A plastic bucket palletizing robot

Abstract

This utility model provides a plastic bucket palletizing robot, which includes a robotic arm, an operating table, a conveyor table, and a stacking table. The operating table, conveyor table, and stacking table are located opposite each other on the outside of the robotic arm. The plastic bucket body is placed on the top of the conveyor table. The output end of the robotic arm is provided with a reciprocating gripping component for clamping the outer periphery of the plastic bucket body. A rubber layer is fixed on the inner side of the reciprocating gripping component. An adsorption component is also provided on the inner side of the reciprocating gripping component. The output end of the adsorption component passes through the surface of the rubber layer and is fixed with multiple suction cups. The plastic bucket palletizing robot provided by this utility model, while the gripping component clamps the plastic bucket, the adsorption component starts to work. The adsorption force generated by the suction cups further fixes the plastic bucket on the gripping component. The combination of peripheral gripping and adsorption forms a dual fixing mechanism, which significantly enhances the stability and applicability of the gripping.

Description

Technical Field

[0001] This utility model relates to the field of plastic bucket production technology, and in particular to a plastic bucket palletizing robot. Background Technology

[0002] In numerous industrial sectors such as chemical, food, and daily chemical industries, plastic drums are widely used as common packaging containers for the storage and transportation of various liquids and solids. With the continuous expansion of production scale and the in-depth promotion of automated production concepts, the degree of automation in the plastic drum palletizing process has become one of the key factors restricting enterprise production efficiency and cost control.

[0003] Common plastic bucket palletizing robots typically consist of a robotic arm, an operating table, a conveyor, and a stacking platform. The operating table, conveyor, and stacking platform are located on the outside of the robotic arm. The plastic buckets to be palletized are placed on top of the conveyor. The output end of the robotic arm is equipped with a gripping component for grasping the plastic buckets.

[0004] In terms of gripping methods, existing technologies mostly adopt a single mechanical clamping method, that is, the mechanical arm drives the clamping component to move, so that the clamping component clamps the plastic bucket from the outer periphery. The plastic bucket is gripped and transported by clamping from the outer periphery. However, some plastic buckets have relatively smooth surfaces. When using a single mechanical clamping method, the friction between the clamping component and the plastic bucket is limited. During the transportation process, the plastic bucket is prone to sliding or falling off due to factors such as vibration and inertial force. Secondly, for plastic buckets of special shapes or sizes, the existing single clamping method is difficult to adapt to the stacking of plastic buckets of different shapes. The clamping component only clamps from the outside of the plastic bucket. Different shaped plastic buckets have different outer circumferences, and the clamping component may cause the clamp to loosen during clamping, thus limiting the application range of the plastic bucket palletizing robot and causing inconvenience in actual use.

[0005] Therefore, it is necessary to provide a new plastic bucket palletizing robot to solve the above-mentioned technical problems. Utility Model Content

[0006] To solve the above-mentioned technical problems, this utility model provides a plastic bucket palletizing robot.

[0007] The plastic bucket palletizing robot provided by this utility model includes: a robotic arm, an operating table, a conveyor table, and a stacking table. The operating table, conveyor table, and stacking table are located opposite each other on the outside of the robotic arm. The plastic bucket body is placed on the top of the conveyor table. The output end of the robotic arm is provided with a reciprocating clamping assembly for clamping the outer periphery of the plastic bucket body. A rubber layer is fixed on the inner side of the reciprocating clamping assembly. An adsorption component one is also provided on the inner side of the reciprocating clamping assembly. The output end of the adsorption component one passes through the surface of the rubber layer and is fixed with multiple suction cups one. The multiple suction cups one are all in contact with the outer periphery of the plastic bucket body. Furthermore, an adsorption component two is provided in the middle of the reciprocating clamping assembly for adsorbing and fixing the inner wall of the plastic bucket body.

[0008] Preferably, the output end of the robotic arm is fixed with a mounting plate, the bottom of the mounting plate is provided with a sliding groove, the inner side wall of the sliding groove is provided with a limit groove, and the bottom of the reciprocating clamping assembly slides in the sliding groove.

[0009] Preferably, the reciprocating clamping assembly includes a bidirectional lead screw and a motor. The motor is fixed to the outside of the mounting plate. The bidirectional lead screw rotates on the inner wall of the slide groove. One end of the bidirectional lead screw passes through the surface of the mounting plate and is fixedly connected to the output end of the motor. Both ends of the bidirectional lead screw are threadedly connected to clamping plates. A slider is fixed to the bottom of the clamping plate. The slider slides on the bottom wall of the slide groove. Both ends of the slider slide on the inner wall of the limiting groove. The rubber layer is fixed to the inner side of the clamping plate.

[0010] Preferably, each of the two clamping plates has a through-hole for mounting groove, and the adsorption assembly is fixed to the outer side of the two clamping plates respectively. The adsorption assembly includes two vacuum pumps, which are respectively fixed to the outside of the two clamps. Each of the two vacuum pumps has a connecting pipe fixed to its output end. One end of each connecting pipe extends into the mounting groove. Each mounting groove has a branch pipe that is distributed in a bifurcated manner. One end of each branch pipe is fixedly connected to one end of the connecting pipe, and the other end of each branch pipe passes through the mounting groove and is fixedly connected to one end of each of the plurality of suction cups.

[0011] Preferably, the second adsorption component includes a bracket, which is fixed in the middle of the mounting plate. A mounting hole is provided on the outer side of the bracket. A second vacuum pump is fixed on one side of the bracket. A second connecting pipe is fixed to the output end of the second vacuum pump. The diameter of the second connecting pipe matches the diameter of the mounting hole. One end of the second connecting pipe is fixed in the mounting hole. A plurality of third connecting pipes are fixed at the bottom of the bracket. One end of each third connecting pipe passes through the surface of the bracket and extends into the mounting hole. One end of each third connecting pipe is connected to the interior of the second connecting pipe, and the other end of each third connecting pipe is fixed with a suction cup.

[0012] Preferably, a mounting platform is provided on one side of the operating table, and the robotic arm is fixed to the top of the mounting platform.

[0013] Compared with related technologies, the plastic bucket palletizing robot provided by this utility model has the following advantages: This invention features a rubber layer fixedly installed on the inner side of the reciprocating clamping assembly. When clamping the outer periphery of the plastic bucket, the rubber layer can adhere to the surface of the plastic bucket, increasing the friction between the clamping assembly and the plastic bucket. Compared with the single mechanical clamping method in the prior art, this effectively reduces the possibility of the plastic bucket falling off during transportation. To a certain extent, it solves the problem of insufficient clamping friction when the surface of the plastic bucket is relatively smooth. This utility model uses an adsorption-type adsorption component 1 set inside the reciprocating clamping component. The output end of the adsorption component 1 passes through the surface of the rubber layer and is fixed with multiple suction cups 1. All of the suction cups 1 are in contact with the outer periphery of the plastic bucket body. While the clamping component clamps the plastic bucket, the adsorption component starts to work and generates adsorption force through the suction cups 1, further fixing the plastic bucket to the clamping component. By combining the outer periphery clamping and adsorption, a dual fixing mechanism is formed, which significantly enhances the stability of gripping. This invention utilizes an adsorption component two, located in the middle of a reciprocating clamping assembly, for adsorbing and fixing the inner wall of a plastic bucket. Based on actual fixing requirements, when stacking plastic buckets of different shapes, the adsorption component two is activated to generate adsorption force on the inner wall of the plastic bucket. This force, combined with the clamping and adsorption force on the outer periphery, fixes the plastic bucket from both inside and outside, achieving all-around fixation. This further reduces the risk of the plastic bucket falling off during handling and improves the safety and reliability of stacking. Attached Figure Description

[0014] Figure 1 A schematic diagram of the overall structure of the plastic bucket palletizing robot provided by this utility model; Figure 2 This is a schematic diagram of the clamping assembly. Figure 3 A cross-sectional structural diagram of a part of the adsorption component; Figure 4 This is a schematic diagram of the structure of adsorption component two.

[0015] Numbered in the diagram: 1. Mounting platform; 11. Robotic arm; 12. Plastic bucket body; 2. Operating platform; 3. Conveyor platform; 31. Stacking platform; 4. Mounting plate; 41. Slide groove; 411. Limiting groove; 42. Two-way lead screw; 421. Motor; 43. Clamping plate; 431. Slider; 44. Clamping plate; 441. Rubber layer; 442. Mounting groove; 45. Vacuum pump one; 5. Connecting pipe one; 51. Branch pipe; 52. Suction cup one; 6. Bracket; 61. Mounting hole; 62. Vacuum pump two; 621. Connecting pipe two; 63. Connecting pipe three; 64. Suction cup two. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Please refer to the following: Figures 1 to 4 ,in, Figure 1 A schematic diagram of the overall structure of the plastic bucket palletizing robot provided by this utility model; Figure 2 This is a schematic diagram of the clamping assembly. Figure 3 A cross-sectional structural diagram of a part of the adsorption component; Figure 4 This is a schematic diagram of the structure of adsorption component two.

[0018] In some embodiments, such as Figures 1 to 4 As shown, the system includes a robotic arm 11, an operating table 2, a conveyor 3, and a stacking platform 31. The operating table 2, the conveyor 3, and the stacking platform 31 are located opposite each other on the outside of the robotic arm 11. A plastic bucket body 12 is placed on the top of the conveyor 3. The output end of the robotic arm 11 is provided with a reciprocating clamping assembly for clamping the outer periphery of the plastic bucket body 12. A rubber layer 441 is fixed on the inner side of the reciprocating clamping assembly. An adsorption type adsorption assembly one is also provided on the inner side of the reciprocating clamping assembly. The output end of the adsorption assembly one passes through the surface of the rubber layer 441 and is fixed with multiple suction cups 52. The multiple suction cups 52 are all in contact with the outer periphery of the plastic bucket body 12. An adsorption assembly two is also provided in the middle of the reciprocating clamping assembly for adsorbing and fixing the inner wall of the plastic bucket body 12. Among them, the stacking platform 31 is used to stack the plastic bucket bodies 12 after they are stacked; The conveyor 3 is used to transport the plastic barrel body 12 to be stacked, preferably by using a conveyor belt; The control panel 2 is used to control the rotation and movement of the robotic arm 11. The specific operating principle adopts the operating principle of existing technology, which is existing technology and will not be described in detail here.

[0019] Specifically, by fixing a rubber layer 441 on the inner side of the reciprocating clamping assembly, the rubber layer 441 can fit against the outer periphery of the plastic bucket body 12 when clamping it, increasing the friction between the clamping assembly and the plastic bucket body 12. Compared with the single mechanical clamping method in the prior art, this effectively reduces the possibility of the plastic bucket falling off during transportation.

[0020] Furthermore, an adsorption-type adsorption component 1 is provided inside the reciprocating clamping component. The output end of the adsorption component 1 passes through the surface of the rubber layer 441 and is fixed with multiple suction cups 52. All suction cups 52 are in contact with the outer periphery of the plastic bucket body 12. While the clamping component clamps the plastic bucket body 12, the adsorption component starts to work and generates adsorption force through the suction cups 52, further fixing the plastic bucket body 12 to the clamping component. By combining peripheral clamping and adsorption, a dual fixing mechanism is formed, which significantly enhances the stability of gripping.

[0021] Furthermore, by using an adsorption component two located in the middle of the reciprocating clamping assembly for adsorbing and fixing the inner wall of the plastic bucket body, when gripping the plastic bucket, the adsorption component two is activated to generate an adsorption force on the inner wall of the plastic bucket body 12 according to the actual fixing requirements, such as when stacking plastic bucket bodies 12 of different shapes. This adsorption component two works in conjunction with the clamping and adsorption force on the outer periphery to fix the plastic bucket body 12 from both the inside and outside, achieving all-round fixation. This further reduces the risk of irregularly shaped plastic bucket bodies 12 falling off during transportation and improves the safety and reliability of stacking.

[0022] In some embodiments, reference is made to Figures 1 to 3 As shown, the output end of the robotic arm 11 is fixed with a mounting plate 4. The bottom of the mounting plate 4 is provided with a sliding groove 41. A limit groove 411 is provided on the inner side wall of the sliding groove 41. The bottom of the reciprocating clamping assembly slides in the sliding groove 41. The reciprocating clamping assembly includes a bidirectional lead screw 42 and a motor 421. The motor 421 is fixed on the outside of the mounting plate 4. The bidirectional lead screw 42 rotates on the inner wall of the slide groove 41. One end of the bidirectional lead screw 42 passes through the surface of the mounting plate 4 and is fixedly connected to the output end of the motor 421. Both ends of the bidirectional lead screw 42 are threadedly connected to clamping plates 43. A slider 431 is fixed at the bottom of the clamping plate 43. The slider 431 slides on the bottom wall of the slide groove 41. Both ends of the slider 431 slide on the inner wall of the limiting groove 411. A rubber layer 441 is fixed on the inner side of the clamping plate 43. The rubber layer 441 fixed on the inner side of the clamping plate 43 can increase the friction with the plastic bucket body 12 and further prevent slippage during clamping. Each of the two clamping plates 43 has a through-hole for mounting groove 442, and the adsorption assembly is fixed to the outside of the two clamping plates 43 respectively. The adsorption assembly includes two vacuum pumps 45, which are fixed to the outside of two clamping plates 43 respectively. The output ends of the two vacuum pumps 45 are fixed with connecting pipes 5. One end of each connecting pipe 5 extends into the mounting groove 442. Branch pipes 51 distributed in a bifurcated manner are fixed in the two mounting grooves 442. One end of each branch pipe 51 is fixedly connected to one end of the connecting pipe 5, and the other end of each branch pipe 51 passes through the mounting groove 442 and is fixedly connected to one end of a plurality of suction cups 52 respectively. Among them, the suction cup 52 is preferably made of rubber.

[0023] Specifically, during use, the robotic arm 11 moves the mounting plate 4 to a suitable position above the plastic buckets to be stacked, that is, above the conveyor table 2. At this time, the motor 421 starts, driving the bidirectional lead screw 42 to rotate. Since the threads at both ends of the bidirectional lead screw 42 are opposite, the two clamping plates 43 threaded to the bidirectional lead screw 42 will move towards each other along the slide groove 41 under the guidance of the slider 431 and the limiting groove 411, gradually approaching the plastic bucket body 12. When the rubber layer 441 on the inner side of the clamping plate 43 contacts the outer wall of the plastic bucket body 12, the plastic bucket body 12 is initially fixed between the two clamping plates 43. While the clamping plates 43 clamp the plastic bucket body 12, multiple suction cups 52 are attached to the outer periphery of the plastic bucket body 12, and two vacuum pumps 45 start working, extracting the suction cups 5 through the connecting pipe 5 and the branch pipe 51. The air in the contact area with the outer wall of the plastic bucket body 12 creates a negative pressure in that area. To a certain extent, the suction cup 52 adheres to the outer wall of the plastic bucket body 12, further enhancing the fixing effect of the plastic bucket body 12 and preventing the plastic bucket body 12 from falling off due to shaking or external force during the stacking process. At this time, the robotic arm 11 moves the fixed plastic bucket body 12 to the designated stacking position according to the preset program, that is, to the appropriate position on the top of the stacking platform 3. At this time, the vacuum pump 45 stops working, releasing the suction force of the suction cup 52. At the same time, the motor 421 rotates in the opposite direction, driving the bidirectional lead screw 42 to rotate in the opposite direction, causing the two clamps 43 to move in opposite directions, releasing the plastic bucket body 12, and completing one stacking operation. After that, the robotic arm 11 returns to the initial position and repeats the above steps to stack the next plastic bucket body 12.

[0024] Furthermore, the plastic bucket is fixed by combining a reciprocating clamping component and an adsorption component. The reciprocating clamping component applies clamping force to the plastic bucket from the outer periphery through the clamping plate, while the adsorption component uses multiple suction cups 52 to generate adsorption force from the outer wall of the plastic bucket body 12. The dual forces from the inside and outside make the plastic bucket body 12 more stable and reliable during the stacking process, greatly reducing the risk of the plastic bucket body 12 falling off during handling and stacking, and improving the safety and success rate of stacking.

[0025] In some embodiments, reference is made to Figure 1 , Figure 3 as well as Figure 4 As shown, the second adsorption component includes a bracket 6, which is fixed in the middle of the mounting plate 4. The bracket 6 has a mounting hole 61 on its outer side. A second vacuum pump 62 is fixed on one side of the bracket 6. A second connecting pipe 621 is fixed to the output end of the second vacuum pump 62. The diameter of the second connecting pipe 621 matches the diameter of the mounting hole 61. One end of the second connecting pipe 621 is fixed inside the mounting hole 61. A plurality of third connecting pipes 63 are fixed to the bottom of the bracket 6. One end of the plurality of third connecting pipes 63 passes through the surface of the bracket 6 and extends into the mounting hole 61. One end of each of the plurality of third connecting pipes 63 is connected to the inside of the second connecting pipe 621. The other end of each of the plurality of third connecting pipes 63 is fixed with a suction cup 64. A mounting platform 1 is provided on one side of the operating table 2, and the robotic arm 11 is fixed to the top of the mounting platform 1.

[0026] Among them, the material of suction cup 264 is preferably rubber.

[0027] Specifically, during use, the robotic arm 11 moves the mounting plate 4 according to the preset program or the information fed back by the sensors inside the operating table 2, so that the suction cup 64 of the adsorption component 2 moves to the top of the conveyor 3. At this time, the robotic arm 11 continues to descend, so that the suction cup 64 contacts the inner wall of the plastic bucket body 12. At this time, the vacuum pump 62 is started. The vacuum pump 62 extracts the air in the mounting hole 61 through the connecting pipe 621. Since the connecting pipe 63 is connected to the mounting hole 61 and the connecting pipe 621, the negative pressure in the mounting hole 61 will be quickly transmitted to the connecting pipe 63, thereby creating a negative pressure environment inside the suction cup 64, which adsorbs the inner wall of the plastic bucket body 12. At this time, the adsorption component 2 and the reciprocating clamping component work together to fix the plastic bucket body 12 from the inner wall and the outer periphery at the same time, which greatly enhances the stability of the plastic bucket during handling and stacking.

[0028] Furthermore, the materials of connecting pipe 5, connecting pipe 2 621 and connecting pipe 3 63 are all rubber, which has a certain degree of flexibility. When connecting pipe 3 63 is used to pull up the plastic bucket body 12, the reciprocating clamping component plays the main clamping role, avoiding damage caused by directly pulling up the connecting pipe 3 63.

[0029] Furthermore, the preferred model for vacuum pump 145 and vacuum pump 262 is: R5RA0155A.

[0030] The circuits and controls involved in this utility model are all existing technologies, and will not be described in detail here.

[0031] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A plastic drum stacking robot, comprising a mechanical arm (11), an operating table (2), a conveying table (3) and a stacking table (31), the operating table (2), the conveying table (3) and the stacking table (31) being located opposite to the outside of the mechanical arm (11), characterized in that, The top of the conveyor (3) is a plastic bucket body (12). The output end of the robotic arm (11) is provided with a reciprocating clamping assembly for clamping the outer periphery of the plastic bucket body (12). A rubber layer (441) is fixed on the inner side of the reciprocating clamping assembly. An adsorption type adsorption assembly is also provided on the inner side of the reciprocating clamping assembly. The output end of the adsorption assembly passes through the surface of the rubber layer (441) and is fixed with multiple suction cups (52). The multiple suction cups (52) are all in contact with the outer periphery of the plastic bucket body (12). The middle part of the reciprocating clamping assembly is also provided with an adsorption assembly for adsorbing and fixing the inner wall of the plastic bucket body (12).

2. The plastic keg palletizing robot of claim 1, wherein, The output end of the robotic arm (11) is fixed with a mounting plate (4), and a sliding groove (41) is provided at the bottom of the mounting plate (4). A limit groove (411) is provided on the inner side wall of the sliding groove (41), and the bottom of the reciprocating clamping assembly slides in the sliding groove (41).

3. The plastic keg palletizing robot of claim 2, wherein, The reciprocating clamping assembly includes a bidirectional lead screw (42) and a motor (421). The motor (421) is fixed to the outside of the mounting plate (4). The bidirectional lead screw (42) rotates on the inner wall of the slide groove (41). One end of the bidirectional lead screw (42) passes through the surface of the mounting plate (4) and is fixedly connected to the output end of the motor (421). Both ends of the bidirectional lead screw (42) are threadedly connected to clamping plates (43). A slider (431) is fixed to the bottom of the clamping plate (43). The slider (431) slides on the bottom wall of the slide groove (41). Both ends of the slider (431) slide on the inner wall of the limiting groove (411). The rubber layer (441) is fixed to the inner side of the clamping plate (43).

4. The plastic keg palletizing robot of claim 3, wherein, Each of the two clamping plates (43) has a through-hole (442) on one side, and the adsorption assembly is fixed on the outside of the two clamping plates (43) respectively; The adsorption assembly includes two vacuum pumps (45), which are fixed on the outside of the two clamps (43). The output ends of the two vacuum pumps (45) are fixed with connecting pipes (5). One end of each connecting pipe (5) extends into the mounting groove (442). Branch pipes (51) are fixed in the mounting groove (442). One end of each branch pipe (51) is fixedly connected to one end of the connecting pipe (5), and the other end of each branch pipe (51) passes through the mounting groove (442) and is fixedly connected to one end of each of the multiple suction cups (52).

5. The plastic keg palletizing robot of claim 4, wherein, The second adsorption component includes a bracket (6), which is fixed in the middle of the mounting plate (4). The bracket (6) has an installation hole (61) on its outer side. A second vacuum pump (62) is fixed on one side of the bracket (6). A second connecting pipe (621) is fixed at the output end of the second vacuum pump (62). The diameter of the second connecting pipe (621) matches the diameter of the mounting hole (61). One end of the second connecting pipe (621) is fixed inside the mounting hole (61). A plurality of third connecting pipes (63) are fixed at the bottom of the bracket (6). One end of the plurality of third connecting pipes (63) passes through the surface of the bracket (6) and extends into the mounting hole (61). One end of each of the plurality of third connecting pipes (63) is connected to the interior of the second connecting pipe (621). The other end of each of the plurality of third connecting pipes (63) is fixed with a suction cup (64).

6. The plastic keg palletizing robot of claim 5, wherein, The operating table (2) has a mounting platform (1) on one side, and the robotic arm (11) is fixed to the top of the mounting platform (1).

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