Stacking manipulator

Abstract

The utility model discloses a stacking manipulator, and belongs to the technical field of stacking equipment. Comprising a mechanical arm on which a mounting frame is mounted; the two clamping frames are arranged on the mounting frame, and the two clamping frames are matched to clamp and take the material bags; the supporting frame is arranged on the clamping frame and is supported on the lower side of the material bag to prevent the material bag from falling off; the supporting wheel is rotationally arranged on the supporting frame; the mounting shaft is rotationally arranged on the supporting frame, two belt wheels are fixedly connected to the mounting shaft, and a conveying belt is arranged between the belt wheels and the supporting wheels; the supporting plate is fixed to the supporting frame and supported on the inner side of the conveying belt. The stacking manipulator has the beneficial effects that through the arrangement of the supporting wheels, the mounting shafts and the conveying belt, when one end of the supporting frame is inserted into the lower side of a material bag, the surface of the conveying belt and the surface of the lower side of the material bag are relatively static, the material bag is prevented from being driven to deform, and meanwhile the material bag is prevented from being scratched.

Description

Technical Field

[0001] This application relates to the field of palletizing equipment technology, and more specifically, to a palletizing robot. Background Technology

[0002] Bagged compound fertilizers are generally transported by a conveyor system, and then transferred and stacked by a handling robot. Existing robots typically use two forks to grab the bagged fertilizer during stacking. To ensure the stability of the grab, one end of each fork is usually inserted into the bottom of the bagged fertilizer. However, during the grab, the forks move relative to the bagged fertilizer, causing the bagged fertilizer to be deformed and also causing the forks to scratch the bag.

[0003] Therefore, a palletizing robot is needed to solve the above problems. Utility Model Content

[0004] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0005] To address the technical problems mentioned in the background section, some embodiments of this application provide a palletizing robot, comprising: a robotic arm with a mounting frame installed on it; two gripping frames arranged on the mounting frame, which cooperate to grip and pick up bags; a support frame disposed on the gripping frame and supporting the underside of the bags to prevent them from falling; support wheels rotatably mounted on the support frame; a mounting shaft rotatably mounted on the support frame, with two pulleys fixedly connected to the mounting shaft, and a conveyor belt disposed between the pulleys and the support wheels; and a support plate fixed on the support frame and supporting the inside of the conveyor belt.

[0006] The two clamping frames and support frames can support the material bag when it is gripped, preventing the material bag from falling. At the same time, the support wheels, mounting shaft and conveyor belt can keep the surface of the conveyor belt and the bottom surface of the material bag relatively stationary when one end of the support frame is inserted into the bottom of the material bag, so as to prevent the material bag from being deformed by the movement, and also to prevent the material bag from being scratched or abraded.

[0007] Furthermore, a rotating shaft is fixedly connected to the clamping frame, and the rotating shaft is rotatably engaged with the mounting frame. A connecting block is fixedly connected to the rotating shaft, and a sliding groove is provided on the connecting block. A starting cylinder is fixedly connected to the mounting frame, and a fixing head is fixedly connected to one end of the piston rod of the starting cylinder. The fixing head has a round rod portion that is embedded in the sliding groove and moves within the sliding groove.

[0008] The connecting block and the clamping frame are located on both sides of the axis of the rotating shaft. The rotating shaft and the starting cylinder are connected. When the piston rod of the starting cylinder extends, the fixed head drives the clamping frame to deflect around the rotating shaft, thereby causing the clamping frame to drive the support frame to clamp the material bag and insert it into the lower side of the material bag.

[0009] Furthermore, the support frame includes a plate-shaped portion and a guide rod, the plate-shaped portion and the guide rod are fixedly connected, the guide rod passes through the clamping frame and slides in cooperation with the clamping frame, and an adjusting cylinder is fixedly connected to the clamping frame, with one end of the piston rod of the adjusting cylinder fixedly cooperating with the support frame.

[0010] The adjustable cylinder allows for adjustment of the distance between the plate-shaped part and the pressing plate, making it easy to accommodate bags of different sizes.

[0011] Furthermore, the support wheel is rotatably mounted on the plate, and the mounting shaft is rotatably mounted on the plate and parallel to the support wheel. A drive shaft is rotatably connected to the support frame, and a first conical wheel is fixedly connected to one end of the drive shaft. A second conical wheel is fixedly connected to the mounting shaft, and the second conical wheel meshes with the first conical wheel. The diameter of the pulley is smaller than the diameter of the second conical wheel.

[0012] With the help of the drive shaft, the second cone wheel and the first cone wheel work together to drive the mounting shaft to rotate, which in turn causes the conveyor belt to rotate and transport the bag to the upper side of the support plate, thus avoiding friction.

[0013] Furthermore, a drive motor is fixedly connected to the support frame, and a synchronous belt is provided between the power output shaft of the drive motor and the drive shaft.

[0014] The drive motor and synchronous belt are configured to drive the drive shaft to rotate.

[0015] Furthermore, two threaded rods are rotatably connected inside the plate-shaped part. The two threaded rods are located at both ends of the mounting shaft. A third conical wheel is fixedly connected to both ends of the mounting shaft. A fourth conical wheel is fixedly connected to the threaded rod. The third conical wheel meshes with the fourth conical wheel. Fixed blocks are fixedly connected to both sides of the plate-shaped part. A second hinge rod is hinged to the fixed block. Sliding blocks are slidably arranged on both sides of the plate-shaped part. The threaded rod passes through the sliding block and is threadedly engaged with the sliding block. A first hinge rod is hinged to the sliding block. One end of the first hinge rod is hinged to one end of the second hinge rod.

[0016] By setting a first hinge rod and a second hinge rod, when the first hinge rod moves, the first hinge rod and the second hinge rod deflect, thereby blocking the material bag and ensuring the stability of the material bag. When the sliding block and the fixed block are at their farthest distance, the second hinge rod and the first hinge rod form a certain angle, so that when the sliding block and the fixed block approach each other, the connection between the first hinge rod and the second hinge rod can move upward.

[0017] Furthermore, a pressure plate cylinder is fixedly connected to the mounting bracket, and a pressure plate is fixedly connected to the piston rod end of the pressure plate cylinder.

[0018] The pressure plate cylinder and pressure plate are designed to flatten the material bag and prevent it from piling up.

[0019] The beneficial effects of this application are as follows:

[0020] 1. The two clamping frames and support frames can support the material bag when it is gripped, preventing it from falling. At the same time, the support wheels, mounting shaft and conveyor belt ensure that when one end of the support frame is inserted under the material bag, the surface of the conveyor belt and the surface of the material bag are relatively stationary, preventing the material bag from being deformed and scratched. The connecting block and clamping frame are located on both sides of the axis of the rotating shaft. The rotating shaft and starting cylinder are connected. When the piston rod of the starting cylinder extends, the fixed head drives the clamping frame to deflect around the rotating shaft, thereby causing the clamping frame to drive the support frame to clamp the material bag and insert it under the material bag.

[0021] 2. Through the set drive shaft, the second cone wheel and the first cone wheel cooperate to drive the mounting shaft to rotate, which in turn causes the conveyor belt to rotate and transport the material bag to the upper side of the support plate, thus avoiding friction.

[0022] 3. By setting the first hinge rod and the second hinge rod, when the first hinge rod moves, the first hinge rod and the second hinge rod deflect, thereby blocking the material bag and ensuring the stability of the material bag. When the sliding block and the fixed block are at their farthest distance, the second hinge rod and the first hinge rod form a certain angle, so that when the sliding block and the fixed block approach each other, the connection between the first hinge rod and the second hinge rod can move upward. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0024] Furthermore, throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the elements are not necessarily drawn to scale.

[0025] In the attached diagram:

[0026] Figure 1 This is an overall schematic diagram according to one embodiment of the present application;

[0027] Figure 2 yes Figure 1A schematic diagram of the installation structure of the clamping frame in the embodiment;

[0028] Figure 3 yes Figure 1 The embodiment is shown in the diagram of the drive shaft installation.

[0029] Figure 4 yes Figure 1 The embodiment is shown in the diagram of the conveyor belt installation.

[0030] Figure 5 yes Figure 1 The installation diagram of the first and second conical wheels in the embodiment is shown below;

[0031] Figure 6 yes Figure 1 The above embodiment shows the installation diagram of the first hinge rod and the second hinge rod.

[0032] Figure label:

[0033] 10. Robotic arm; 11. Mounting frame; 12. Clamping frame; 13. Starting cylinder; 14. Connecting block; 15. Fixing head; 16. Sliding groove; 17. Rotating shaft; 18. Pressure plate cylinder; 19. Pressure plate; 20. Support frame; 21. Guide rod; 22. Adjusting cylinder; 23. Drive motor; 24. Synchronous belt; 25. Drive shaft; 26. Pulley; 27. Support wheel; 28. Support plate; 29. ​​Conveyor belt; 30. First conical wheel; 31. Second conical wheel; 32. Mounting shaft; 33. Threaded rod; 34. Third conical wheel; 35. Fourth conical wheel; 36. Sliding block; 37. First hinge rod; 38. Fixing block; 39. Second hinge rod; 40. Round rod part; 41. Plate-shaped part. Detailed Implementation

[0034] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0035] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0036] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0037] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0038] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] Reference Figure 1-6 A palletizing robot includes: a robotic arm 10, a mounting frame 11, a clamping frame 12, a support frame 20, a support wheel 27, a mounting shaft 32, a pulley 26, a support wheel 27, a conveyor belt 29, and a support plate 28.

[0040] A mounting frame 11 is fixedly mounted on the robotic arm 10. A clamping frame 12 is rotatably connected to the mounting frame 11. A rotating shaft 17, which rotatably engages with the mounting frame 11, is fixedly mounted on the clamping frame 12. By rotating the clamping frame 12 around the rotating shaft 17, the material bag can be clamped. A connecting block 14 is fixedly connected to the rotating shaft 17. A sliding groove 16 is formed on the connecting block 14. A starting cylinder 13 is fixedly connected to the mounting frame 11. A fixing head 15 is fixedly connected to the piston rod end of the starting cylinder 13. A round rod portion 40 located in the sliding groove 16 is fixed on the fixing head 15. When the starting cylinder 13 drives the fixing head 15 to move, the round rod portion 40 can drive the connecting block 14 to deflect, thereby driving the clamping frame 12 to deflect.

[0041] A pressure plate cylinder 18 is fixedly connected to the mounting frame 11, and a pressure plate 19 located between two clamping frames 12 is fixedly connected to the piston rod end of the pressure plate cylinder 18. A support frame 20 is provided on the clamping frame 12. The support frame 20 includes a plate-shaped portion 41 and a guide rod 21. The guide rod 21 passes through the clamping frame 12 and slides in cooperation with the clamping frame 12. The plate-shaped portion 41 and the guide rod 21 are fixedly connected. An adjusting cylinder 22 is fixedly connected to the clamping frame 12. The piston rod end of the adjusting cylinder 22 is fixedly connected to the support frame 20, so that the adjusting cylinder 22 can drive the support frame 20 to move, thereby adjusting the distance between the plate-shaped portion 41 and the pressure plate 19. A mounting shaft 32 and a support wheel 27 are rotatably mounted on the plate-shaped portion 41. Two pulleys 26 are fixedly connected to the mounting shaft 32. A conveyor belt 29 is located between the pulleys 26 and the support wheel 27. By rotating the support wheel 27 and the mounting shaft 32, the conveyor belt 29 can be made to fit against the underside of the material bag, and the fitting surface is relatively stationary. The conveyor belt 29 can also be moved to the underside of the material bag. A support plate 28 located inside the conveyor belt 29 is fixedly connected to the plate-shaped portion 41. The support plate 28 supports the inner side of the side of the conveyor belt 29 that is in contact with the material bag, so that the support plate 28 can support the conveyor belt 29.

[0042] A drive shaft 25 is rotatably connected to the support frame 20. A first conical wheel 30 is fixedly connected to one end of the drive shaft 25. A second conical wheel 31 is fixedly connected to the mounting shaft 32. The second conical wheel 31 meshes with the first conical wheel 30. The support frame 20 is located on the upper side of the first conical wheel 30 and the second conical wheel 31, and can provide shielding.

[0043] A drive motor 23 is fixedly connected to the support frame 20. A synchronous belt 24 is provided between the power output shaft of the drive motor 23 and the drive shaft 25, so that the drive motor 23 drives the drive shaft 25 to rotate.

[0044] Two threaded rods 33 are rotatably connected inside the plate-shaped part 41. The two threaded rods 33 are located at both ends of the mounting shaft 32. A third conical wheel 34 is fixedly connected to both ends of the mounting shaft 32. A fourth conical wheel 35 is fixedly connected to the threaded rods 33. The third conical wheel 34 and the fourth conical wheel 35 mesh. Fixed blocks 38 are fixedly connected to both sides of the plate-shaped part 41. A second hinge rod 39 is hinged to the fixed block 38. Sliding blocks 36 are slidably arranged on both sides of the plate-shaped part 41. The threaded rods 33 pass through the sliding blocks 36 and are threadedly engaged with the sliding blocks 36. A first hinge rod 37 is hinged to the sliding block 36. One end of the first hinge rod 37 is hinged to one end of the second hinge rod 39. When the mounting shaft 32 rotates, the material bag moves to the upper side of the conveyor belt 29, which drives the threaded rods 33 to rotate. This causes the sliding blocks 36 to move towards the fixed blocks 38, thereby causing the first hinge rod 37 and the second hinge rod 39 to deflect and block the material bag.

[0045] Working process or usage method:

[0046] 1. When gripping the material bag, the cylinder 13 drives the fixed head 15 to move, which in turn causes the connecting block 14 to deflect via the round rod 40, thereby causing the clamping frame 12 to deflect and the plate-shaped part 41 to insert into the lower side of the material bag. At the same time, the drive motor 23 is started to drive the drive shaft 25 to rotate. This causes the second cone wheel 31 to rotate, which in turn drives the conveyor belt 29 to rotate under the action of the pulley 26 and the support wheel 27, so that the material bag moves with the conveyor belt 29 to the upper side of the support plate 28.

[0047] 2. When the mounting shaft 32 rotates, it drives the threaded rod 33 to rotate, which in turn drives the sliding block 36 to move closer to the fixed block 38, causing one end of the first hinge rod 37 and the second hinge rod 39 to tilt up and block the material bag.

[0048] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A palletizing robot, characterized in that, include: A robotic arm (10) on which a mounting bracket (11) is mounted; Two clamping frames (12) are provided on the mounting frame (11), and the two clamping frames (12) work together to clamp and pick up the material bag; The support frame (20) is set on the clamping frame (12) and supports the underside of the material bag to prevent it from falling. The support wheel (27) is rotatably mounted on the support frame (20); The mounting shaft (32) is rotatably mounted on the support frame (20). Two pulleys (26) are fixedly connected to the mounting shaft (32). A conveyor belt (29) is provided between the pulleys (26) and the support wheel (27). The support plate (28) is fixed on the support frame (20) and supported on the inside of the conveyor belt (29).

2. The palletizing robot according to claim 1, characterized in that: A rotating shaft (17) is fixedly connected to the clamping frame (12). The rotating shaft (17) is rotatably engaged with the mounting frame (11). A connecting block (14) is fixedly connected to the rotating shaft (17). A sliding groove (16) is provided on the connecting block (14). A starting cylinder (13) is fixedly connected to the mounting frame (11). A fixing head (15) is fixedly connected to one end of the piston rod of the starting cylinder (13). The fixing head (15) has a round rod part (40) that is embedded in the sliding groove (16) and moves within the sliding groove (16).

3. A palletizing robot according to claim 2, characterized in that: The support frame (20) includes a plate-shaped part (41) and a guide rod (21). The plate-shaped part (41) and the guide rod (21) are fixedly connected. The guide rod (21) passes through the clamping frame (12) and slides with the clamping frame (12). An adjusting cylinder (22) is fixedly connected to the clamping frame (12). One end of the piston rod of the adjusting cylinder (22) is fixedly engaged with the support frame (20).

4. A palletizing robot according to claim 3, characterized in that: The support wheel (27) is rotatably mounted on the plate, and the mounting shaft (32) is rotatably mounted on the plate and parallel to the support wheel (27). A drive shaft (25) is rotatably connected to the support frame (20). A first conical wheel (30) is fixedly connected to one end of the drive shaft (25), and a second conical wheel (31) is fixedly connected to the mounting shaft (32). The second conical wheel (31) meshes with the first conical wheel (30).

5. A palletizing robot according to claim 4, characterized in that: A drive motor (23) is fixedly connected to the support frame (20), and a synchronous belt (24) is provided between the power output shaft of the drive motor (23) and the drive shaft (25).

6. A palletizing robot according to claim 5, characterized in that: Two threaded rods (33) are rotatably connected inside the plate-shaped part (41). The two threaded rods (33) are located at both ends of the mounting shaft (32). A third conical wheel (34) is fixedly connected to both ends of the mounting shaft (32). A fourth conical wheel (35) is fixedly connected to the threaded rod (33). The third conical wheel (34) meshes with the fourth conical wheel (35). Fixing blocks (38) are fixedly connected to both sides of the plate-shaped part (41). A second hinge rod (39) is hinged to the fixing block (38). Sliding blocks (36) are slidably arranged on both sides of the plate-shaped part (41). The threaded rod (33) passes through the sliding block (36) and is threadedly engaged with the sliding block (36). A first hinge rod (37) is hinged to the sliding block (36). One end of the first hinge rod (37) is hinged to one end of the second hinge rod (39).

7. A palletizing robot according to claim 6, characterized in that: A pressure plate cylinder (18) is fixedly connected to the mounting bracket (11), and a pressure plate (19) is fixedly connected to the piston rod end of the pressure plate cylinder (18).

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