An automated palletizing robot for an automated robotic work station

Abstract

The utility model relates to an automatic stacking robot of automatic robot workstation, including robot base, mechanical arm and clamping subassembly, and clamping subassembly includes clamping block, front plate, vacuum pump, vacuum chuck, gas guide rod, external board, first spring and connecting hose, and front plate fixed mounting is at the front end outer surface of clamping block, and vacuum pump sets up at the upper end outer surface of clamping block, and vacuum chuck sets up below front plate, and gas guide rod sets up the upper end outer surface of vacuum chuck. The utility model discloses through the elastic compensation design of first spring, and vacuum chuck can be self -adaptation board material surface's tiny scratch, concave -convex or warping, effectively eliminates the sealed gap, solved the adsorption force attenuation problem that traditional vacuum adsorption led to because of the lack of tightness, and the doublet fixed of cooperation vacuum adsorption and electromagnetic clamping can form all -round restraint from the front and side, thoroughly avoid the risk of loosening, falling off in the board material grabbing process, significantly improve the stability of stacking operation.

Description

Technical Field

[0001] This utility model relates to the field of palletizing robot technology, and in particular to an automated palletizing robot for an automated robot workstation. Background Technology

[0002] An automated robot workstation is an automated unit that integrates a robot as its core, along with a control system, auxiliary equipment, and peripheral devices, to complete specific production tasks. Its core functions include handling, welding, assembly, painting, and palletizing, and it is widely used in the industrial manufacturing field. Automated palletizing robots are mechatronic devices used for automated palletizing operations. They are mainly used in low- to medium-volume production lines in logistics, manufacturing and other fields. They can neatly stack or unpack packaged goods onto pallets and onto production lines. However, existing automated palletizing robots have certain inconveniences when used. Traditional automated palletizing robots mostly use vacuum adsorption to grasp and palletize boards, but they have extremely high requirements for sealing: dust, scratches, dents or warping on the surface of the board can damage the seal, and even a small leak in the seal can lead to a decrease in adsorption force, which can easily cause the board to loosen and fall off. This not only reduces the stability and reliability of palletizing, but may also affect the production cycle, causing material damage or safety hazards. To address this, an automated palletizing robot for an automated robot workstation is proposed. Utility Model Content

[0003] In response to the technical problems in existing technologies, such as vacuum adsorption gripping being damaged by dust, scratches, dents, or warping, and even minor seal leaks leading to decreased adsorption force, which can easily cause the boards to loosen and fall off, thus reducing the stability and reliability of palletizing, this utility model provides an automated palletizing robot with an automated robot workstation.

[0004] The technical solution adopted by this utility model is: an automated palletizing robot for an automated robot workstation, including a robot base, a robotic arm, and a gripping assembly. The gripping assembly includes a gripping block, a front plate, a vacuum pump, a vacuum suction cup, an air guide rod, an outer plate, a first spring, and a connecting hose. The front plate is fixedly installed on the outer surface of the front end of the gripping block. The vacuum pump is located on the upper outer surface of the gripping block. The vacuum suction cup is located below the front plate. The air guide rod is located on the upper outer surface of the vacuum suction cup. The outer plate is fixedly installed on the outer wall of the air guide rod. The first spring is located between the outer plate and the connecting hose. Between the front plates, the connecting hose is disposed between the vacuum pump and the air guide rod. The clamping block has an internal groove, a first guide groove, and a second guide groove. The first guide groove and the second guide groove are both located above the internal groove. The first guide groove is located on one side of the second guide groove. A clamping rubber plate is disposed in the middle of the internal groove. A first connecting plate and a second connecting plate are fixedly installed on the upper outer surface of the clamping rubber plate. The first connecting plate is located on one side of the second connecting plate. A second spring is disposed between the first connecting plate and the first guide groove. An electromagnet is fixedly installed on the inner surface of one end of the second guide groove.

[0005] Furthermore, a palletizing frame is provided at one end of the robotic arm, and a pneumatic quick-release mechanism is provided between the palletizing frame and the robotic arm. A moving groove is provided in the middle of the palletizing frame, and a servo motor is fixedly installed on one outer surface of the palletizing frame. A forward and reverse threaded rod is provided in the middle of the moving groove, and a slider is provided on the outer wall of the forward and reverse threaded rod. A rod frame is provided on the lower outer surface of the slider.

[0006] Furthermore, the air guide rod passes through the front plate, the outer plate is movably connected to the front plate via the first spring, and the vacuum pump is connected to the air guide rod via the connecting hose.

[0007] Furthermore, the clamping blocks are all integrally formed with the built-in groove, the first guide groove, and the second guide groove, and the first guide groove and the second guide groove are both through the built-in groove.

[0008] Furthermore, the first connecting plate extends through the middle of the first guide groove, the second connecting plate extends through the middle of the second guide groove, and the first connecting plate is movably connected to the first guide groove via the second spring.

[0009] Furthermore, the palletizing rack is connected to the robotic arm via the pneumatic quick-release mechanism, the slider is threadedly connected to the forward and reverse threaded rod, and the output end of the servo motor is connected to the outer surface of one end of the forward and reverse threaded rod.

[0010] The beneficial effects of this utility model are: This invention utilizes the elastic compensation design of the first spring, allowing the vacuum suction cup to adapt to minor scratches, bumps, or warping on the surface of the board, effectively eliminating sealing gaps and solving the problem of reduced adsorption force caused by insufficient sealing in traditional vacuum adsorption. Combined with the dual fixation of vacuum adsorption and electromagnetic clamping, it can form all-round constraints from the front and sides, completely avoiding the risk of loosening or falling off during the board gripping process, and significantly improving the stability of palletizing operations. Attached Figure Description

[0011] Figure 1 This is an overall structural diagram of the present invention; Figure 2 This is a structural diagram of the palletizing rack of this utility model; Figure 3 This is a structural diagram of the clamping component of this utility model; Figure 4 This is a cross-sectional structural diagram of the clamping block of this utility model.

[0012] The components in the diagram are labeled as follows: 1. Robot base; 2. Robotic arm; 3. Gripping assembly; 301. Gripping block; 302. Front plate; 303. Vacuum pump; 304. Vacuum suction cup; 305. Air guide rod; 306. External plate; 307. First spring; 308. Connecting hose; 309. Internal groove; 310. First guide groove; 311. Second guide groove; 312. Gripping rubber plate; 313. First connecting plate; 314. Second connecting plate; 315. Second spring; 316. Electromagnet; 4. Palletizing rack; 5. Pneumatic quick release; 6. Moving groove; 7. Servo motor; 8. Forward and reverse threaded rod; 9. Slider; 10. Rod frame. Detailed Implementation

[0013] In the description of this utility model, it should be noted that the terms "front", "up", "down", "left", "right", "vertical", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0014] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0015] The following is in conjunction with the appendix Figures 1-4The present invention will be further described below.

[0016] To address the problems existing in the background technology, this application proposes the following technical solution: an automated palletizing robot for an automated robot workstation.

[0017] The specific technical solution includes a robot base 1, a robotic arm 2, and a gripping assembly 3. The gripping assembly 3 includes a gripping block 301, a front plate 302, a vacuum pump 303, a vacuum suction cup 304, an air guide rod 305, an outer plate 306, a first spring 307, and a connecting hose 308. The front plate 302 is fixedly installed on the front outer surface of the gripping block 301. The vacuum pump 303 is located on the upper outer surface of the gripping block 301. The vacuum suction cup 304 is located below the front plate 302. The air guide rod 305 is located on the upper outer surface of the vacuum suction cup 304. The outer plate 306 is fixedly installed on the outer wall of the air guide rod 305. The first spring 307 is located between the outer plate 306 and the front plate 302. The connecting hose 308 is installed... Between the vacuum pump 303 and the air guide rod 305, the clamping block 301 has an internal groove 309, a first guide groove 310, and a second guide groove 311. Both the first guide groove 310 and the second guide groove 311 are located above the internal groove 309, with the first guide groove 310 located to one side of the second guide groove 311. A clamping plate 312 is located in the middle of the internal groove 309. A first connecting plate 313 and a second connecting plate 314 are fixedly installed on the upper outer surface of the clamping plate 312. The first connecting plate 313 is located to one side of the second connecting plate 314. A second spring 315 is located between the first connecting plate 313 and the first guide groove 310. An electromagnet 316 is fixedly installed on the inner surface of one end of the second guide groove 311. The clamping assembly 3... In use, the clamping blocks 301 are moved to the sides of the board. At this time, the vacuum suction cup 304 adheres to the top of the board. Due to the thickness of the board, the vacuum suction cup 304 will move upward and compress the first spring 307 through the outer plate 306. At this time, the vacuum pump 303 can be started. The vacuum pump 303 delivers negative pressure to the air guide rod 305 through the connecting hose 308. The air guide rod 305 transmits the negative pressure to the vacuum suction cup 304 below the front plate 302, causing the vacuum suction cup 304 to generate suction force. Since the air guide rod 305 penetrates the front plate 302 and the outer plate 306 is movably connected to the front plate 302 through the first spring 307, when the vacuum suction cup 304 contacts the surface of the board, the first spring 307 can adjust according to the surface of the board. The surface has minor bumps and scratches that are compensated by elastic expansion and contraction, which pushes the vacuum suction cup 304 to fit tightly against the surface of the board, ensuring the sealing effect of the suction surface. When the board material is lifted and moved, the electromagnet 316 in the second guide groove 311 can be energized. The electromagnet 316 generates a magnetic attraction force to attract the second connecting plate 314, which drives the clamping rubber plate 312 to move along the built-in groove 309 towards the board. At the same time, the first connecting plate 313 compresses the second spring 315 in the first guide groove 310, so that the clamping rubber plate 312 fits tightly against the side of the board. The front end of the clamping rubber plate 312 is provided with an anti-slip block, which can play an anti-slip role. It can form a dual fixing structure of vacuum adsorption and mechanical clamping with the vacuum suction cup 304 to prevent the board from loosening.

[0018] Furthermore, the air guide rod 305 passes through the front plate 302, and the outer plate 306 is movably connected to the front plate 302 through the first spring 307. The vacuum pump 303 is connected to the air guide rod 305 through the connecting hose 308. The air guide rod 305 can adjust the position and height of the vacuum suction cup 304 through the outer plate 306 and the first spring 307, so that the vacuum suction cup 304 can be tightly attached to the surface of the plate.

[0019] Furthermore, the clamping blocks 301 are integrally formed with the built-in groove 309, the first guide groove 310 and the second guide groove 311. The first guide groove 310 and the second guide groove 311 are both connected to the built-in groove 309. The built-in groove 309 facilitates the unfolding and retraction of the clamping rubber plate 312.

[0020] Furthermore, the first connecting plate 313 extends through the middle of the first guide groove 310, and the second connecting plate 314 extends through the middle of the second guide groove 311. The first connecting plate 313 is movably connected to the first guide groove 310 through the second spring 315. The second spring 315 can push the first connecting plate 313 back, which can cause the first connecting plate 313 to drive the clamping rubber plate 312 to automatically reset.

[0021] Reference Figure 1 and Figure 2 As shown, a palletizing frame 4 is provided at one end of the robotic arm 2. A pneumatic quick release 5 is provided between the palletizing frame 4 and the robotic arm 2. A moving groove 6 is provided in the middle of the palletizing frame 4. A servo motor 7 is fixedly installed on the outer surface of one side of the palletizing frame 4. A positive and negative threaded rod 8 is provided in the middle of the moving groove 6. A slider 9 is provided on the outer wall of the positive and negative threaded rod 8. A rod frame 10 is provided on the lower outer surface of the slider 9.

[0022] Furthermore, the palletizing frame 4 is connected to the robotic arm 2 via a pneumatic quick-release 5, the slider 9 is threadedly connected to the forward and reverse threaded rod 8, and the output end of the servo motor 7 is connected to the outer surface of one end of the forward and reverse threaded rod 8. The robotic arm 2 can drive the palletizing frame 4 to move, which can facilitate the picking and placing of board materials for palletizing. When in use, the servo motor 7 can drive the forward and reverse rotation of the forward and reverse threaded rod 8, which can drive the slider 9 on the surface of the forward and reverse threaded rod 8 to open and close, thereby facilitating the extension and retraction of the rod frame 10. When in use, the rod frame 10 is connected to the clamping block 301, which can drive the clamping block 301 to move.

[0023] To ensure that those skilled in the art can fully understand the technical solution, this application provides the following overall overview: In use, the robotic arm 2 can drive the palletizing frame 4 to move, positioning it above the material. The clamping block 301 is connected and fixed to the rod frame 10. At this time, the servo motor 7 can be activated to drive the forward and reverse threaded rod 8 to rotate in both directions. This allows the threaded rod 8 to move the slider 9 on its surface to open and close, facilitating the extension and retraction of the rod frame 10. This, in turn, moves the clamping block 301 to both sides of the material. At this point, the vacuum suction cup 304 adheres to the top of the material. Due to the thickness of the material, the vacuum suction cup 304 will move upwards. The first spring 307 is compressed by the outer plate 306, at which point the vacuum pump 303 can be activated. The vacuum pump 303 delivers negative pressure to the air guide rod 305 through the connecting hose 308. The air guide rod 305 transmits the negative pressure to the vacuum suction cup 304 below the front plate 302, causing the vacuum suction cup 304 to generate suction force. Since the air guide rod 305 penetrates the front plate 302, and the outer plate 306 is movably connected to the front plate 302 through the first spring 307, when the vacuum suction cup 304 contacts the surface of the board, the first spring 307 can adjust according to the minute unevenness of the board surface. The scratches are compensated for by elastic expansion and contraction, pushing the vacuum suction cup 304 to tightly adhere to the surface of the board, ensuring a sealing effect on the adsorption surface. When lifting and moving the board material, the electromagnet 316 in the second guide groove 311 can be energized. The electromagnet 316 generates a magnetic attraction force to attract the second connecting plate 314, driving the clamping rubber plate 312 to move along the built-in groove 309 towards the board. At the same time, the first connecting plate 313 compresses the second spring 315 in the first guide groove 310, making the clamping rubber plate 312 tightly adhere to the side of the board. The front end of the clamping rubber plate 312 is provided with The anti-slip block provides an anti-slip effect and forms a dual fixing structure of vacuum adsorption and mechanical clamping with the vacuum suction cup 304, preventing the board from loosening. The robotic arm 2 drives the clamping component 3 and the fixed board to move to the palletizing station according to the preset trajectory. After reaching the designated position, the vacuum pump 303 is turned off, the negative pressure disappears, and the power supply of the electromagnet 316 is cut off. The second spring 315 resets and pulls the first connecting plate 313 and the clamping rubber plate 312 back to the initial position, releasing the clamping and fixing of the board. The board is then placed stably at the palletizing position, completing a single palletizing operation.

[0024] All standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0025] Although embodiments of the present invention have been shown and described, the scope of the present invention will be defined by the appended claims and their equivalents for those skilled in the art.

Claims

1. An automated palletizing robot for an automated robot workstation, characterized in that, The system includes a robot base (1), a robotic arm (2), and a gripping assembly (3). The gripping assembly (3) includes a gripping block (301), a front plate (302), a vacuum pump (303), a vacuum suction cup (304), an air guide rod (305), an outer plate (306), a first spring (307), and a connecting hose (308). The front plate (302) is fixedly installed on the front outer surface of the gripping block (301). The vacuum pump (303) is located on the upper outer surface of the gripping block (301). The vacuum suction cup (304) is located below the front plate (302). The air guide rod (305) is located on the upper outer surface of the vacuum suction cup (304). The outer plate (306) is fixedly installed on the outer wall of the air guide rod (305). The first spring (307) is located between the outer plate (306) and the front plate (302). The connecting hose (308) The clamping block (301) is located between the vacuum pump (303) and the air guide rod (305). The clamping block (301) is provided with an internal groove (309), a first guide groove (310) and a second guide groove (311). The first guide groove (310) and the second guide groove (311) are both located above the internal groove (309). The first guide groove (310) is located on one side of the second guide groove (311). A clamping plate (312) is provided in the middle of the internal groove (309). A first connecting plate (313) and a second connecting plate (314) are fixedly installed on the upper outer surface of the clamping plate (312). The first connecting plate (313) is located on one side of the second connecting plate (314). A second spring (315) is provided between the first connecting plate (313) and the first guide groove (310). An electromagnet (316) is fixedly installed on the inner surface of one end of the second guide groove (311).

2. The automated palletizing robot of the automated robot workstation according to claim 1, characterized in that, One end of the robotic arm (2) is provided with a palletizing frame (4), and a pneumatic quick release (5) is provided between the palletizing frame (4) and the robotic arm (2). A moving groove (6) is provided in the middle of the palletizing frame (4). A servo motor (7) is fixedly installed on one side of the outer surface of the palletizing frame (4). A positive and negative threaded rod (8) is provided in the middle of the moving groove (6). A slider (9) is provided on the outer wall of the positive and negative threaded rod (8). A rod frame (10) is provided on the lower outer surface of the slider (9).

3. The automated palletizing robot of the automated robot workstation according to claim 1, characterized in that, The air guide rod (305) passes through the front plate (302), the outer plate (306) is movably connected to the front plate (302) through the first spring (307), and the vacuum pump (303) is connected to the air guide rod (305) through the connecting hose (308).

4. The automated palletizing robot of the automated robot workstation according to claim 1, characterized in that, The clamping block (301) is integrally formed with the built-in groove (309), the first guide groove (310) and the second guide groove (311), and the first guide groove (310) and the second guide groove (311) are both through the built-in groove (309).

5. The automated palletizing robot of the automated robot workstation according to claim 1, characterized in that, The first connecting plate (313) extends through the middle of the first guide groove (310), and the second connecting plate (314) extends through the middle of the second guide groove (311). The first connecting plate (313) is movably connected to the first guide groove (310) through the second spring (315).

6. The automated palletizing robot of the automated robot workstation according to claim 2, characterized in that, The palletizing rack (4) is connected to the robotic arm (2) via the pneumatic quick release (5), the slider (9) is threadedly connected to the positive and negative threaded rod (8), and the output end of the servo motor (7) is connected to the outer surface of one end of the positive and negative threaded rod (8).

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