A cargo palletizing robot

Abstract

This application discloses a cargo palletizing robot, including a base, a first gripper in the middle of the base, a second gripper on a first side of the base, and a third gripper on a second side of the base opposite to the first side. The first, second, and third grippers are used to grip goods. The second and third grippers are symmetrically arranged with the first gripper as the center of symmetry. The base is also equipped with a lifting device and a translation device. The lifting device is connected to the first gripper to drive the first gripper to rise and fall, and the translation device is connected to both the second and third grippers to drive the second and third grippers to simultaneously translate closer to or away from the first gripper. The cargo palletizing robot designed in this solution can adaptively adjust the width of the two grippers according to the size of the palletizing area when palletizing goods. At the same time, by lifting the middle gripper, the two grippers can be effectively prevented from being blocked when they are brought together, thereby improving the cargo palletizing efficiency and the versatility of the palletizing robot.

Description

Technical Field

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

[0002] Palletizing robots are commonly used in automated cargo loading, replacing manual handling. They effectively improve work efficiency. Driven by multi-axis robotic arms, palletizing robots can quickly stack goods in designated areas. To further enhance efficiency, they employ multiple parallel grippers to pick up multiple goods at once. However, due to varying stacking conditions, such as needing to stack goods inside a truck's cargo compartment, the robot cannot reach inside if the width of the parallel grippers exceeds the compartment's width. Traditional palletizing robots cannot adjust the width of the parallel grippers, limiting their versatility in certain situations. Utility Model Content

[0003] To overcome the above-mentioned shortcomings, the purpose of this application is to provide a cargo palletizing robot, thereby effectively solving the above-mentioned technical problems.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] This application provides a cargo palletizing robot, including a base, a first gripper disposed in the middle of the base, a second gripper disposed on a first side of the base, and a third gripper disposed on a second side of the base opposite to the first side. The first gripper, the second gripper, and the third gripper are used to grip cargo respectively. The second gripper and the third gripper are symmetrically arranged with the first gripper as the center of symmetry. The base is also provided with a lifting device and a translation device. The lifting device is connected to the first gripper to drive the first gripper to rise and fall. The translation device is simultaneously connected to the second gripper and the third gripper to drive the second gripper and the third gripper to simultaneously translate closer to or away from the first gripper.

[0006] Furthermore, the first gripper, the second gripper, and the third gripper each include a gripping part and a supporting part, the gripping part being used to grip goods, and the gripping part being disposed on the supporting part.

[0007] Furthermore, the lifting device includes a mounting plate disposed in the middle of the base, and a lifting cylinder is disposed on the mounting plate, the working end of the lifting cylinder being connected to the support portion of the first gripper.

[0008] Furthermore, the lifting device also includes multiple guide optical shafts arranged in a rectangular shape. One end of each guide optical shaft is fixedly connected to the support portion of the first gripper, and the other end of each guide optical shaft is mounted on the mounting plate via bearings and bushings.

[0009] Furthermore, the translation device includes a synchronous belt and a drive motor. The drive pulley of the synchronous belt is connected to the output end of the drive motor. The support portion of the second gripper and the support portion of the third gripper are respectively fixedly connected to the synchronous belt through a fixing block.

[0010] Furthermore, the translation device also includes a linear track, and the support portions of the second gripper and the third gripper are respectively movably mounted on the linear track via sliders.

[0011] Beneficial effects

[0012] This application provides a cargo palletizing robot that can adaptively adjust the width of the two grippers according to the size of the palletizing area when palletizing goods. At the same time, by raising the middle gripper, the two grippers can be effectively prevented from being blocked when they are brought together, thereby improving the cargo palletizing efficiency and the versatility of the palletizing robot. Attached Figure Description

[0013] The accompanying drawings are provided to illustrate the technical solutions of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the technical solutions of this disclosure and do not constitute a limitation on the technical solutions of this disclosure. The shapes and sizes of the components in the drawings do not reflect actual proportions and are only intended to illustrate the content of this application.

[0014] Figure 1 This is a schematic diagram of a palletizing robot structure provided in one embodiment of this application.

[0015] Figure 2 The palletizing robot provided in one embodiment of this application is performing a goods palletizing process. Figure 1 .

[0016] Figure 3 The palletizing robot provided in one embodiment of this application is performing a goods palletizing process. Figure 2 .

[0017] In the above attached figures,

[0018] 1. Base; 2. First gripper; 3. Second gripper; 4. Third gripper; 5. Gripping part; 6. Support part; 7. Mounting plate; 8. Lifting cylinder; 9. Guide optical axis; 10. Bushing; 11. Synchronous belt; 12. Drive motor; 13. Linear track. Detailed Implementation

[0019] The above-described solution will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of this application. The implementation conditions used in the embodiments may be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are generally those in routine experiments.

[0020] Unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. In this document, "electrical connection" includes the situation where constituent elements are connected together by an element having some electrical function. There is no particular limitation on the "electrically functioning element," as long as it enables the transmission and reception of electrical signals between the connected constituent elements. An "electrically functioning element" can be, for example, an electrode or wiring, a switching element such as a transistor, or other functional elements such as a resistor, inductor, or capacitor. "Up," "down," "left," and "right" are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0021] In this application, the terms "upper," "lower," "inner," "middle," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0022] Example

[0023] One embodiment of this application provides a cargo palletizing robot, such as... Figure 1As shown, the robot includes a base 1, a first gripper 2 is provided in the middle of the base 1, a second gripper 3 is provided on the first side of the base 1, and a third gripper 4 is provided on the second side of the base 1 opposite to the first side. The first gripper 2, the second gripper 3, and the third gripper 4 are used to grip goods. The first gripper 2, the second gripper 3, and the third gripper 4 each include a gripping part 5 and a supporting part 6. The gripping part 5 is used to grip goods, and the gripping part is provided on the supporting part 6. The second gripper 3 and the third gripper 4 are symmetrically arranged with the first gripper 2 as the center of symmetry. The base 1 is also provided with a lifting device and a translation device. The lifting device is connected to the first gripper 2 to drive the first gripper 2 to rise and fall. The translation device is connected to the second gripper 3 and the third gripper 4 to drive the second gripper 3 and the third gripper 4 to simultaneously translate closer to or away from the first gripper 2.

[0024] like Figure 1 As shown, the lifting device includes a mounting plate 7 located in the middle of the base 1, a lifting cylinder 8 mounted on the mounting plate 7, and the working end of the lifting cylinder 8 connected to the support part 6 of the first gripper 2; it also includes multiple rectangularly distributed guide optical shafts 9, one end of which is fixedly connected to the support part 6 of the first gripper 2, and the other end of which is mounted on the mounting plate 7 through a bearing and a bushing 10; the guide optical shafts 9 play an effective guiding role when the first gripper 2 is raised and lowered. When the second gripper 3 and the third gripper 4 approach the first gripper 2 at the same time, all three grippers are holding goods. If the goods held by the first gripper 2 in the middle block the convergence of the second gripper 3 and the third gripper 4, the cylinder drives the first gripper 2 to lift, effectively avoiding the second gripper 3 and the third gripper 4.

[0025] like Figure 1 As shown, the translation device includes a synchronous belt 11 and a drive motor 12. The drive wheel of the synchronous belt 11 is connected to the output end of the drive motor 12. The support parts 6 of the second gripper 3 and the third gripper 4 are fixedly connected to the synchronous belt 11 through fixed clamping blocks. It also includes a linear track 13. The support parts 6 of the second gripper 3 and the third gripper 4 are movably mounted on the linear track 13 through sliders. When the drive motor 12 is working, the synchronous belt 11 is working, and the second gripper 3 and the third gripper 4 will translate synchronously, moving closer to or away from the first gripper 2 in the middle.

[0026] This solution can adaptively adjust the width of the two side grippers according to the size of the palletizing area when stacking goods. At the same time, by raising the middle gripper, it can effectively prevent the two side grippers from being blocked when they are brought together. The specific principle is as follows:

[0027] like Figure 2As shown, the palletizing robot needs to stack goods to the lower palletizing area A. Due to the limited width of palletizing area A, the second grippers 3 and third grippers 4 on both sides cannot effectively extend into palletizing area A for stacking. Therefore, a translation device is used to move the second grippers 3 and third grippers 4 towards the center simultaneously to reduce the gripper width of the palletizing robot. At the same time, the first gripper 2 in the middle is raised by a lifting device to effectively avoid the obstruction. Figure 3 As shown, the adaptively adjusted palletizing robot can extend into palletizing area A to quickly palletize goods. After completion, the second gripper 3 and the third gripper 4 simultaneously open and reset to ensure that the next batch of goods can be quickly grabbed and palletized again.

[0028] The above embodiments are only for illustrating the technical concept and features of this application, and are intended to enable those skilled in the art to understand the content of this application and implement it accordingly. They should not be used to limit the scope of protection of this application. All equivalent changes or modifications made in accordance with the spirit and essence of this application should be included within the scope of protection of this application.

Claims

1. A cargo palletizing robot, characterized in that: The device includes a base, a first gripper located in the middle of the base, a second gripper located on a first side of the base, and a third gripper located on a second side of the base opposite to the first side. The first, second, and third grippers are used to grip goods. The second and third grippers are symmetrically arranged with the first gripper as the center of symmetry. The base is also equipped with a lifting device and a translation device. The lifting device is connected to the first gripper to drive the first gripper to rise and fall. The translation device is simultaneously connected to the second and third grippers to drive the second and third grippers to simultaneously translate closer to or away from the first gripper.

2. The cargo palletizing robot as described in claim 1, characterized in that: The first gripper, the second gripper, and the third gripper each include a gripping part and a supporting part. The gripping part is used to grip goods, and the gripping part is disposed on the supporting part.

3. The cargo palletizing robot as described in claim 2, characterized in that: The lifting device includes a mounting plate disposed in the middle of the base, and a lifting cylinder is disposed on the mounting plate. The working end of the lifting cylinder is connected to the support part of the first gripper.

4. The cargo palletizing robot as described in claim 3, characterized in that: The lifting device also includes multiple guide optical shafts arranged in a rectangular shape. One end of each guide optical shaft is fixedly connected to the support part of the first gripper, and the other end of each guide optical shaft is mounted on the mounting plate through bearings and bushings.

5. The cargo palletizing robot as described in claim 2, characterized in that: The translation device includes a synchronous belt and a drive motor. The drive pulley of the synchronous belt is connected to the output end of the drive motor. The support parts of the second gripper and the support parts of the third gripper are respectively fixedly connected to the synchronous belt through fixed clamping blocks.

6. The cargo palletizing robot as described in claim 5, characterized in that: The translation device further includes a linear track, and the support portions of the second gripper and the third gripper are respectively movably mounted on the linear track via sliders.

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