Stacking robot and safe operation system thereof

Abstract

The utility model relates to the technical field of industrial robots, and discloses a palletizing robot and a safe operation system thereof, the palletizing robot comprises a connecting rod and a connecting arm arranged on the palletizing robot, the lower end of the connecting rod is provided with a bearing plate, and the two ends of the bearing plate extend downwards to form fixing plates; telescopic air cylinders are arranged on the inner sides of the fixing plates on the two sides, and clamping plates are arranged at the inner ends of the telescopic air cylinders and used for clamping air conditioner outdoor units of different sizes. By means of the design of the telescopic air cylinders and the clamping plates, air conditioner outdoor units of different sizes can be clamped, and various stacking requirements are met. And through cooperative use of the first conveying belt and the second conveying belt and assistance of the electric push rod, the stacking efficiency and the object conveying speed are improved. And by arranging the supporting frame and the driving motor and matching the driving chain wheel with the long rotating shaft, stable driving of the bearing plate and accurate adjustment of the angle of the clamping plate are achieved.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a palletizing robot and its safety operating system. Background Technology

[0002] In modern industrial production, palletizing robots are widely used in automated production lines to stack items in a specific order and manner. Traditional palletizing robots are typically designed with fixed-size grippers, which limits their flexibility in handling items of different sizes and shapes. Furthermore, traditional palletizing systems often lack sufficient safety measures, which can lead to accidents during operation.

[0003] To improve the adaptability and flexibility of palletizing robots, some existing technologies attempt to increase the degrees of freedom of the robotic arm to grasp items of different sizes. However, these designs are often complex and costly, and may not meet the requirements of speed, efficiency, and safety in practical applications. Utility Model Content

[0004] The purpose of this invention is to provide a palletizing robot and its safety operating system to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a palletizing robot, including a connecting rod disposed on the connecting arm of the palletizing robot, a bearing plate at the lower end of the connecting rod, and fixed plates extending downward from both ends of the bearing plate; telescopic cylinders are provided on the inner sides of the two fixed plates, and clamping plates are provided at the inner ends of the telescopic cylinders to clamp air conditioner outdoor units of different sizes; a first conveyor belt is provided below the clamping plates, an auxiliary support is provided on one side of the first conveyor belt, an electric push rod is provided on the auxiliary support, and a second conveyor belt is provided on the other side of the first conveyor belt, the pushing direction of the electric push rod being the same as the transmission direction of the second conveyor belt.

[0006] Preferably, the support plate is provided with a support frame, the support frame is provided with a drive motor, and the drive end of the drive motor is provided with a drive sprocket;

[0007] The support plate is provided with a support, and the support is provided with a long rotating shaft. The long rotating shaft is connected to the drive sprocket through a first chain, and both ends of the long rotating shaft are provided with upper connecting sprockets.

[0008] Both telescopic cylinders are connected to the corresponding fixed plates via short rotating shafts. The outer end of the short rotating shaft extends to the outer side of the fixed plate and is provided with a lower connecting sprocket. The lower connecting sprocket and the upper connecting sprocket are connected by a second chain. The drive motor is started to adjust the angle of the clamping plate connected to the inner end of the telescopic cylinder.

[0009] Preferably, the inner side of the fixed plate is provided with a sliding plate, and a movable rod is slidably provided on the sliding plate. The movable rod extends to the outer side of the fixed plate and is connected to a tension adjusting wheel, which abuts against the second chain.

[0010] Preferably, the first conveyor belt is provided with a baffle, which is located after the position of the electric push rod and blocks the air conditioner outdoor unit that is higher than the baffle.

[0011] A safety operating system for a palletizing robot includes a camera and safety sensors. The camera is located on the underside of the support plate and is used to collect the size and shape information of the items to be palletized. The safety sensors are deployed on the first and second conveyor belts and include lidar and infrared sensors to detect obstacles and personnel activities in real time, triggering emergency stops and audible and visual alarms.

[0012] Preferably, it also includes a central control unit and an emergency stop button. The central control unit is electrically connected to the camera and safety sensor, and integrates path planning, motion control and safety logic modules based on PLC and industrial computer to control the electrical equipment of this utility model. The emergency stop button is set on the first conveyor belt for manual triggering of emergency stop.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. Improved flexibility and adaptability of the palletizing robot. Through the design of telescopic cylinders and clamps, it can clamp air conditioner outdoor units of different sizes to meet various palletizing needs.

[0015] 2. By using the first and second conveyor belts in combination, and with the assistance of electric push rods, the palletizing efficiency and the speed of item transfer are improved.

[0016] 3. By setting up a support frame and drive motor, as well as cooperating with the drive sprocket and long rotating shaft, stable driving of the bearing plate and precise adjustment of the clamping plate angle are achieved.

[0017] 4. The stability and reliability of the connection between the telescopic cylinder and the fixed plate are ensured by the cooperation of the short rotating shaft and the upper and lower connecting sprockets, as well as the use of the second chain.

[0018] 5. By designing the slide and moving bar, and using the tension adjustment wheel, the tension of the second chain can be adjusted, ensuring the stable operation of the system.

[0019] 6. By setting up baffles, relatively tall air conditioner outdoor units can be effectively prevented from passing through, thus achieving the separation of two types of air conditioner outdoor units of different heights on the first and second conveyor belts.

[0020] 7. The safety operating system, including cameras and safety sensors, improves operational safety, enabling real-time detection of obstacles and personnel activity, and timely triggering of emergency shutdowns and audible and visual alarms to prevent accidents.

[0021] 8. The integration of the central control unit enables intelligent management of path planning, motion control, and safety logic modules, improving the ease of operation and the system's intelligence level.

[0022] 8. The emergency stop button provides operators with a means to quickly respond to emergencies, enhancing operational safety. Attached Figure Description

[0023] Figure 1 This is a front view schematic diagram of the present invention;

[0024] Figure 2 This is a side view of the present invention;

[0025] Figure 3 This is a top view of the present invention;

[0026] Figure 4 This is a schematic diagram of the system of this utility model;

[0027] Figure 5 for Figure 1 A magnified structural diagram of point A in the middle.

[0028] In the diagram: 1. Connecting rod; 2. Bearing plate; 3. Fixing plate; 4. Telescopic cylinder; 5. Clamping plate; 6. First conveyor belt; 7. Auxiliary support; 8. Electric push rod; 9. Second conveyor belt; 10. Support frame; 11. Drive motor; 12. Drive sprocket; 13. Support; 14. Long shaft; 15. First chain; 16. Upper connecting sprocket; 17. Short shaft; 18. Lower connecting sprocket; 19. Second chain; 20. Slide plate; 21. Moving rod; 22. Tension adjusting wheel; 23. Baffle; 24. Camera; 25. Safety sensor; 26. Central control unit; 27. Emergency stop button. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figure 1-4This utility model provides a technical solution: a palletizing robot, which includes a connecting rod 1, which is carefully designed and installed on the connecting arm of the palletizing robot. The lower end of the connecting rod 1 is equipped with a support plate 2, which is constructed to support heavy objects. To increase stability and load-bearing capacity, fixing plates 3 extend downwards from both ends of the support plate 2.

[0031] Telescopic cylinders 4 are installed on both sides of the support plate 2 and on the inner side of the fixing plate 3. These telescopic cylinders 4 are highly flexible components, and their inner ends are connected to clamping plates 5. The design of clamping plates 5 allows it to clamp air conditioner outdoor units of different sizes, thus enabling the palletizing robot to adapt to a variety of different work requirements.

[0032] To further improve the efficiency of the palletizing robot, a first conveyor belt 6 is installed below the clamping plate 5. This conveyor belt can move items from one place to another. To ensure the stable operation of the conveyor belt 6, an auxiliary support 7 is provided on one side. An electric push rod 8 is installed on the auxiliary support 7, which provides additional power to push the items. On the other side of the first conveyor belt 6, a second conveyor belt 9 is set up. The pushing direction of the electric push rod 8 is consistent with the transmission direction of the second conveyor belt 9, which ensures that the items can be smoothly transferred from the first conveyor belt to the second conveyor belt during the transfer process, thereby completing the entire palletizing process.

[0033] Specifically, a support frame 10 is specially designed on the structure of the support plate 2, and a drive motor 11 is mounted on the top of the support frame 10. The output end of the drive motor 11 is connected to a drive sprocket 12, which is one of the key components of the entire transmission system.

[0034] On another part of the support plate 2, a support 13 is provided, on which a long rotating shaft 14 is mounted. The long rotating shaft 14 is tightly engaged with the drive sprocket 12 via a first chain 15, ensuring smooth power transmission. In addition, both ends of the long rotating shaft 14 are equipped with upper connecting sprockets 16, which play an important role in the operation of the machinery.

[0035] Two telescopic cylinders 4 are installed on each side of the mechanical device. These cylinders 4 are connected to the corresponding fixed plates 3 via short rotating shafts 17. The outer end of the short rotating shaft 17 extends to the outer side of the fixed plate 3, and a lower connecting sprocket 18 is installed at this end. The lower connecting sprocket 18 is connected to the upper connecting sprocket 16 via a second chain 19, forming a complete transmission chain. When the drive motor 11 is started, the angle of the clamping plate 5 connected to the inner end of the telescopic cylinder 4 can be precisely adjusted through this transmission chain, thereby achieving precise control of the workpiece.

[0036] A sliding plate 20 is specially designed on the inner side of the fixed plate 3, on which the movable rod 21 can slide freely. The movable rod 21 extends to the outer side of the fixed plate 3 and is connected to a tension adjusting wheel 22. The tension adjusting wheel 22 is in contact with the second chain 19. By adjusting the position of the tension adjusting wheel 22, appropriate tension can be applied to the second chain 19 to ensure the stable operation of the entire transmission system.

[0037] A baffle 23 is specially provided on the surface of the first conveyor belt 6, located after the working position of the electric push rod 8. The function of the baffle 23 is to block air conditioner outdoor units that are higher than the baffle 23, preventing them from continuing to move forward. Through this design, air conditioner outdoor units of different heights can be effectively diverted to the first conveyor belt 6 and the second conveyor belt 9, ensuring that air conditioner outdoor units of each height can be properly handled and transported.

[0038] A safety operating system for a palletizing robot prioritizes safety during automated operations. The system includes a camera 24 and a set of safety sensors 25. The camera 24 is carefully designed and mounted on the underside of the support plate 2, its main function being to collect real-time data on the size and shape of the items to be palletized, ensuring the robot can accurately grasp and place the items. The safety sensors 25 are deployed on the first conveyor belt 6 and the second conveyor belt 9. These sensors include lidar and infrared sensors, capable of precise obstacle detection and personnel activity monitoring. Upon detecting a potential safety threat, such as the presence of an obstacle or unauthorized personnel approach, these sensors immediately trigger an emergency stop mechanism and activate an audible and visual alarm system to alert operators and surrounding personnel, effectively preventing potential accidents.

[0039] To further enhance the system's safety and ease of operation, this system also includes a central control unit 26 and an emergency stop button 27. The central control unit 26 is electrically connected to the camera 24 and safety sensors 25. Based on programmable logic controller (PLC) and industrial computer technology, it integrates path planning, motion control, and safety logic modules, enabling intelligent monitoring and management of the entire palletizing process. Furthermore, the emergency stop button 27 is located on the first conveyor belt 6, allowing operators to quickly and manually trigger an emergency stop in case of emergencies, ensuring the safety of personnel and equipment. This design not only improves operational efficiency but also significantly enhances the safety of the operation process.

[0040] Working principle: When this utility model is working, the palletizing robot is connected to the connecting arm of the robot through the connecting rod 1. The bearing plate 2 is located at the lower end of the connecting rod 1 and is used to place the items to be palletized, such as the outdoor unit of an air conditioner.

[0041] The bearing plate 2 has fixed plates 3 extending downwards from both ends. The inner side of the fixed plate 3 is equipped with a telescopic cylinder 4, and the inner end of the telescopic cylinder 4 is connected to a clamping plate 5. The clamping plate 5 is used to clamp air conditioner outdoor units of different sizes to ensure stable gripping of items during the stacking process.

[0042] Below the clamping plate 5 is a first conveyor belt 6, used to move items from one position to another. An auxiliary support 7 is provided on one side of the first conveyor belt 6, and an electric push rod 8 is mounted on the support to push the items to the designated position.

[0043] A second conveyor belt 9 is provided on the other side of the first conveyor belt 6. The pushing direction of the electric push rod 8 is the same as the transmission direction of the second conveyor belt 9 to ensure that the items can be smoothly transferred from the first conveyor belt to the second conveyor belt.

[0044] The support plate 2 is equipped with a support frame 10 and a drive motor 11. The drive motor 11 drives the long rotating shaft 14 through the drive sprocket 12 and the first chain 15. The upper connecting sprockets 16 at both ends of the long rotating shaft 14 are connected to the short rotating shaft 17. The short rotating shaft 17 is connected to the telescopic cylinder 4 and the lower connecting sprocket 18, and the power is transmitted through the second chain 19.

[0045] After starting the drive motor 11, the angle of the clamp 5 connected to the inner end of the telescopic cylinder 4 can be adjusted to accommodate items of different sizes.

[0046] The inner side of the fixed plate 3 is provided with a sliding plate 20 and a moving rod 21. The moving rod 21 is connected to the tension adjusting wheel 22. The tension adjusting wheel 22 abuts against the second chain 19 and is used to adjust the tension of the chain to ensure the stable operation of the mechanical system.

[0047] The first conveyor belt 6 is equipped with a baffle 23 to block air conditioner outdoor units that are higher than the baffle 23, thereby achieving the diversion of air conditioner outdoor units of different heights on the first conveyor belt 6 and the second conveyor belt 9.

[0048] The safety operating system includes a camera 24 and a safety sensor 25. The camera 24 is used to collect the size and shape information of the items to be palletized, and the safety sensor 25 is used to detect obstacles and personnel activities in real time, triggering emergency shutdown and audible and visual alarms.

[0049] The central control unit 26 is electrically connected to the camera 24 and the safety sensor 25. Based on the PLC and industrial computer, it integrates path planning, motion control and safety logic modules to control the operation of the entire palletizing robot.

[0050] An emergency stop button 27 is located on the first conveyor belt 6 and is used to manually trigger an emergency stop to ensure operational safety.

[0051] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A palletizing robot, characterized in that: Includes a connecting rod (1) which is mounted on the connecting arm of the palletizing robot. The lower end of the connecting rod (1) is provided with a bearing plate (2), and both ends of the bearing plate (2) have downward extending fixing plates (3). The inner side of the fixed plate (3) on both sides is provided with a telescopic cylinder (4), and the inner end of the telescopic cylinder (4) is provided with a clamping plate (5) to clamp air conditioner outdoor units of different sizes. A first conveyor belt (6) is provided below the clamp (5), an auxiliary support (7) is provided on one side of the first conveyor belt (6), an electric push rod (8) is provided on the auxiliary support (7), and a second conveyor belt (9) is provided on the other side of the first conveyor belt (6). The pushing direction of the electric push rod (8) is the same as the transmission direction of the second conveyor belt (9).

2. The palletizing robot according to claim 1, characterized in that: The support plate (2) is provided with a support frame (10), the support frame (10) is provided with a drive motor (11), and the drive end of the drive motor (11) is provided with a drive sprocket (12). The bearing plate (2) is provided with a support (13), and the support (13) is provided with a long rotating shaft (14). The long rotating shaft (14) is connected to the drive sprocket (12) through a first chain (15), and both ends of the long rotating shaft (14) are provided with upper connecting sprockets (16). The two telescopic cylinders (4) are connected to the corresponding fixed plate (3) via a short rotating shaft (17). The outer end of the short rotating shaft (17) extends to the outer side of the fixed plate (3) and is provided with a lower connecting sprocket (18). The lower connecting sprocket (18) and the upper connecting sprocket (16) are connected by a second chain (19). The drive motor (11) is started, and the angle of the clamping plate (5) connected to the inner end of the telescopic cylinder (4) is adjusted.

3. The palletizing robot according to claim 2, characterized in that: The inner side of the fixed plate (3) is provided with a sliding plate (20), and a moving rod (21) is slidably provided on the sliding plate (20). The moving rod (21) extends to the outer side of the fixed plate (3) and is connected to a tension adjusting wheel (22). The tension adjusting wheel (22) abuts against the second chain (19).

4. The palletizing robot according to claim 1, characterized in that: The first conveyor belt (6) is provided with a baffle (23), which is located after the position of the electric push rod (8) and blocks the air conditioner outdoor unit that is higher than the baffle (23).

5. A safety operating system for a palletizing robot, characterized in that: The safety operating system, applied to the palletizing robot according to any one of claims 1-4, comprises: A camera (24) is located on the underside of the support plate (2) and is used to collect the size and shape information of the items to be stacked; Safety sensors (25), deployed on the first conveyor belt (6) and the second conveyor belt (9), including lidar and infrared sensors, are used to detect obstacles and personnel activities in real time and trigger emergency shutdown and audible and visual alarms.

6. The secure operating system according to claim 5, characterized in that, Also includes: The central control unit (26) is electrically connected to the camera (24) and the safety sensor (25). Based on the PLC and industrial computer, it integrates path planning, motion control and safety logic modules to control the electrical equipment of this utility model. An emergency stop button (27) is electrically connected to the central control unit (26) and is located on the first conveyor belt (6) for manually triggering an emergency stop.

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