A palletizing clamping mechanism based on robot carrying

Abstract

The application provides a curved block stacking and clamping mechanism based on robot carrying, which comprises a connecting part, a first telescopic driver arranged on the connecting part, an active supporting plate unit arranged below the connecting part, the active supporting plate unit being connected with the telescopic end of the first telescopic driver through a supporting plate connecting frame and being arranged to be horizontally transversely movable, a second telescopic driver arranged between the connecting part and the active supporting plate unit, the second telescopic driver being connected with the connecting part, the second telescopic driver being provided with a push plate at the telescopic end, and the telescopic direction of the second telescopic driver being opposite to that of the first telescopic driver, a third telescopic driver further arranged on the connecting part, the telescopic end of the third telescopic driver being provided with a baffle, the baffle being able to be telescopically extended downward to horizontally correspond to the push plate, and the baffle being located on the telescopic direction of the second telescopic driver, and the active supporting plate unit being horizontally extended transversely from the supporting plate connecting frame to the direction of the baffle. The mechanism can replace manual work to improve the carrying efficiency and safety of curved blocks.

Description

Technical Field

[0001] This utility model relates to the field of yeast stacking technology, specifically a yeast block stacking and clamping mechanism based on robot handling. Background Technology

[0002] In baijiu brewing, the handling of the koji blocks is a crucial step in ensuring successful fermentation. The pressed koji blocks have a fragile structure and are rich in microbial flora (such as molds and yeasts). They must be handled gently during handling to avoid collisions that could break them or damage their porous structure. Otherwise, it will hinder oxygen penetration and microbial reproduction, leading to a decrease in the activity of saccharifying enzymes or uneven fermentation of the mash.

[0003] The current method of handling yeast blocks is mainly manual. Because yeast blocks are usually large in size and weight, the handling process is extremely physically demanding, and the quantity handled at one time is small. In addition, workers not only need to be careful to avoid the yeast blocks slipping and falling and causing injuries, but also need to be extra careful to avoid collisions and scratches to the edges and weak points of the yeast blocks, which could cause damage.

[0004] To address the aforementioned problems, the inventors designed a yeast block stacking and conveying system and a yeast block stacking clamping mechanism for the system to replace manual handling and stacking. Utility Model Content

[0005] To address the technical problems mentioned above, this utility model provides a curved block stacking and clamping mechanism based on robot handling.

[0006] The technical solution of this utility model is as follows: A curved block palletizing and clamping mechanism based on robot handling includes a connecting part for connecting to the robotic arm of a robot, a first telescopic driver on the connecting part, and a movable pallet unit below the connecting part. The movable pallet unit is connected to the telescopic end of the first telescopic driver through a pallet connecting frame and is configured to be able to move horizontally. A second telescopic driver is provided between the connecting part and the movable tray unit. The second telescopic driver is connected to the connecting part and close to the top surface of the movable tray unit. The extended end of the second telescopic driver is provided with a push plate, and the extension direction is opposite to the extension direction of the first telescopic driver. The connecting part is also provided with a third telescopic driver. The telescopic end of the third telescopic driver is provided with a baffle and can extend downward to be horizontally aligned with the push plate. The baffle is located in the extension direction of the second telescopic driver. The movable pallet unit extends horizontally from the pallet connecting frame toward the baffle.

[0007] In the above scheme, the movable pallet unit includes a fixed plate extending horizontally and longitudinally and multiple support rods connected to the fixed plate. The fixed plate is connected to the pallet connecting frame, one end of the support rod is connected to the fixed plate, and the other end extends horizontally. The multiple support rods are arranged horizontally and longitudinally.

[0008] Furthermore, there are an even number of support rods, with two rods forming a pair, and multiple pairs of support rods arranged horizontally and longitudinally.

[0009] Furthermore, the spacing between each pair of central support rods is equal.

[0010] In the above scheme, the pallet connecting frame is slidably connected to the connecting part.

[0011] Furthermore, a linear bearing is provided on the connecting part, and a guide rod is provided on the pallet connecting frame, with the guide rod slidingly engaging with the linear bearing.

[0012] Furthermore, the pallet connecting frame is equipped with two guide rods, which are arranged horizontally and longitudinally. The connecting part is equipped with two linear bearings for the two guide rods to slide and connect respectively.

[0013] Furthermore, one end of each of the two guide rods is connected to the pallet connecting frame, and the other end is connected to each other through the rear connecting plate.

[0014] In the above scheme, the baffle is L-shaped, with one side plate extending downward from the bend and the other side plate extending horizontally from the bend towards the direction of the push plate, and the side plate is connected to the telescopic end of the third telescopic actuator.

[0015] In the above scheme, the push plate is a U-shaped groove plate, and its arched part faces horizontally towards the direction of the baffle.

[0016] This invention provides a robotic-based curved block stacking and clamping mechanism. Driven by a first telescopic actuator, a movable pallet unit is inserted under multiple pre-stacked curved blocks, lifting them up. Simultaneously, baffles and push plates clamp and secure the curved blocks on the movable pallet unit, preventing them from falling during transport. This mechanism replaces manual handling of curved blocks, enabling the transport of more blocks at once. Furthermore, the clamping action of the push plates and baffles prevents blocks from falling and causing safety accidents, significantly improving transport efficiency. In addition, since the mechanism carries pre-arranged curved blocks, there is no need for re-arranging during stacking, avoiding the double steps of stacking and transporting manually, thus improving stacking efficiency. Attached Figure Description

[0017] In the attached diagram: Figure 1 A schematic diagram of the curved block stacking and clamping mechanism; Figure 2 Another perspective schematic diagram of the curved block stacking and clamping mechanism; Figure 3 This is a schematic diagram illustrating the use of the curved block stacking and clamping mechanism.

[0018] The components represented by the various reference numerals in the diagram are: 1. Block stacking and clamping mechanism; 11. Connecting part; 111. Connecting plate; 112. Connecting flange; 113. Linear bearing; 12. First telescopic actuator; 13. Movable pallet unit; 131. Fixed plate; 132. Support rod; 14. Pallet connecting frame; 141. Vertical plate; 142. Horizontal plate; 143. Guide rod; 144. Rear connecting plate; 15. Second telescopic actuator; 16. Push plate; 17. Third telescopic actuator; 18. Baffle; 2. Robot; 3. Stacking mechanism. Detailed Implementation

[0019] like Figures 1 to 3 As shown in the figure, this utility model provides a curved block stacking and clamping mechanism based on robot handling. The curved block stacking and clamping mechanism 1 is mounted on a robot 2. The robot 2's robotic arm moves the stacked curved blocks arranged on the stacking mechanism 3 to transport and transfer them. Figure 3 As shown. The function of the block stacking and clamping mechanism 1 is to support and clamp the blocks.

[0020] like Figure 1 and Figure 2 As shown, the block stacking and clamping mechanism 1 includes a connecting part 11 for connecting with the robotic arm of the robot 2. A first telescopic driver 12 is provided on the connecting part 11, and a movable pallet unit 13 is provided below the connecting part 11. The movable pallet unit 13 is connected to the telescopic end of the first telescopic driver 12 through a pallet connecting frame 14 and is configured to be able to move horizontally. A second telescopic driver 15 is provided between the connecting part 11 and the movable tray unit 13. The second telescopic driver 15 is connected to the connecting part 11 and close to the top surface of the movable tray unit 13. The extended end of the second telescopic driver 15 is provided with a push plate 16, and the extension direction is opposite to the extension direction of the first telescopic driver 12. The connecting part 11 is also provided with a third telescopic driver 17. The telescopic end of the third telescopic driver 17 is provided with a baffle 18, which can extend downward to be horizontally aligned with the push plate 16. The baffle 18 is located in the extension direction of the second telescopic driver 15. The movable pallet unit 13 extends horizontally from the pallet connecting frame 14 toward the baffle 18.

[0021] In use, the baffle 18 is raised by the third telescopic actuator 17, the push plate 16 is retracted by the second telescopic actuator 15, and the movable pallet unit 13 is retracted by the first telescopic actuator 12. The entire curved block stacking and clamping mechanism 1 is moved by the robotic arm so that the movable pallet is inserted from below the curved blocks on the stacking mechanism 3. Next, the third telescopic actuator 17 extends, driving the baffle 18 to descend and lock onto the front side of the stacked curved blocks. Then, the second telescopic actuator 15 extends, driving the push plate 16 to push out horizontally and lock onto the rear side of the stacked curved blocks, cooperating with the baffle 18 to clamp and fix the stacked curved blocks. Finally, the entire curved block stacking and clamping mechanism 1 is lifted by the robotic arm, and the movable pallet unit 13 carries the stacked curved blocks and moves with the robotic arm.

[0022] When unloading the curved block, the movable pallet unit 13 is placed close to the placement plane or stacking plane, and then the first telescopic driver 12 extends to pull the movable pallet unit 13 away from under the curved block. Then the push plate 16 is retracted in sequence, and the baffle 18 is raised to complete the unloading or stacking of the curved block.

[0023] The curved block stacking and clamping mechanism 1 of this utility model replaces manual handling of curved blocks. It not only increases the number of curved blocks that can be handled at one time through the movable pallet unit 13, but also ensures that the curved blocks will not fall during handling through the clamping of the push plate 16 and the baffle 18, thereby improving the handling speed. In addition, the curved block stacking and clamping mechanism 1 carries pre-arranged curved blocks, and the stacking state of the curved blocks is not damaged during loading and unloading. Therefore, there is no need to stack them again during stacking, avoiding the double process of stacking and handling followed by stacking required by manual handling, thus improving the efficiency of curved block stacking.

[0024] The technical content of this embodiment will be described in detail below: First, the connecting part 11 in this embodiment includes a connecting plate 111 and a connecting flange 112. The first telescopic actuator 12 is disposed on the top of the connecting plate 111 and extends horizontally, with its telescopic end extending out of the side of the connecting plate 111. The connecting flange 112 is inverted U-shaped, spans above the first telescopic actuator 12, and is connected to the connecting plate 111 at both ends for connection with the robotic arm.

[0025] The movable pallet unit 13 includes a horizontally extending fixed plate 131 and multiple support rods 132 connected to the fixed plate 131. The fixed plate 131 is connected to the pallet connecting frame 14. One end of each support rod 132 is connected to the fixed plate 131, and the other end extends horizontally in the direction of the baffle 18. The multiple support rods 132 are arranged horizontally in a longitudinal direction. The support rods 132 and the pallet connecting frame 14 form an L-shaped structure, and the extended end of the support rod 132 can move to or pass under the baffle 18.

[0026] The support rod 132 is used to support the curved blocks. The number of support rods 132 is set to an even number, preferably four or more, and each pair supports the same column of curved blocks. Multiple pairs of support rods 132 are arranged at intervals along the horizontal longitudinal direction. Therefore, multiple pairs of support rods 132 can support n rows and m columns of curved blocks, where n and m are natural numbers and can be set according to the actual needs of the factory.

[0027] In addition, the spacing between each pair of middle support rods 132 is equal.

[0028] like Figure 3 As shown, the stacking mechanism 3 uses a single belt to move each column of curved blocks, with a distance between each column. In this embodiment, the movable pallet unit 13 is configured to include multiple support rods 132 to form a fork-like structure, which cooperates with the belt of the stacking mechanism 3 to extend under the curved blocks without touching the belt and the curved blocks. This makes it easier for the movable pallet unit 13 to support the curved blocks.

[0029] In addition, in order to make the support rod 132 more stable when supporting the curved block, the support rod 132 is a rectangular rod, and the long side of its rectangular cross section extends horizontally longitudinally.

[0030] The fixed plate 131 is placed horizontally, the support rod 132 is connected to the lower surface of the fixed plate 131, and the pallet connecting frame 14 is connected to the upper surface of the fixed plate 131. The pallet connecting frame 14 includes two upright plates 141 and a horizontal plate 142 connecting the upper ends of the two upright plates 141. The two upright plates 141 are arranged symmetrically in the horizontal and longitudinal direction, and their lower ends are connected to the fixed plate 131. The horizontal plate 142 is connected to the telescopic end of the first telescopic driver 12.

[0031] In order to improve the load-bearing capacity and stability of the movable pallet unit 13 during movement, the pallet connecting frame 14 is slidably connected to the connecting part 11. Through the sliding cooperation between the pallet connecting frame 14 and the connecting part 11, the connecting part 11 replaces the first telescopic actuator 12 as the component that bears the weight of the curved block and the guiding component. The first telescopic actuator 12 only provides horizontal driving function.

[0032] Specifically, the connecting part 11 is provided with a linear bearing 113, and the pallet connecting frame 14 is provided with a horizontally extending guide rod 143. The pallet connecting frame 14 slides with the linear bearing 113 through the guide rod 143 and is slidably connected with the connecting part 11.

[0033] The pallet connecting frame 14 is provided with two guide rods 143, which are arranged horizontally and longitudinally. The connecting part 11 is provided with two linear bearings 113, which allow the two guide rods 143 to slide and connect respectively, thereby further improving the load-bearing capacity and stability of the movable pallet unit 13 during movement.

[0034] More specifically, the middle part of the horizontal plate 142 is connected to the telescopic end of the first telescopic actuator 12, and one end of each of the two guide rods 143 is connected to the horizontal plate 142 near both ends and is arranged symmetrically in the horizontal longitudinal direction relative to the first telescopic actuator 12. Two linear bearings 113 are disposed on the lower surface of the connecting plate 111 and are close to the telescopic end of the first telescopic actuator 12.

[0035] In addition, one end of the two guide rods 143 is connected to the pallet connecting frame 14, and the other end is connected to each other through the rear connecting plate 144, so as to ensure the parallelism of the two guide rods 143 when sliding and ensure the smooth sliding of the movable pallet.

[0036] The second telescopic driver 15 is located below the connecting plate 111, near the telescopic end of the first driver, and corresponds to the position between the two upright plates 141.

[0037] The second telescopic actuator 15 is connected to the connecting plate 111 via a mounting bracket. It is positioned close to the movable pallet unit 13 but higher than the fixed plate 131, thereby avoiding increasing the horizontal dimension of the curved block stacking clamping mechanism 1 in order to avoid interference between the fixed plate 131 and the second telescopic actuator 15.

[0038] The telescopic end of the second telescopic actuator 15 is connected to the push plate 16. The push plate 16 is preferably a U-shaped groove plate that extends horizontally in the longitudinal direction, and its arched part faces horizontally toward the direction of the baffle 18. This improves the bending resistance of the push plate 16 and makes the force applied to the curved block more even across the entire surface of the push plate 16.

[0039] The third telescopic actuator 17 is mounted on the connecting plate 111, located on the side of the connecting plate 111 away from the telescopic end of the first telescopic actuator 12. The baffle 18 connected to the telescopic end of the third telescopic actuator 17 is L-shaped. One side plate of the L-shaped baffle 18 extends downward from the bend, and the other side plate extends horizontally from the bend towards the direction of the push plate 16, and this side plate is connected to the telescopic end of the third telescopic actuator 17.

[0040] The side plate extending downward from the baffle 18 is parallel to the push plate 16.

[0041] In this embodiment, the first telescopic actuator 12 is a sliding cylinder, and the second telescopic actuator 15 and the third telescopic actuator 17 are triaxial guide cylinders.

[0042] In addition, to avoid misunderstanding, it is hereby stated that the telescopic end mentioned in this application specifically refers to the exposed end of the telescopic rod of each telescopic actuator.

Claims

1. A curved block palletizing and clamping mechanism based on robot handling, characterized in that, It includes a connecting part (11) for connecting with the robotic arm of the robot (2), a first telescopic driver (12) is provided on the connecting part (11), and a movable pallet unit (13) is provided below the connecting part (11). The movable pallet unit (13) is connected to the telescopic end of the first telescopic driver (12) through a pallet connecting frame (14) and is configured to be able to move horizontally. A second telescopic driver (15) is provided between the connecting part (11) and the movable tray unit (13). The second telescopic driver (15) is connected to the connecting part (11) and close to the top surface of the movable tray unit (13). The extended end of the second telescopic driver (15) is provided with a push plate (16), and the extension direction is opposite to the extension direction of the first telescopic driver (12). The connecting part (11) is also provided with a third telescopic driver (17). The telescopic end of the third telescopic driver (17) is provided with a baffle (18) and can extend downward to be horizontally aligned with the push plate (16). The baffle (18) is located in the extension direction of the second telescopic driver (15). The movable pallet unit (13) extends horizontally from the pallet connecting frame (14) toward the baffle (18).

2. The curved block palletizing and clamping mechanism based on robot handling as described in claim 1, characterized in that, The movable pallet unit (13) includes a fixed plate (131) extending horizontally and longitudinally, and multiple support rods (132) connected to the fixed plate (131). The fixed plate (131) is connected to the pallet connecting frame (14). One end of the support rod (132) is connected to the fixed plate (131), and the other end extends horizontally. The multiple support rods (132) are arranged horizontally and longitudinally.

3. The curved block palletizing and clamping mechanism based on robot handling as described in claim 2, characterized in that, There are an even number of brackets (132), two are a pair, and multiple pairs of brackets (132) are arranged horizontally and longitudinally.

4. The curved block palletizing and clamping mechanism based on robot handling as described in claim 3, characterized in that, The spacing between each pair of center support rods (132) is equal.

5. The curved block palletizing and clamping mechanism based on robot handling as described in claim 1, characterized in that, The tray connecting frame (14) is slidably connected to the connecting part (11).

6. The curved block palletizing and clamping mechanism based on robot handling as described in claim 5, characterized in that, A linear bearing (113) is provided on the connecting part (11), and a guide rod (143) is provided on the pallet connecting frame (14). The guide rod (143) and the linear bearing (113) are in sliding cooperation.

7. A curved block palletizing and clamping mechanism based on robot handling as described in claim 6, characterized in that, The pallet connecting frame (14) is provided with two guide rods (143), which are arranged horizontally and longitudinally. The connecting part (11) is provided with two linear bearings (113) for the two guide rods (143) to slide and connect respectively.

8. The curved block palletizing and clamping mechanism based on robot handling as described in claim 7, characterized in that, Two guide rods (143) are connected at one end to the pallet connecting frame (14) and at the other end to each other through the rear connecting plate (144).

9. A curved block palletizing and clamping mechanism based on robot handling as described in claim 1, characterized in that, The baffle (18) is L-shaped, with one side plate extending downward from the bend and the other side plate extending horizontally from the bend towards the direction of the push plate (16), and the side plate is connected to the telescopic end of the third telescopic actuator (17).

10. A curved block palletizing and clamping mechanism based on robot handling as described in claim 1, characterized in that, The push plate (16) is a U-shaped groove plate, and its arched part is horizontally oriented towards the direction of the baffle (18).

Images