Mechanical arm semi-automatic palletizer

Abstract

The utility model discloses a kind of mechanical arm semi-automatic type stacker, belong to mechanical arm stacking field, including mechanical arm, the side fixed connection of mechanical arm has support frame, the inner chamber of support frame is provided with two bidirectional screw rods, the inner chamber of support frame is provided with two reinforcing connecting plates, the side of reinforcing connecting plate is provided with two thread grooves, the bottom of reinforcing connecting plate is fixedly connected with a plurality of mechanical grab clamps;Through the cooperation of above each device, effectively solve the problems such as unstable clamping, clamping not in place, improve the stability and reliability of clamping action, reduce the risk of deviation even falling of article in clamping process, guarantee the stacking efficiency and goods safety, enhance the adaptability and practicality of equipment.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm palletizing technology, specifically a semi-automatic robotic arm palletizing machine. Background Technology

[0002] Robotic palletizing is an important branch of modern industrial automation, focusing on using advanced robotic arm technology to achieve efficient and precise stacking of goods. In many industries such as logistics, food and beverage, pharmaceuticals, chemicals, and manufacturing, robotic palletizing systems are widely used to handle the automatic stacking of products of various shapes (such as boxes, bags, bottles, etc.) and sizes. These systems can not only significantly improve the flexibility and production capacity of production lines, but also improve the safety of the working environment and reduce the risks faced by workers due to heavy or repetitive labor.

[0003] Semi-automatic palletizers with robotic arms are widely used in the logistics handling and warehousing industry. The smoothness and synchronization of the gripping action of the gripping device during the gripping process have an important impact on the safety and efficiency of the overall operation. Especially in the process of clamping and fixing the items, improper gripping can cause the items to shift or even fall, which not only reduces palletizing efficiency, but also causes damage to goods or operational safety hazards. Moreover, when dealing with heavy or smooth items, unbalanced gripping can cause the entire batch of goods to be stacked unstablely, affecting the safety of subsequent transportation and storage.

[0004] Therefore, this utility model provides a semi-automatic palletizing machine with a robotic arm to solve the above problems. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] This invention provides a semi-automatic palletizing machine with a robotic arm, which aims to solve the problems mentioned in the background art.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model provides the following technical solution: a semi-automatic palletizing machine with a robotic arm, comprising a robotic arm, a support frame fixedly connected to one side of the robotic arm, two bidirectional lead screws provided in the inner cavity of the support frame, two reinforcing connecting plates provided in the inner cavity of the support frame, two threaded grooves provided on one side of the reinforcing connecting plate, and a plurality of mechanical grippers fixedly connected to the bottom of the reinforcing connecting plate.

[0009] As a preferred technical solution of this application, the inner cavity of the threaded groove is connected to the outer ring of the corresponding bidirectional lead screw by a thread. One end of the bidirectional lead screw is rotatably connected to the inner wall of the adjacent support frame through a rotating shaft, and the other end of the bidirectional lead screw extends through the inner wall of the adjacent support frame to one side of the support frame through a bushing.

[0010] As a preferred technical solution of this application, the outer ring of the extension end of the bidirectional lead screw is fitted with a pulley, the two pulleys are connected by a belt winding, a motor is fixedly installed on one side of the support frame, and the output shaft of the motor is fixedly connected to the corresponding extension end of the bidirectional lead screw.

[0011] As a preferred technical solution of this application, a connecting block is fixedly connected to the top of the reinforcing connecting plate, a limiting plate is fixedly connected to the top of the connecting block, and limiting grooves are opened on both sides of the inner wall of the support frame. The two ends of the limiting plate are slidably connected to the inner cavity of the corresponding limiting groove.

[0012] As a preferred technical solution of this application, two cylinders are fixedly installed at the top of the inner cavity of the support frame, and the output ends of the two cylinders are fixedly connected to a housing. An air pump is fixedly installed on the upper surface of the housing, and a connecting pipe is fixedly connected to one end of the air pump. One end of the connecting pipe is fixedly connected to the upper surface of the housing through a sealing bushing. Several air extraction pipes are fixedly connected to the bottom of the housing.

[0013] As a preferred technical solution of this application, the upper surface of the box is provided with a plurality of connecting hoses, one end of the connecting hose is fixedly connected to the upper surface of the box through a sealing bushing, and the other end of the connecting hose is fixedly connected to the outer surface of the air extraction pipe through a sealing bushing.

[0014] (III) Beneficial Effects

[0015] By driving a bidirectional lead screw with a motor and using a pulley and belt transmission system, the synchronous movement of the reinforced connecting plates on both sides drives the mechanical gripper to grab, clamp, and stack items. This effectively solves problems such as unstable clamping and incomplete clamping, improves the stability and reliability of the clamping action, reduces the risk of items shifting or even falling during clamping, ensures stacking efficiency and cargo safety, and enhances the adaptability and practicality of the equipment.

[0016] By incorporating a cylinder, connecting hose, suction pipe, connecting pipe, and suction pump, an adsorption protection mechanism is added to the mechanical gripper. This is especially suitable for handling items with smooth or slippery surfaces, effectively preventing items from slipping and falling off during handling, thereby improving the safety and stability of the overall handling process. The structure is reasonable and the control is simple. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a semi-automatic palletizer with a robotic arm;

[0018] Figure 2This is a schematic diagram of the support frame in a semi-automatic palletizer with a robotic arm.

[0019] Figure 3 This is a schematic diagram of the connecting pipe in a semi-automatic palletizer with a robotic arm.

[0020] Figure 4 This is a schematic diagram of the mechanical gripper in a semi-automatic palletizer with a robotic arm.

[0021] Figure 5 This is a schematic diagram of the limit plate in a semi-automatic palletizer with a robotic arm.

[0022] In the picture:

[0023] 1. Robotic arm; 2. Support frame; 3. Two-way lead screw; 4. Pulley; 5. Motor; 6. Reinforcing connecting plate; 7. Housing; 8. Mechanical gripper; 9. Air pump; 10. Connecting pipe; 11. Cylinder; 12. Connecting hose; 13. Air extraction pipe; 14. Limiting groove; 15. Limiting plate; 16. Connecting block; 17. Threaded groove; 18. Belt. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0025] This utility model provides a semi-automatic palletizer with a robotic arm, such as... Figures 1-5 As shown, the technical solution includes a robotic arm 1, a support frame 2 fixedly connected to one side of the robotic arm 1, two bidirectional lead screws 3 are provided in the inner cavity of the support frame 2, two reinforcing connecting plates 6 are provided in the inner cavity of the support frame 2, two threaded grooves 17 are opened on one side of the reinforcing connecting plate 6, and several mechanical grippers 8 are fixedly connected to the bottom of the reinforcing connecting plate 6.

[0026] The inner cavity of the threaded groove 17 is connected to the outer ring of the corresponding bidirectional lead screw 3 by a thread. One end of the bidirectional lead screw 3 is rotatably connected to the inner wall of the adjacent support frame 2 through a rotating shaft. The other end of the bidirectional lead screw 3 extends through the inner wall of the adjacent support frame 2 to one side of the support frame 2 through a bushing. The motor 5 drives the bidirectional lead screw 3 to rotate. Since the threaded groove 17 on the reinforcing connecting plate 6 is connected to the outer ring of the bidirectional lead screw 3 by a thread, when the bidirectional lead screw 3 rotates, the reinforcing connecting plate 6 will move smoothly along the direction of the bidirectional lead screw 3, ensuring that the two reinforcing connecting plates 6 can move closer or further away from each other synchronously and stably, thereby improving the accuracy and stability during the clamping process.

[0027] A pulley 4 is sleeved on the outer ring of the extension end of the bidirectional lead screw 3. The two pulleys 4 are connected by a belt 18. A motor 5 is fixedly installed on one side of the support frame 2. The output shaft of the motor 5 is fixedly connected to the extension end of the corresponding bidirectional lead screw 3. After the motor 5 is started, its output shaft drives the corresponding bidirectional lead screw 3 to rotate. The pulley 4 on the bidirectional lead screw 3 also rotates. The power is transmitted to the other pulley 4 through the belt 18, which in turn drives the other bidirectional lead screw 3 to rotate. This allows the reinforcing connecting plates 6 on both sides to move synchronously, improving synchronization and running stability, and avoiding the clamping imbalance problem caused by unilateral drive.

[0028] A connecting block 16 is fixedly connected to the top of the reinforcing connecting plate 6, and a limiting plate 15 is fixedly connected to the top of the connecting block 16. Limiting grooves 14 are opened on both sides of the inner wall of the support frame 2. The two ends of the limiting plate 15 are slidably connected to the inner cavity of the corresponding limiting groove 14. When the reinforcing connecting plate 6 moves under the drive of the bidirectional screw 3, the limiting plate 15 slides along the inner cavity of the limiting groove 14, providing additional guiding function and ensuring that the reinforcing connecting plate 6 will not deviate or tilt during the movement, thereby enhancing the stability of the gripper.

[0029] Two cylinders 11 are fixedly installed at the top of the inner cavity of the support frame 2. The output ends of the two cylinders 11 are fixedly connected to the box body 7. An air pump 9 is fixedly installed on the upper surface of the box body 7. One end of the air pump 9 is fixedly connected to a connecting pipe 10. One end of the connecting pipe 10 is fixedly connected to the upper surface of the box body 7 through a sealing bushing. Several air extraction pipes 13 are fixedly connected to the bottom of the box body 7. After the cylinders 11 are started, they push the box body 7 to move up and down, so that the air extraction pipes 13 can contact the upper surface of the object being grasped.

[0030] The upper surface of the housing 7 is provided with several connecting hoses 12. One end of the connecting hose 12 is fixedly connected to the upper surface of the housing 7 through a sealing bushing, and the other end of the connecting hose 12 is fixedly connected to the outer surface of the suction pipe 13 through a sealing bushing. After the suction pump 9 is started, negative pressure is transmitted to the inside of the suction pipe 13 through the connecting pipe 10 and the connecting hose 12. When the suction pipe 13 comes into contact with the upper surface of the item, a vacuum adsorption state is formed, which realizes effective adsorption and fixation of the upper surface of the item, further improving the stability of the item during the handling process. Especially when handling items that are easy to slide, it reduces the risk of the item sliding during the handling process and improves the safety and reliability of the overall operation.

[0031] Specifically: The operator starts motor 5, which drives the corresponding bidirectional lead screw 3 to rotate. The rotation of the bidirectional lead screw 3 causes its pulley 4 to rotate synchronously. Under the transmission action of belt 18, the pulley 4 at the other end also rotates synchronously, thereby driving another bidirectional lead screw 3 to rotate synchronously. The synchronous rotation of the two bidirectional lead screws 3 causes the reinforcing connecting plate 6 connected to it to slide along the inner cavity of the limiting groove 14 through the connecting block 16. This further ensures the stability and guiding accuracy of the reinforcing connecting plate 6 during movement, preventing misalignment and improper clamping. As the two reinforcing connecting plates 6 gradually approach each other... The mechanical gripper 8 installed on it also moves accordingly, thereby clamping and fixing the item and completing the gripping action. Then, the operator starts the cylinder 11 through the synchronous controller. The cylinder 11 pushes the box 7 to move, driving the suction pipe 13 to approach and contact the upper surface of the gripped item. At this time, the suction pump 9 transmits negative pressure to the inside of the suction pipe 13 through the connecting pipe 10 and the connecting hose 12, so that it forms a vacuum adsorption state, thereby assisting in adsorption and fixing the upper surface of the item, further enhancing the overall stability of the item during the handling process, preventing it from sliding or falling off due to vibration or inertia during handling, and improving the safety and reliability of the entire palletizing operation.

[0032] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A semi-automatic palletizer with a robotic arm, comprising a robotic arm (1), characterized in that: A support frame (2) is fixedly connected to one side of the robotic arm (1). The inner cavity of the support frame (2) is provided with two bidirectional lead screws (3). The inner cavity of the support frame (2) is provided with two reinforcing connecting plates (6). Two threaded grooves (17) are opened on one side of the reinforcing connecting plate (6). Several mechanical grippers (8) are fixedly connected to the bottom of the reinforcing connecting plate (6).

2. The semi-automatic palletizer with robotic arm according to claim 1, characterized in that: The inner cavity of the threaded groove (17) is connected to the outer ring of the corresponding bidirectional lead screw (3) by a thread. One end of the bidirectional lead screw (3) is rotatably connected to the inner wall of the adjacent support frame (2) through a rotating shaft. The other end of the bidirectional lead screw (3) extends through the inner wall of the adjacent support frame (2) to one side of the support frame (2) through a bushing.

3. A semi-automatic palletizer with a robotic arm according to claim 2, characterized in that: The outer ring of the extension end of the bidirectional lead screw (3) is fitted with a pulley (4), and the two pulleys (4) are connected by a belt (18) winding together. A motor (5) is fixedly installed on one side of the support frame (2), and the output shaft of the motor (5) is fixedly connected to the extension end of the corresponding bidirectional lead screw (3).

4. A semi-automatic palletizer with a robotic arm according to claim 1, characterized in that: The top of the reinforcing connecting plate (6) is fixedly connected to a connecting block (16), and the top of the connecting block (16) is fixedly connected to a limiting plate (15). The inner walls on both sides of the support frame (2) are provided with limiting grooves (14), and the two ends of the limiting plate (15) are slidably connected to the inner cavity of the corresponding limiting groove (14).

5. A semi-automatic palletizer with a robotic arm according to claim 1, characterized in that: Two cylinders (11) are fixedly installed at the top of the inner cavity of the support frame (2). The output ends of the two cylinders (11) are fixedly connected to the housing (7). A vacuum pump (9) is fixedly installed on the upper surface of the housing (7). One end of the vacuum pump (9) is fixedly connected to a connecting pipe (10). One end of the connecting pipe (10) is fixedly connected to the upper surface of the housing (7) through a sealing bushing. Several vacuum pipes (13) are fixedly connected to the bottom of the housing (7).

6. A semi-automatic palletizer with a robotic arm according to claim 5, characterized in that: The upper surface of the housing (7) is provided with several connecting hoses (12). One end of the connecting hose (12) is fixedly connected to the upper surface of the housing (7) through a sealing bushing, and the other end of the connecting hose (12) is fixedly connected to the outer surface of the air extraction pipe (13) through a sealing bushing.

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