizing operations, goods vary in weight and shape, and some smooth-surfaced goods are prone to slipping when clamped. The presence of the anti-slip groove 23 roughens the contact surface between the clamping plate and the goods, increasing the friction between them. For example, when handling smooth-surfaced plastic boxes, the anti-slip groove 23 effectively prevents the boxes from slipping during clamping, ensuring the safety of the goods during handling and avoiding damage and accidents caused by falling goods.

[0062] Furthermore, the base frame 31 is equipped with a protective baffle 38 that matches the motor 36.

[0063] The most direct function of the protective baffle 38 is to protect the motor 36. In the complex environment of palletizing operations, the motor 36 is susceptible to external factors. For example, during handling, goods may accidentally collide with the base frame 31. Without the protective baffle, the impact force from the collision may directly act on the motor 36, causing internal parts of the motor to loosen or be damaged. The protective baffle 38 can block such collisions, reduce damage to the motor 36, thereby extending the motor's service life and reducing equipment maintenance costs and downtime.

[0064] In use, the motor 36 is started according to the size of the goods to be transported. The output end of the motor 36 drives the bidirectional screw 33 to rotate. Due to the special thread design of the bidirectional screw 33, the adjusting blocks 35 fitted on its two threaded parts will move in opposite directions. The adjusting blocks 35 are connected to the connecting blocks 34, which drive the connecting blocks 34 to slide along the slide rod 32. The connecting blocks 34 are connected to each clamping plate 21, thereby realizing the unfolding or retraction of the clamping plates 21. In this process, the sliding groove 22 on the clamping plate 21 and the connecting assembly consisting of the first hinge block 41, the second hinge block 42 and the connecting rod 43 that cooperate with it play a key role. When the clamping plate 21 unfolds, the first hinge block 41 slides within the slide groove 22, causing the connecting rod 43 to rotate around the hinge point. Since the connecting rods 43 are interlaced and hinged at the interlacing positions, this rotation is transmitted sequentially, pushing adjacent clamping plates 21 to move outwards synchronously, expanding the clamping range. Conversely, when the clamping plate 21 retracts, the first hinge block 41 slides in the opposite direction within the slide groove 22, and the connecting rod 43 rotates in the opposite direction, causing the clamping plates 21 to move inwards synchronously, reducing the clamping range. Furthermore, due to the design of this connecting assembly, the clamping plate 21 can stop at any position within its maximum stroke to accommodate the clamping needs of goods of different sizes.

[0065] After adjusting the clamping range, the robotic arm is controlled to move the palletizing robot closer to the goods. When the robot reaches the appropriate position, the clamping transmission mechanism 1 is activated, controlling the two clamping plate assemblies to move closer to the goods and close. At this time, the anti-slip grooves 23 on the opposite side of the clamping plate 21 come into play, increasing the friction with the goods and ensuring that the goods will not slip during the clamping process, thus achieving stable clamping.

[0066] After clamping the goods, the robotic arm moves along a preset path to transport the goods to a designated location for stacking. During the transport process, the sliding rod 32 provides a stable sliding track for the connecting block 34, and the connecting block 34 matches the limiting groove 37 on the sliding rod 32, ensuring the stability of the clamping plate 21 during movement, preventing the connecting block 34 from rotating, and avoiding the goods from shaking or falling.

[0067] After the goods are stacked, the clamping transmission mechanism 1 controls the clamping plate assembly to open and release the goods. Then, the motor 36 reverses, driving the bidirectional screw 33 to rotate in the opposite direction, causing the adjusting block 35 to drive the clamping plate 21 back to its initial position, preparing for the next handling and stacking operation. After each operation, the equipment must be inspected and maintained to check for wear, looseness, or other issues in the components, and to address them promptly to ensure that the equipment is always in good operating condition.

[0068] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A palletizing robot, comprising a clamping transmission mechanism and a clamping assembly, characterized in that: The clamping assembly includes two clamping plate groups arranged opposite to each other; The clamping plate assembly includes multiple clamping plates; An unfolding assembly is provided between the clamping transmission mechanism and the two clamping plate groups, and the unfolding assembly includes: The base frame is connected to the clamping and transmission mechanism; The slide bar is fixedly assembled on the base frame; A bidirectional screw is fixedly mounted on the base frame and parallel to the slide bar; Multiple connecting blocks, each of which is connected to a clamping plate, and each of which is slidably sleeved on the slide rod; Two adjusting blocks are respectively fitted onto the two threaded portions of the bidirectional screw, and the two adjusting blocks are respectively connected to the two connecting blocks located at both ends of each connecting block; The motor is fixedly mounted on the base frame, and the output end of the motor is connected to the bidirectional screw. A connecting component is connected to each of the clamps, for connecting the clamps sequentially.

2. The palletizing robot according to claim 1, characterized in that: The clamping plate is provided with a sliding groove; The connection component includes: Multiple first hinge blocks, and each first hinge block is slidably assembled inside a respective slide groove; Multiple second hinge blocks are respectively assembled on each of the clamping plates and correspond to the first hinge block; Multiple connecting rods are provided, with two connecting rods between each pair of adjacent clamping plates, and the two ends of the two connecting rods are respectively connected to the first hinge block and the second hinge block on the two adjacent clamping plates; so that the two connecting rods are staggered and hinged to each other at the staggered position.

3. A palletizing robot according to claim 2, characterized in that: The slide is a T-shaped groove, and the first hinge block matches the slide.

4. A palletizing robot according to claim 1, characterized in that: The slide bar is a circular rod with a limiting groove, and the connecting block matches the limiting groove.

5. A palletizing robot according to claim 1, characterized in that: Anti-slip grooves are provided on the opposite side of each clamp.

6. A palletizing robot according to claim 1, characterized in that: The base frame is equipped with a protective baffle that matches the motor.

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