A palletizing robot
By employing a combination of a first gripping arm and a second gripping arm in the palletizing robot, the problems of inaccurate cargo positioning and damage caused by excessive gripping force in existing technologies are solved, achieving uniform gripping and precise palletizing of cargo.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CANGZHOU XINBAO DESTRUCTION EQUIP CO LTD
- Filing Date
- 2025-09-09
- Publication Date
- 2026-07-31
AI Technical Summary
Existing palletizing robots cannot accurately position goods along the symmetrical midline of the two contacting grippers when picking them up, resulting in poor stacking effect and excessive gripping force that can easily damage the goods.
A clamping assembly including a first clamping arm and a second clamping arm is used. The two first clamping arms initially clamp the two side walls of the goods, and then the two second clamping arms clamp the other two side walls to form a uniform clamping. The spacing and angle adjustment mechanism ensures that the goods are accurately positioned within the clamping space.
It achieves precise positioning and uniform force distribution of goods, avoids damage to goods caused by excessive clamping force, and ensures the accuracy and stability of subsequent palletizing processes.
Smart Images
Figure CN224577582U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of palletizing robot technology, and more specifically, to a palletizing robot. Background Technology
[0002] Palletizing robots typically use fork-type mechanical grippers to stack goods. These grippers consist of two symmetrically arranged clamping arms. Driven by a drive mechanism, the two clamping arms can grip the two side walls of the goods, thus allowing the goods to be picked up and stacked.
[0003] Chinese patent document CN119117705B discloses a palletizing robot, belonging to the field of palletizing technology. It includes a mounting base on which a robot body is fixedly connected. A connecting shaft runs through the robot body, and a positioning seat is fixedly connected to the bottom end of the connecting shaft. A guide rail is slidably connected within the positioning seat. The robot employs a positioning seat, a middle seat, a piston cylinder, a piston plate, a contact clamping plate, a guide rail, and an electro-hydraulic rod. With the movement of the contact clamping plate, the central position of the middle seat is precisely adjusted, moving to directly beneath the corresponding goods. This ensures the goods are securely positioned below the center of the middle seat, and the contact clamping plate then clamps the side walls of the goods. However, this prior art disclosed in the aforementioned patent has the following problems:
[0004] First, in the aforementioned existing technology, using only two clamps to hold the goods only allows for positioning of the goods on two side walls. The symmetrical centerline of the two contacting clamps cannot provide positioning accuracy, which can lead to poor stacking results during subsequent stacking due to inaccurate positioning of the goods along the symmetrical centerline after clamping. Second, since only the two side walls of the goods are subjected to force during clamping, increased clamping force is needed to increase friction and thus stabilize the goods. This increased clamping force can easily damage the goods. Utility Model Content
[0005] The purpose of this invention is to provide a palletizing robot that can accurately grip goods and further distribute the force evenly on the goods to avoid damage from gripping.
[0006] The embodiments of this utility model are implemented as follows:
[0007] This application provides a palletizing robot, including:
[0008] Base;
[0009] A robotic arm, which is mounted on the base;
[0010] The clamping assembly includes a base plate, a first clamping assembly, and a second clamping assembly. The base plate is disposed at the free end of the robotic arm. The first clamping assembly includes two first clamping arms symmetrically disposed on the base plate, and any one of the first clamping arms is rotatably connected to the base plate. The second clamping assembly includes two second clamping arms symmetrically disposed on both sides of the first clamping arms, and any one of the second clamping arms is rotatably disposed on the base plate.
[0011] The symmetrical midline of the two first clamping arms is perpendicular to the symmetrical midline of the two second clamping arms. A clamping channel is formed between the two first clamping arms, and the two second clamping arms are located within the clamping channel. A clamping space is formed between the two first clamping arms and the two second clamping arms. When the stacked item is placed in the clamping space, the two first clamping arms and the two second clamping arms can clamp the peripheral sidewall of the stacked item in sequence.
[0012] In some embodiments of this utility model, a first spacing adjuster is provided between the two first clamping arms. The first spacing adjuster includes at least one first linear movement module perpendicular to the symmetrical midline of the two first clamping arms. The first linear movement module is disposed on the base plate. Each first linear movement module includes two first moving ends that can move closer or further away. The two first clamping arms are respectively rotatably disposed on the two first moving ends.
[0013] In some embodiments of this utility model, the first linear motion module further includes a first guide rail perpendicular to the symmetrical center line of the two first clamping arms. The first guide rail is disposed on the base plate, and the two first moving ends are slidably disposed on the first guide rail and can move closer to or further away along the extension direction of the first guide rail.
[0014] In some embodiments of this utility model, a first angle adjustment mechanism is provided on the first movable end. The first angle adjustment mechanism includes a first telescopic device, a first rotating shaft, a first connecting rod, and a first slider. The first rotating shaft is rotatably disposed on the first movable end. The first clamping arm is connected to the first rotating shaft and can rotate with the first rotating shaft. One end of the first connecting rod is connected to the first rotating shaft. The first connecting rod has a first sliding groove along its extension direction. The first slider is disposed in the first sliding groove and can slide freely along the first sliding groove. The first telescopic device is disposed on the first movable end, and the telescopic end of the first telescopic device is hinged to the first slider.
[0015] In some embodiments of this utility model, a second spacing adjuster is provided between the two second clamping arms. The second spacing adjuster includes at least one second linear movement module perpendicular to the symmetrical midline of the two second clamping arms. The second linear movement module is disposed on the base plate. Each second linear movement module includes two second moving ends that can move closer or further away. The two second clamping arms are respectively rotatably disposed on the two second moving ends.
[0016] In some embodiments of this utility model, the second linear motion module further includes a second guide rail perpendicular to the symmetrical center line of the two second clamping arms. The second guide rail is disposed on the base plate, and the two second moving ends are slidably disposed on the second guide rail and can move closer to or further away along the extension direction of the second guide rail.
[0017] In some embodiments of this utility model, a lifting mechanism is provided between any second guide rail and the seat plate. The lifting mechanism includes an electric push rod perpendicular to the seat plate. The fixed end of the electric push rod is connected to the seat plate, and the lifting end of the electric push rod is connected to its corresponding second guide rail.
[0018] In some embodiments of this utility model, a second angle adjustment mechanism is provided on the second movable end. The second angle adjustment mechanism includes a second telescopic device, a second rotating shaft, a second connecting rod, and a second slider. The second rotating shaft is rotatably disposed on the second movable end. The second clamping arm is connected to the second rotating shaft and can rotate with the second rotating shaft. One end of the second connecting rod is connected to the second rotating shaft. The second connecting rod has a second sliding groove along its extension direction. The second slider is disposed in the second sliding groove and can slide freely along the second sliding groove. The second telescopic device is disposed on the second movable end, and the telescopic end of the second telescopic device is hinged to the second slider.
[0019] In some embodiments of this utility model, both the first clamping arm and the second clamping arm are L-shaped structures.
[0020] Compared with the prior art, the embodiments of this utility model have at least the following advantages or beneficial effects:
[0021] This invention provides a palletizing robot that initially grips goods using two first gripping arms, holding them at two sidewall positions. Then, two second gripping arms grip the remaining two sidewall positions. This ensures even gripping of the goods' perimeter. The addition of second gripping arms significantly reduces the gripping force of each arm, preventing damage from excessive force. Furthermore, the gripping space between the two first and two second gripping arms allows for precise positioning of the goods on the robotic arm, facilitating accurate stacking during subsequent palletizing. Therefore, this invention enables precise gripping of goods and further ensures even force distribution, preventing damage from clamping. Attached Figure Description
[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 This is a schematic diagram of the fixture assembly in an embodiment of the present invention;
[0024] Figure 2 for Figure 1 Enlarged view of point A in the middle;
[0025] Figure 3 This is a three-dimensional cross-sectional structural diagram of an embodiment of the present utility model;
[0026] Figure 4 for Figure 3 Enlarged view of point B in the middle;
[0027] Figure 5 This is a schematic diagram of the installation structure of the lifting mechanism in an embodiment of this utility model;
[0028] Figure 6 This is a three-dimensional outline view of an embodiment of the present utility model.
[0029] Icons: 1-Base; 2-Robotic arm; 3-First gripping arm; 4-Second gripping arm; 5-First moving end; 6-First guide rail; 7-First telescopic device; 8-First rotating shaft; 9-First connecting rod; 10-First slider; 11-First slide groove; 12-Second moving end; 13-Second guide rail; 14-Second telescopic device; 15-Second rotating shaft; 16-Second connecting rod; 17-Second slider; 18-Second slide groove; 19-Seat plate; 20-Electric push rod. Detailed Implementation
[0030] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0032] Example
[0033] Please refer to Figures 1-6 This embodiment provides a palletizing robot, including a gripper assembly, a base 1, and a robotic arm 2. The robotic arm 2 is mounted on the base 1. The gripper assembly includes a base plate 19, a first gripping assembly, and a second gripping assembly. The first gripping assembly includes two first gripping arms 3 symmetrically arranged on the base plate 19. Either first gripping arm 3 is rotatably connected to the base plate 19. The second gripping assembly includes two second gripping arms 4 symmetrically arranged on both sides of the first gripping arms 3. Either second gripping arm 4 is rotatably mounted on the base plate 19. The symmetrical midline of the two first gripping arms 3 is perpendicular to the symmetrical midline of the two second gripping arms 4. A gripping channel is formed between the two first gripping arms 3, and the two second gripping arms 4 are located within the gripping channel. A gripping space is formed between the two first gripping arms 3 and the two second gripping arms 4. When the palletized item is placed in the gripping space, the two first gripping arms 3 and the two second gripping arms 4 can respectively clamp the peripheral sidewalls of the palletized item in sequence.
[0034] The base 1 is used to install and support other components. The two first clamping arms 3 can initially clamp the goods, holding them at two side wall positions. Then, the two second clamping arms 4 clamp the goods at the other two side wall positions. In this way, the goods can be evenly clamped at their circumference. Increasing the clamping force of the second clamping arms 4 can significantly reduce the clamping force of each clamping arm, thus avoiding damage to the goods due to excessive clamping force. Furthermore, the clamping space formed between the two first clamping arms 3 and the two second clamping arms 4 can determine the position of the goods on the robotic arm 2 and precisely limit the goods within the clamping space, enabling accurate positioning of the goods and facilitating accurate stacking of the goods on the stack during subsequent palletizing.
[0035] Specifically, the aforementioned robotic arm 2 is a multi-degree-of-freedom mechanism, with a base plate 19 disposed at its free end. The robotic arm 2 can move the base plate 19 and the goods held by the gripping arms on it. The robotic arm 2 includes a controller capable of precisely controlling its movements. After the positions of the first gripping arm 3 and the second gripping arm 4 are set, and after the first gripping arm 3 and the second gripping arm 4 grip the goods, the relative position of the goods on the robotic arm 2 is determined. Therefore, the robotic arm 2 can precisely move the goods to the palletizing position, and after releasing the first gripping arm 3 and the second gripping arm 4, the goods can be accurately palletized on the pallet stack.
[0036] Therefore, this palletizing robot can accurately grip goods and further distribute the force evenly on the goods to avoid damage from clamping.
[0037] Please refer to Figures 1-3 In some embodiments of this example, a first gap adjuster is provided between the two first clamping arms 3. The first gap adjuster includes at least one first linear movement module perpendicular to the symmetrical midline of the two first clamping arms 3. The first linear movement module is disposed on the base plate 19. Each first linear movement module includes two first moving ends 5 that can move closer or further apart. The two first clamping arms 3 are rotatably disposed on the two first moving ends 5 respectively. The first gap adjuster is mainly used to adjust the gap between the two first clamping arms 3, and its function is to adapt the two first clamping arms 3 to the size of the corresponding goods. After the two first moving ends 5 on the first linear movement module move, a closer movement will cause the two first clamping arms 3 to move closer; a further movement will cause the two first clamping arms 3 to move further apart.
[0038] It should be noted that after the spacing between the two first gripping arms 3 is adaptively adjusted, the controller will obtain the position information of the first gripping arms 3 so as to obtain the position of the gripped goods relative to the robotic arm 2 in the later stage.
[0039] Please refer to Figures 1-3 Furthermore, in this embodiment, the aforementioned first linear motion module also includes a first guide rail 6 perpendicular to the symmetrical center line of the two first clamping arms 3. The first guide rail 6 is disposed on the base plate 19, and the two first moving ends 5 are slidably disposed on the first guide rail 6 and can move closer to or further away along the extension direction of the first guide rail 6. Specifically, the two first moving ends 5 are also provided with a drive assembly for driving their movement. The aforementioned first guide rail 6, drive assembly, and two first moving ends 5 constitute the first linear motion module. The aforementioned first linear motion module is actually a conventional structure; if anything is unclear, please refer to the prior art.
[0040] Please refer to Figures 1-5In some embodiments of this example, a first angle adjustment mechanism is provided on the first movable end 5. The first angle adjustment mechanism includes a first telescopic device 7, a first rotating shaft 8, a first connecting rod 9, and a first slider 10. The first rotating shaft 8 is rotatably mounted on the first movable end 5, and the first clamping arm 3 is connected to the first rotating shaft 8 and can rotate with the first rotating shaft 8. One end of the first connecting rod 9 is connected to the first rotating shaft 8, and the first connecting rod 9 has a first sliding groove 11 along its extension direction. The first slider 10 is disposed in the first sliding groove 11 and can slide freely along the first sliding groove 11. The first telescopic device 7 is disposed on the first movable end 5, and the telescopic end of the first telescopic device 7 is hinged to the first slider 10. The first angle adjustment mechanism adjusts the angle of the first clamping arm 3, thereby realizing clamping and releasing actions. Specifically, the first telescopic device 7 extends and retracts to drive the first slider 10 to move, and the first slider 10 causes the first connecting rod 9 to rotate, thereby causing the first connecting rod 9 to drive the first rotating shaft 8 to rotate. After the first rotating shaft 8 rotates, it drives the first clamping arm 3 connected to it to rotate.
[0041] Please refer to Figures 1-5 In some embodiments of this example, a second gap adjuster is provided between the two second clamping arms 4. The second gap adjuster includes at least one second linear movement module perpendicular to the symmetrical midline of the two second clamping arms 4. The second linear movement module is disposed on the base plate 19. Each second linear movement module includes two second moving ends 12 that can move closer or further apart. The two second clamping arms 4 are rotatably disposed on the two second moving ends 12 respectively. The second gap adjuster has the same function and principle as the first gap adjuster, and will not be described further here. For details, please refer to the first gap adjuster.
[0042] Please refer to Figures 1-5 In some embodiments of this example, the second linear motion module further includes a second guide rail 13 perpendicular to the symmetrical center line of the two second clamping arms 4. The second guide rail 13 is disposed on the base plate 19, and both second moving ends 12 are slidably disposed on the second guide rail 13, and can move closer to or further away from the second guide rail 13 along its extension direction. The function of the second guide rail 13 is actually the same as that of the first guide rail 6.
[0043] Specifically, the two second movable ends 12 are also provided with second drive components for driving their movement. The aforementioned second guide rail 13, second drive components, and two second movable ends 12 constitute the second linear motion module. The aforementioned second linear motion module is actually an existing structure; if anything is unclear, please refer to existing technology.
[0044] Please refer to Figures 1-3In some embodiments of this example, a lifting mechanism is provided between any second guide rail 13 and the seat plate 19. The lifting mechanism includes an electric push rod 20 perpendicular to the seat plate 19. The fixed end of the electric push rod 20 is connected to the seat plate 19, and the lifting end of the electric push rod 20 is connected to its corresponding second guide rail 13. The above-mentioned lifting mechanism is used to drive the second clamping arm 4 to rise and fall. Specifically, it drives the second guide rail 13 to rise and fall through the electric push rod 20, thereby causing the second clamping arm 4 to rise and fall. In this way, the relative height between the second clamping arm 4 and the first clamping arm 3 can be adjusted, and the clamping position of the side wall of the goods being clamped can be flexibly adjusted in some palletizing tasks.
[0045] Please refer to Figures 1-4 In some embodiments of this example, a second angle adjustment mechanism is provided on the second movable end 12. The second angle adjustment mechanism includes a second telescopic member 14, a second rotating shaft 15, a second connecting rod 16, and a second slider 17. The second rotating shaft 15 is rotatably mounted on the second movable end 12, and the second clamping arm 4 is connected to the second rotating shaft 15 and can rotate with it. One end of the second connecting rod 16 is connected to the second rotating shaft 15, and the second connecting rod 16 has a second sliding groove 18 along its extension direction. The second slider 17 is disposed within the second sliding groove 18 and can slide freely along the second sliding groove 18. The second telescopic member 14 is disposed on the second movable end 12, and the telescopic end of the second telescopic member 14 is hinged to the second slider 17. The structure and principle of the second angle adjustment mechanism are the same as those of the first angle adjustment mechanism.
[0046] It is worth noting that both the first telescopic member 7 and the second telescopic member 14 mentioned above have existing structures, such as pneumatic telescopic rods, hydraulic rods, etc.
[0047] Please refer to Figure 1 and Figure 2 Preferably, in this embodiment, both the first clamping arm 3 and the second clamping arm 4 are L-shaped structures. This allows the clamping arms to scoop up the goods from the bottom, ensuring that the bottom of the goods is subjected to force, and further preventing the goods from being damaged by clamping.
[0048] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A palletizing robot, characterized in that, include: Base; A robotic arm, which is mounted on the base; The clamping assembly includes a base plate, a first clamping assembly, and a second clamping assembly. The base plate is disposed at the free end of the robotic arm. The first clamping assembly includes two first clamping arms symmetrically disposed on the base plate, and any one of the first clamping arms is rotatably connected to the base plate. The second clamping assembly includes two second clamping arms symmetrically disposed on both sides of the first clamping arms, and any one of the second clamping arms is rotatably disposed on the base plate. The symmetrical midline of the two first clamping arms is perpendicular to the symmetrical midline of the two second clamping arms. A clamping channel is formed between the two first clamping arms, and the two second clamping arms are located within the clamping channel. A clamping space is formed between the two first clamping arms and the two second clamping arms. When the stacked item is placed in the clamping space, the two first clamping arms and the two second clamping arms can clamp the peripheral sidewall of the stacked item in sequence.
2. The palletizing robot according to claim 1, characterized in that, A first spacing adjuster is provided between the two first clamping arms. The first spacing adjuster includes at least one first linear movement module perpendicular to the symmetrical midline of the two first clamping arms. The first linear movement module is disposed on the base plate. Each first linear movement module includes two first moving ends that can move closer or further away. The two first clamping arms are respectively rotatably disposed on the two first moving ends.
3. The palletizing robot according to claim 2, characterized in that, The first linear motion module further includes a first guide rail perpendicular to the symmetrical center line of the two first clamping arms. The first guide rail is disposed on the base plate, and the two first moving ends are slidably disposed on the first guide rail and can move closer or further away along the extension direction of the first guide rail.
4. The palletizing robot according to claim 2, characterized in that, The first movable end is provided with a first angle adjustment mechanism, which includes a first telescopic device, a first rotating shaft, a first connecting rod, and a first slider. The first rotating shaft is rotatably disposed on the first movable end. The first clamping arm is connected to the first rotating shaft and can rotate with the first rotating shaft. One end of the first connecting rod is connected to the first rotating shaft. The first connecting rod has a first sliding groove along its extension direction. The first slider is disposed in the first sliding groove and can slide freely along the first sliding groove. The first telescopic device is disposed on the first movable end, and the telescopic end of the first telescopic device is hinged to the first slider.
5. The palletizing robot according to claim 1, characterized in that, A second spacing adjuster is provided between the two second clamping arms. The second spacing adjuster includes at least one second linear movement module perpendicular to the symmetrical midline of the two second clamping arms. The second linear movement module is disposed on the base plate. Each second linear movement module includes two second moving ends that can move closer or further away. The two second clamping arms are respectively rotatably disposed on the two second moving ends.
6. The palletizing robot according to claim 5, characterized in that, The second linear motion module further includes a second guide rail perpendicular to the symmetrical center line of the two second clamping arms. The second guide rail is disposed on the base plate, and the two second moving ends are slidably disposed on the second guide rail and can move closer or further away along the extension direction of the second guide rail.
7. The palletizing robot according to claim 6, characterized in that, A lifting mechanism is provided between any of the second guide rails and the seat plate. The lifting mechanism includes an electric push rod perpendicular to the seat plate. The fixed end of the electric push rod is connected to the seat plate, and the lifting end of the electric push rod is connected to its corresponding second guide rail.
8. The palletizing robot according to claim 5, characterized in that, A second angle adjustment mechanism is provided on the second movable end. The second angle adjustment mechanism includes a second telescopic device, a second rotating shaft, a second connecting rod, and a second slider. The second rotating shaft is rotatably mounted on the second movable end. The second clamping arm is connected to the second rotating shaft and can rotate with the second rotating shaft. One end of the second connecting rod is connected to the second rotating shaft. The second connecting rod has a second sliding groove along its extension direction. The second slider is disposed in the second sliding groove and can slide freely along the second sliding groove. The second telescopic device is disposed on the second movable end, and the telescopic end of the second telescopic device is hinged to the second slider.
9. The palletizing robot according to claim 1, characterized in that, Both the first clamping arm and the second clamping arm are L-shaped structures.