Packaging barrel stacking robot

Abstract

The utility model provides a kind of packing barrel stacking mechanical hand, comprising: top support;First backboard, fixedly arranged in the top support bottom;Two movable parts, are arranged in the top support bottom in parallel;Wherein, any movable part includes: second backboard, slidingly connected to the top support, the second backboard and the first backboard are mutually parallel, so that the first backplate and the second backplate form clamping space between;First driving element, for driving the second backplate close to or away from the first backplate. Two movable parts are matched with a first backplate respectively to form double clamping space, i.e. double station, and the expansion and contraction of clamping space are controlled by a first driving element in each station, to realize single / double station flexible switching, to adapt to different transfer requirements.

Description

Technical Field

[0001] This utility model relates to the field of oil drum filling and packaging technology, and in particular to a packaging drum palletizing robot. Background Technology

[0002] After the lubricating oil drums and coolant drums have been filled, they need to be packed into boxes and sealed. The boxes are then transferred to designated areas for stacking and storage or awaiting shipment.

[0003] Traditional manual palletizing and handling methods are inefficient, and the uneven weight of the packaging boxes can easily cause them to slip during manual handling, posing risks such as lubricant leakage and personnel injury. At the same time, labor costs increase significantly with the expansion of production scale. Therefore, factories have gradually begun to use palletizing robots to replace manual handling.

[0004] However, most palletizing robots are designed for single-station gripping, meaning they can only transfer one box at a time. This makes them unsuitable for the bulk transfer needs during peak production periods.

[0005] Some companies increase the throughput per shipment by adding more gripping stations. However, when the required number of palletizing layers is odd, many stations may become empty. The large weight difference between empty and loaded stations causes an imbalance in the force applied by the robotic arm during lifting, making the boxes prone to swaying, shifting, or even falling off. This not only affects the neatness of the stacking but also requires additional manpower for secondary sorting, increasing operating costs.

[0006] Therefore, there is an urgent need for a palletizing robot that can flexibly transfer single and double boxes and grasp them stably, so as to improve transfer efficiency and reduce operational risks. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this utility model provides a packaging barrel palletizing robot, suitable for the packaging process after filling liquids such as lubricating oil and coolant. It efficiently grasps and transfers packaging boxes, and is particularly suitable for automated assembly line operations in mass production scenarios. The technical solution adopted by this utility model is as follows: A packaging drum palletizing robot includes: Top support for connecting the robotic arm; The first back plate is fixedly installed at the bottom of the top support; Two movable parts are arranged side by side at the bottom of the top support; Wherein, any of the said active parts includes: The second back plate is slidably connected to the top support. The second back plate is parallel to the first back plate so that a clamping space is formed between the first back plate and the second back plate. A first driving element is used to drive the second backplate closer to or away from the first backplate.

[0008] Furthermore, the active part also includes: The second driving component has one end rotatably connected to the side of the second back plate away from the first back plate; A connecting rod is rotatably connected to the second back plate and arranged on the same side as the second driving member. The other end of the second driving member is rotatably connected to the connecting rod, and the second driving member is arranged perpendicular to the connecting rod. Several hooks are spaced apart at the bottom of the connecting rod, with one end of each hook connected to the connecting rod and the other end extending to the lower side of the second back plate; The second driving member drives the connecting rod to rotate to one side, and the other end of the hook swings towards the bottom of the clamping space.

[0009] Furthermore, a slide rail is provided at the bottom of the top support; A fixing block is disposed on the top of the first back plate and is fixedly connected to the slide rail; An intermediate support is located between the first back plate and the second back plate and is fixedly connected to the slide rail; the first driving component is disposed on the intermediate support. A slider is disposed on the top of the second back plate and is slidably connected to the slide rail.

[0010] Furthermore, the connecting rod has an L-shaped cross-section, and the second driving member and the hook are respectively connected to the two right-angled sides of the connecting rod.

[0011] Furthermore, a plurality of first hollow sections are evenly provided on the first back plate.

[0012] Furthermore, the second back plate is evenly provided with a number of second hollow sections.

[0013] Furthermore, the first back plate and the second back plate are L-shaped, and reinforcing ribs are provided on the inner side of the corners of the first back plate and the second back plate respectively.

[0014] Advantages of this utility model: One robotic arm is equipped with two moving parts. Through a dual-station design with one first backplate matching two second backplates, it can transport 1-2 boxes at a time, which can meet the batch transportation needs during peak production periods. The single / dual station can be flexibly switched without changing parts, making it easy to operate. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structural composition of this utility model.

[0016] In the diagram: 100-top support, 110-slide rail, 120-middle support, 200-first back plate, 210-fixing block, 220-first hollow part, 300-second back plate, 310-slider, 320-second hollow part, 400-first driving component, 500-second driving component, 600-connecting rod, 700-claw, 800-reinforcing rib. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0018] Please see the appendix Figure 1 This application proposes a packaging barrel palletizing robot, comprising: a top support 100 for connecting a robotic arm; a first back plate 200 fixedly disposed at the bottom of the top support 100; and two movable parts disposed side by side at the bottom of the top support 100; wherein, each of the movable parts comprises: a second back plate 300 slidably connected to the top support 100, the second back plate 300 being parallel to the first back plate 200 to form a clamping space between the first back plate 200 and the second back plate 300; and a first driving member 400 for driving the second back plate 300 to move closer to or away from the first back plate 200.

[0019] By using two movable parts to match a first backplate 200 respectively to form a double clamping space, i.e. a double station, each station is controlled by a first drive unit 400 to control the opening and closing of the clamping space, so that the single / double station can be flexibly switched to adapt to different transfer needs.

[0020] In one embodiment, the present application further includes: a slide rail 110 disposed at the bottom of the top support 100; a fixing block 210 disposed at the top of the first back plate 200 and fixedly connected to the slide rail 110; an intermediate support 120 located between the first back plate 200 and the second back plate 300 and fixedly connected to the slide rail 110, wherein the first driving member 400 is disposed on the intermediate support 120; and a slider 310 disposed at the top of the second back plate 300 and slidably connected to the slide rail 110.

[0021] In one specific embodiment, the top support 100 is welded from high-strength aluminum alloy or Q235 steel plate and has a rectangular frame structure. Its top is fixedly connected to the end of the robotic arm through a flange and needs to bear the total weight of all components and packaging boxes. The overall deformation resistance can be improved by adding reinforcing beams inside the frame.

[0022] In one specific embodiment, the slide rail 110 is a linear guide rail, with no fewer than two slide rails 110 corresponding to each second back plate 300, which are parallelly embedded in the mounting groove (not shown) at the bottom of the top support 100. The spacing between adjacent slide rails 110 is calculated based on the double-box gripping spacing. Furthermore, the surface of the slide rail 110 needs to be chrome-plated to reduce the coefficient of sliding friction, making the movement of the second back plate 300 smoother.

[0023] In one specific embodiment, the intermediate support 120 is a metal bracket with a metal plate on its upper side, which is fixed to the middle position of the slide rail 110 by bolts. The lower side has two metal frames, on which two first driving components 400 are installed respectively. Mounting holes are opened on the metal frames for fixing the first driving components 400. At the same time, the intermediate support 120 can serve as the intermediate positioning reference for the two back plates.

[0024] In one embodiment, the first back plate 200 and the second back plate 300 are L-shaped, and reinforcing ribs 800 are respectively provided on the inner side of the corners of the first back plate 200 and the second back plate 300.

[0025] Specifically, the L-shaped first back plate 200 is integrally formed from a longitudinal clamping section and a transverse bearing section, with the longitudinal clamping section perpendicular to the transverse bearing section. In one specific embodiment, a 3-5mm thick rubber anti-slip pad is pasted on the inner side of the longitudinal clamping section to increase the friction with the side wall of the packaging box. The top of the transverse bearing section is welded and fixed to the fixing block 210.

[0026] Specifically, there are two L-shaped second back plates 300, and their structure is symmetrical with that of the first back plate 200, forming a "one fixed and two movable" gripping layout. The outer side of its longitudinal clamping section is connected to the piston rod of the first drive member 400.

[0027] Specifically, the reinforcing rib 800 is a triangular metal plate, which is welded to the inner side of the L-shaped corner of the first back plate 200 and the second back plate 300 respectively. The thickness of the reinforcing rib 800 is 5-8mm, and the welding length with the back plate is not less than 50mm, which can greatly improve the corner deformation resistance of the first back plate 200 or the second back plate 300.

[0028] In one embodiment, the movable part further includes: a second driving member 500, one end of which is rotatably connected to the side of the second back plate 300 opposite to the first back plate 200; a connecting rod 600, rotatably connected to the second back plate 300 and arranged on the same side as the second driving member 500, the other end of the second driving member 500 being rotatably connected to the connecting rod 600, and the second driving member 500 being arranged perpendicular to the connecting rod 600; and a plurality of hooks 700, spaced apart at the bottom of the connecting rod 600, one end of any hook 700 being connected to the connecting rod 600 and the other end extending to the lower side of the second back plate 300; wherein the second driving member 500 drives the connecting rod 600 to rotate to one side, and the other end of the hook 700 swings toward the bottom of the clamping space.

[0029] The first back plate 200 and the second back plate 300 clamp together on the sides, while the bottom of the claw 700 supports it, forming a triple-fixation structure. This reduces the slippage rate of the packaging box and prevents swaying and deviation caused by imbalance of force on the robotic arm. When the robotic arm is transferred to the transfer line and covers the packaging box, the claw 700 can avoid colliding with the packaging box when it swings out of the clamping space, thus improving the safety of grasping.

[0030] In one specific embodiment, a claw avoidance groove is provided at the bottom of the transverse bearing section to avoid interference between the claw 700 and the second back plate 300 when the claw 700 rotates.

[0031] In one specific embodiment, the connecting rod 600 has an L-shaped cross-section, and the second driving member 500 and the hook 700 are respectively connected to the two right-angled sides of the connecting rod 600. The L-shaped structure allows the rotation trajectory of the hook 700 to avoid the second back plate 300, and also provides a planar mounting surface for the second driving member 500 and the hook 700, facilitating the determination of the reference plane. Furthermore, a through hole can be provided inside the connecting rod 600 for arranging sensor cables, simplifying the overall wiring. In this embodiment, the two ends of the connecting rod 600 are rotatably connected to hinge supports, which are then fixed to the second back plate 300 by bolts; the first driving member 400 is rotatably connected to the second back plate 300 and the connecting rod 600 through the hinge supports.

[0032] In one specific embodiment, the hook 700 is an arc-shaped metal claw, with 3-5 pieces per station, welded at intervals to the bottom of the connecting rod 600. The ends of the hook 700 are rounded to prevent scratching the packaging box. The connection angle between the hook 700 and the connecting rod 600 can be adjusted according to the height of the packaging box to ensure that it can penetrate deep into the bottom of the packaging box and provide stable lifting force. Furthermore, the hook 700 is L-shaped. The lateral section of the L-shaped hook can increase the contact area with the bottom of the packaging box, improve lifting stability, and is suitable for cartons with soft bottoms.

[0033] In one embodiment, regarding the selection of the driving components, the first driving component 400 and the second driving component 500 are either cylinders or electric actuators. Since the robotic arm moves between different devices for extended periods, and the packaging box is inside the robotic arm when grasped, the cylinders or electric actuators do not contain hydraulic oil, thus fundamentally avoiding the problem of hydraulic oil leakage contaminating the operating environment. Compared to cylinders, electric actuators control the extension and retraction of the actuator via a servo motor, offering higher precision and better suitability for scenarios with extremely high requirements for gripping distance. Furthermore, electric actuators do not require an air source, making them suitable for workshops without compressed air.

[0034] In one embodiment, to reduce the weight of the first back plate 200 and the second back plate 300, a plurality of first hollow portions 220 are evenly provided on the first back plate 200. A plurality of second hollow portions 320 are evenly provided on the second back plate 300. The first hollow portions 220 are rectangular through holes, evenly opened in the longitudinal clamping section of the first back plate 200, with the opening ratio controlled at 30%-40%, which reduces the weight of the back plate, reduces the load on the robotic arm, and facilitates the operator to observe the clamping status of the packaging box; the second hollow portions 320 have the same structure as the first hollow portions 220, are opened on the second back plate 300, and have the same function.

[0035] With attachment Figure 1 Based on the positional relationship in the middle, the positional relationship of each component is described as follows: the slide rail 110 is arranged in the left-right direction; the first back plate 200 and the second back plate 300 are arranged in parallel and corresponding to each other in the left and right directions; the middle support 120 is arranged in the front-back direction, and two first driving members 400 are set in the front and back directions at the bottom of the middle support 120, and each first driving member 400 is arranged in the front-back direction; the connecting rod 600 is arranged in the front-back direction, and several hooks 700 are arranged at intervals in the front and back on each connecting rod 600; the second driving member 500 is arranged in the vertical direction.

[0036] See attached document Figure 1 The positional relationship within the system, and the dual-station transfer process can be briefly described as follows: The first drive unit 400 is in an extended state, and the two second back plates 300 are located at the ends of the slide rail 110 respectively. The distance between the second drive unit 400 and the first back plate 200 (i.e. the width of the clamping space) is greater than the width of the packaging box. The second drive unit 500 is in a reset state, and the hook 700 is retracted to the side of the second back plate 300 to avoid interfering with the conveying of the packaging box. The robotic arm moves the robotic hand above the conveyor, adjusts the position of the robotic hand, and lowers the robotic hand so that the front and rear packaging boxes enter the clamping space and correspond to the front and rear second back plates 300 respectively. The two first driving members 400 act simultaneously, driving the two second back plates 300 to move along the slide rail 110 toward the first back plate 200 (the width of the clamping space decreases) until the longitudinal clamping section of the first back plate 200 and the longitudinal clamping section of the second back plate 300 clamp the side wall of the packaging box, and the first driving member 400 stops acting. The second driving component 500 is activated, causing the connecting rod 600 to rotate 90°. The hook 700 rotates from the side into the bottom of the packaging box, and the end of the hook 700 contacts the bottom of the packaging box, forming a double fixation of "side clamping + bottom lifting". The robotic arm drives the robotic hand to transfer two boxes to the stacking area and place them in the preset position. Then, the second drive component 500 resets, the first drive component 400 retracts, the hook 700 retracts, the second back plate 300 returns to the initial position, the boxes are released, the robotic arm resets, and one double box transfer is completed.

[0037] See attached document Figure 1 The positional relationships within the system, and the single-station transfer process can be briefly described as follows: The first drive unit 400 is in an extended state, and the two second back plates 300 are located at the ends of the slide rail 110 respectively. The distance between the second drive unit 400 and the first back plate 200 (i.e. the width of the clamping space) is greater than the width of the packaging box. The second drive unit 500 is in a reset state, and the hook 700 is retracted to the side of the second back plate 300 to avoid interfering with the conveying of the packaging box. The robotic arm moves the robotic hand above the conveyor, adjusts the position of the robotic hand, and lowers the robotic hand so that a packaging box enters the clamping space and corresponds to one of the second back plates 300. When the first driving component 400 corresponding to the packaging box moves, it drives the corresponding second back plate 300 to move along the slide rail 110 toward the first back plate 200 (the width of the clamping space decreases) until the longitudinal clamping section of the corresponding first back plate 200 and the longitudinal clamping section of the second back plate 300 clamp the side wall of the packaging box, the corresponding first driving component 400 stops moving. When the second drive component 500 corresponding to the packaging box moves, it drives the corresponding connecting rod 600 to rotate 90°, and the corresponding hook 700 rotates from the side into the bottom of the packaging box. The end of the corresponding hook 700 contacts the bottom of the packaging box, forming a double fixation of "side clamping + bottom lifting". The robotic arm drives the robotic hand to transfer the package to the stacking area and place it in the preset position. Then, the corresponding second drive component 500 resets, the corresponding first drive component 400 retracts, the corresponding claw 700 retracts, the corresponding second back plate 300 returns to the initial position, the package is released, the robotic arm resets, and a single package transfer is completed.

[0038] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although this utility model has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A packaging drum palletizing robot, characterized in that, include: Top support (100) for connecting the robotic arm; The first back plate (200) is fixedly installed at the bottom of the top support (100); Two movable parts are arranged side by side at the bottom of the top support (100); Wherein, any of the said active parts includes: The second back plate (300) is slidably connected to the top support (100). The second back plate (300) is parallel to the first back plate (200) so that a clamping space is formed between the first back plate (200) and the second back plate (300). The first driving member (400) is used to drive the second back plate (300) to move closer to or away from the first back plate (200).

2. The packaging drum palletizing robot as described in claim 1, characterized in that, The activity department also includes: The second drive unit (500) has one end rotatably connected to the side of the second back plate (300) away from the first back plate (200); A connecting rod (600) is rotatably connected to the second back plate (300) and arranged on the same side as the second drive member (500). The other end of the second drive member (500) is rotatably connected to the connecting rod (600). The second drive member (500) is arranged perpendicular to the connecting rod (600). A plurality of hooks (700) are spaced apart at the bottom of the connecting rod (600), one end of each hook (700) is connected to the connecting rod (600) and the other end extends to the underside of the second back plate (300); The second driving member (500) drives the connecting rod (600) to rotate to one side, and the other end of the hook (700) swings towards the bottom of the clamping space.

3. The packaging drum palletizing robot as described in claim 2, characterized in that, Also includes: A slide rail (110) is provided at the bottom of the top support (100); A fixing block (210) is disposed on the top of the first back plate (200) and fixedly connected to the slide rail (110); An intermediate support (120) is located between the first back plate (200) and the second back plate (300) and is fixedly connected to the slide rail (110). The first drive member (400) is disposed on the intermediate support (120). The slider (310) is disposed on the top of the second back plate (300) and is slidably connected to the slide rail (110).

4. The packaging drum palletizing robot as described in claim 2 or 3, characterized in that: The connecting rod (600) has an L-shaped cross-section, and the second driving member (500) and the hook (700) are respectively connected to the two right-angled sides of the connecting rod (600).

5. The packaging drum palletizing robot as described in any one of claims 1-3, characterized in that: The first back plate (200) is provided with a plurality of first hollow parts (220).

6. The packaging drum palletizing robot as described in any one of claims 1-3, characterized in that: The second back plate (300) is provided with a number of second hollow parts (320).

7. The packaging drum palletizing robot as described in any one of claims 1-3, characterized in that: The first back plate (200) and the second back plate (300) are L-shaped, and reinforcing ribs (800) are provided on the inner side of the corners of the first back plate (200) and the second back plate (300).

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