Integrated collaborative palletizing robot

Abstract

This utility model discloses an integrated collaborative palletizing robot, including a palletizing robot body, a flipping component, and a limiting component. The palletizing robot body includes a base, a robotic arm, and a vacuum suction cup. The robotic arm is fixed to the base. The vacuum suction cup is connected to the robotic arm through the flipping component. The flipping component includes a fixed plate, a support plate, a hinge seat, a flipping plate, a hydraulic cylinder, a connecting groove, and a connecting block. The fixed plate is fixed to the robotic arm. The support plate is fixed to the bottom surface of the fixed plate. The hinge seat is located on the support plate. The flipping plate is fixed to the hinge seat and connected to the vacuum suction cup. The hydraulic cylinder is fixed to the fixed plate. A connecting groove is provided on the side of the flipping plate near the fixed plate. The connecting block slides through the connecting groove and is connected to the piston rod of the hydraulic cylinder through the limiting component. This integrated collaborative palletizing robot has a simple and reasonable structure, ingenious design, and can easily flip goods according to actual usage conditions, exhibiting high flexibility and good performance.

Description

Technical Field

[0001] This utility model relates to the field of palletizing robot technology, specifically to an integrated collaborative palletizing robot. Background Technology

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs, providing higher production efficiency for modern manufacturing. Palletizing machines have a wide range of applications in the palletizing industry. Palletizing robots greatly save labor and space. They are flexible, precise, fast, efficient, and highly stable, with high operating efficiency. The installation of the patented coordinate robot system is flexible and compact, making the concept of building a highly efficient and energy-saving fully automatic block molding machine production line a reality within a small footprint. It is suitable for logistics, manufacturing and other fields.

[0003] For example, Chinese utility model patent CN221543317U discloses an integrated collaborative palletizing robot, which includes a rotary disk. A palletizing frame is fixedly installed at the center of the upper surface of the rotary disk by welding. A palletizing robotic arm is vertically connected to the top of the palletizing frame. A guide groove is opened on the front of the palletizing robotic arm. A threaded screw is installed in the guide groove through a bearing. A threaded plate is sleeved on the threaded screw. The threaded plate and the threaded screw are threadedly connected. The threaded plate adopts a "Z"-shaped structure design. A servo cylinder is fixedly installed on the back of the bottom end of the threaded plate by screws. A pneumatic rod is movably connected to the output end of the servo cylinder. This utility model can complete the work of palletizing and transferring materials from a low position to a high position. It has a good servo control lifting effect, good performance, reduces the limitation of use, and can meet the needs of more application scenarios. Moreover, the technical effect of moving through threaded transmission can effectively improve the movement range of the palletizing robot.

[0004] Palletizing robots are mainly used to automatically pick up, transport and stack goods (such as bagged materials, boxes, etc.). However, existing palletizing robots can usually only stack goods according to their original placement position, and it is difficult to flip the goods according to the actual stacking situation. This results in low flexibility and poor adaptability, which affects the effectiveness of the palletizing robot. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing an integrated collaborative palletizing robot, which facilitates the flipping of goods.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an integrated collaborative palletizing robot, comprising a palletizing robot body, a flipping assembly, and a limiting assembly; the palletizing robot body includes a base, a robotic arm, and a vacuum suction cup; the robotic arm is fixed to the base; the vacuum suction cup is connected to the robotic arm via the flipping assembly; the flipping assembly includes a fixed plate, a support plate, a hinge seat, a flipping plate, a hydraulic cylinder, a connecting groove, and a connecting block; the fixed plate is fixed to the robotic arm; the support plate is fixed to the bottom surface of the fixed plate; the hinge seat is rotatably mounted on the support plate via a rotating shaft; the flipping plate is fixed to the hinge seat, and the flipping plate is detachably connected to the vacuum suction cup via bolts; the hydraulic cylinder is fixed to the fixed plate; a connecting groove is provided on the side of the flipping plate near the fixed plate; the connecting block slides through the connecting groove, and the connecting block is connected to the piston rod of the hydraulic cylinder via the limiting assembly.

[0007] Preferably, the bottom surface of the support plate is an arc-shaped surface, and the hinge seat is a U-shaped structure.

[0008] Preferably, the connecting block is a T-shaped structure with a smaller top and a larger bottom.

[0009] Preferably, the limiting component includes a limiting groove and a limiting block; the connecting block has a limiting groove; the limiting block is rotatably inserted into the limiting groove and fixedly connected to the piston end of the hydraulic cylinder.

[0010] Preferably, the limiting block has a cylindrical structure, and the axis of the limiting block is located within the limiting groove.

[0011] Preferably, it also includes a reinforcing block; the reinforcing block is fixed at the intersection of the support plate and the fixing plate.

[0012] Preferably, the reinforcing block has a square structure, and the longitudinal section of the reinforcing block has a right-angled triangular structure.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model, by setting up a flipping component, uses a robotic arm to move a vacuum suction cup above the goods and adsorb them. Then, the robotic arm transfers the goods to a suitable position. Depending on the stacking situation, the hydraulic cylinder is activated, causing the piston rod to shorten or extend. This allows the connecting block to slide within the connecting groove via a limiting component, causing the hinge seat to rotate with the support plate via a pivot. This tilts the flipping plate, causing the vacuum suction cup to tilt the goods until they reach a suitable position. Finally, the vacuum suction cup stacks the goods to the appropriate position. Compared to existing technologies, this utility model has a simple and reasonable structure and ingenious design. It allows for convenient flipping of goods according to the actual stacking situation, greatly improving flexibility and adapting to the stacking needs of different goods, resulting in better performance.

[0014] 2. By setting a limiting component, when the hydraulic cylinder piston rod shortens or extends, the limiting block will rotate in the limiting groove because the hydraulic cylinder position is fixed. This allows the limiting block to automatically adapt to the position between the hydraulic cylinder piston rod and the connecting block. Since the limiting block has a cylindrical structure and its axis is located in the limiting groove, it is convenient to limit the position between the limiting block and the limiting groove.

[0015] 3. By setting up a reinforcing block, which has a right-angled triangular cross-section, this utility model can increase the contact area between the support plate and the fixed plate, thereby improving the connection strength between the support plate and the fixed plate and thus improving the stability of the flipping plate position. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a cross-sectional view of the overall structure of this utility model; Figure 3 This is a partially disassembled sectional view of the present invention. Figure 4 For the present utility model Figure 2 Enlarged diagram of point A in the middle.

[0017] In the picture: 1. Palletizing robot body; 2. Flipping assembly; 3. Limiting assembly; 4. Reinforcing block; 101. Base; 102. Robotic arm; 103. Vacuum suction cup; 201. Fixing plate; 202. Support plate; 203. Hinge seat; 204. Flipping plate; 205. Hydraulic cylinder; 206. Connecting groove; 207. Connecting block; 301. Limiting groove; 302. Limiting block. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] like Figures 1 to 4 An integrated collaborative palletizing robot includes a palletizing robot body 1, a flipping component 2, and a limiting component 3; the palletizing robot body 1 includes a base 101, a robotic arm 102, and a vacuum suction cup 103; the robotic arm 102 is fixedly welded to the base 101; the vacuum suction cup 103 is connected to the robotic arm 102 through the flipping component 2. The flipping assembly 2 includes a fixed plate 201, a support plate 202, a hinge seat 203, a flipping plate 204, a hydraulic cylinder 205, a connecting groove 206, and a connecting block 207; the fixed plate 201 is fixedly welded to the robotic arm 102; the support plate 202 is fixedly welded to the bottom surface of the fixed plate 201; the hinge seat 203 is rotatably mounted on the support plate 202 via a rotating shaft; the flipping plate 204 is fixedly welded to the hinge seat 203, and the flipping plate 204 is detachably connected to the vacuum suction cup 103 by bolts; the hydraulic cylinder 205 is fixedly welded to the fixed plate 201. The flip plate 204 has a connecting groove 206 on the side near the fixed plate 201; the connecting block 207 slides through the connecting groove 206 and is connected to the piston rod of the hydraulic cylinder 205 through the limiting component 3; the bottom surface of the support plate 202 is arc-shaped to avoid the support plate 202 from obstructing the rotation of the hinge seat 203; the hinge seat 203 has a U-shaped structure to facilitate the connection between the support plate 202 and the hinge seat 203; the connecting block 207 has a T-shaped structure with a smaller top and a larger bottom to prevent the connecting block 207 from moving out of the connecting groove 206.

[0020] This invention, by setting up a flipping component 2, uses a robotic arm 102 to move a vacuum suction cup 103 above the goods and use the vacuum suction cup 103 to adsorb the goods. Then, the robotic arm 102 transfers the goods to a suitable position. Depending on the stacking situation, the hydraulic cylinder 205 is activated, causing the piston rod of the hydraulic cylinder 205 to shorten or extend. This causes the connecting block 207 to slide within the connecting groove 206 via the limiting component 3, causing the hinge seat 203 to rotate with the support plate 202 via the rotating shaft. This causes the flipping plate 204 to tilt, and the vacuum suction cup 103 to tilt the goods until they are tilted to a suitable position. Finally, the vacuum suction cup 103 stacks the goods to the appropriate position. Compared with the prior art, this invention has a simple and reasonable structure and ingenious design. It can easily flip the goods according to the actual stacking situation, which not only greatly improves flexibility but also adapts to the stacking needs of different goods, resulting in better performance.

[0021] As a preferred embodiment, the limiting component 3 includes a limiting groove 301 and a limiting block 302; the connecting block 207 has a limiting groove 301; the limiting block 302 is rotatably inserted into the limiting groove 301 and fixedly connected to the piston end of the hydraulic cylinder 205; the limiting block 302 has a cylindrical structure and the axis of the limiting block 302 is located in the limiting groove 301.

[0022] By setting a limiting component 3, when the piston rod of the hydraulic cylinder 205 shortens or extends, the limiting block 302 will rotate within the limiting groove 301 because the position of the hydraulic cylinder 205 is fixed. This allows the limiting block 302 to automatically adapt to the position between the piston rod of the hydraulic cylinder 205 and the connecting block 207. Since the limiting block 302 has a cylindrical structure and its axis is located within the limiting groove 301, it is convenient to limit the position between the limiting block 302 and the limiting groove 301.

[0023] As a preferred embodiment, it also includes a reinforcing block 4; the reinforcing block 4 is fixedly welded at the intersection of the support plate 202 and the fixing plate 201; the reinforcing block 4 has a square structure and its longitudinal section is a right-angled triangular structure.

[0024] By setting up a reinforcing block 4, which has a right-angled triangular cross-section, the present invention can increase the contact area between the support plate 202 and the fixing plate 201, thereby improving the connection strength between the support plate 202 and the fixing plate 201 and thus improving the stability of the position of the flip plate 204.

[0025] The palletizing robot body 1 and hydraulic cylinder 205 are both conventional instruments. Their working principles, dimensions and models are not related to the problem solved by this application, so they will not be described in detail. The control method of this utility model is through a controller. The control circuit of the controller can be implemented by a person skilled in the art through simple programming. The power supply is also common knowledge in the art. Furthermore, this utility model is mainly used to protect mechanical devices, so the control method and circuit connection will not be explained in detail.

[0026] Working principle: In use, firstly, the robotic arm 102 moves the vacuum suction cup 103 above the goods and uses the vacuum suction cup 103 to adsorb the goods. Then, the robotic arm 102 transfers the goods to a suitable position. Depending on the stacking situation of the goods, the hydraulic cylinder 205 is activated, causing the piston rod of the hydraulic cylinder 205 to shorten or extend, causing the connecting block 207 to slide in the connecting groove 206, causing the limiting block 302 to rotate in the limiting groove 301, causing the hinge seat 203 to rotate with the support plate 202 through the rotating shaft, causing the flipping plate 204 to tilt, causing the vacuum suction cup 103 to tilt the goods until the goods are tilted to a suitable position. Then, the vacuum suction cup 103 stacks the goods to a suitable position.

[0027] The above is the entire working process of the device, and all contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An integrated collaborative palletizing robot, characterized in that, The system includes a palletizing robot body (1), a flipping component (2), and a limiting component (3); the palletizing robot body (1) includes a base (101), a robotic arm (102), and a vacuum suction cup (103); the robotic arm (102) is fixed on the base (101); the vacuum suction cup (103) is connected to the robotic arm (102) through the flipping component (2); The flipping assembly (2) includes a fixed plate (201), a support plate (202), a hinge seat (203), a flipping plate (204), a hydraulic cylinder (205), a connecting groove (206), and a connecting block (207); the fixed plate (201) is fixed on the robotic arm (102); the support plate (202) is fixed on the bottom surface of the fixed plate (201); the hinge seat (203) is rotatably mounted on the support plate (202) via a rotating shaft; the flipping plate (204) The flip plate (204) is fixed on the hinge seat (203) and is detachably connected to the vacuum suction cup (103) by bolts; the hydraulic cylinder (205) is fixed on the fixed plate (201); the flip plate (204) has a connecting groove (206) on the side near the fixed plate (201); the connecting block (207) slides through the connecting groove (206) and is connected to the piston rod of the hydraulic cylinder (205) by the limiting component (3).

2. The integrated collaborative palletizing robot according to claim 1, characterized in that, The bottom surface of the support plate (202) is arc-shaped, and the hinge seat (203) is a U-shaped structure.

3. The integrated collaborative palletizing robot according to claim 1, characterized in that, The connecting block (207) has a T-shaped structure that is smaller at the top and larger at the bottom.

4. The integrated collaborative palletizing robot according to claim 3, characterized in that, The limiting component (3) includes a limiting groove (301) and a limiting block (302); the connecting block (207) has a limiting groove (301); the limiting block (302) is rotatably inserted into the limiting groove (301) and fixedly connected to the piston end of the hydraulic cylinder (205).

5. The integrated collaborative palletizing robot according to claim 4, characterized in that, The limiting block (302) has a cylindrical structure, and the axis of the limiting block (302) is located in the limiting groove (301).

6. The integrated collaborative palletizing robot according to claim 2, characterized in that, It also includes a reinforcing block (4); the reinforcing block (4) is fixed at the intersection of the support plate (202) and the fixing plate (201).

7. The integrated collaborative palletizing robot according to claim 6, characterized in that, The reinforcing block (4) has a square structure, and the longitudinal section of the reinforcing block (4) has a right-angled triangular structure.

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