CN105905620A - Palletizing robot for carrying workpieces with high efficiency and operation method thereof - Google Patents

Abstract

The invention relates to a palletizing robot for carrying workpieces efficiently and an operation method thereof, wherein the palletizing robot comprises a base, a horizontal driving mechanism, a vertical driving mechanism, a posture adjusting mechanism, an arm mechanism and a wrist; the lower extreme of wrist is connected with anchor clamps, anchor clamps include the frame and grab the material and press from both sides, the upper end of frame is equipped with the installation piece, be equipped with the mounting groove in the installation piece, be equipped with locking mechanism in the mounting groove, locking mechanism includes two poker rods and extrusion piece, the upper end of poker rod forms the operating portion, be equipped with the pillar in the mounting groove, the middle part and the pillar of poker rod are connected, and be equipped with reset spring between the lower extreme of poker rod and the lateral wall of mounting groove, the side of wrist is equipped with the embedded groove, and the inboard of operating portion is equipped with the embedding piece, the degree of depth of mounting groove is. The locking part is arranged at the joint of the wrist and the clamp, the stability of the joint between the wrist and the clamp is improved through the locking part, the workpiece is reduced to drop in the process of carrying the workpiece, and the efficiency of carrying the workpiece is improved.

Description

Palletizing robot for carrying workpieces with high efficiency and operation method thereof

technical field

The invention relates to the technical field of palletizing robots, in particular to a palletizing robot for carrying workpieces with high efficiency and an operation method for the palletizing robot.

Background technique

Palletizing robots are widely used in chemical, beverage, food processing and other fields. They are palletized according to different shapes of finished packaging such as cartons, packaging bags, fillings, boxes, bottles, etc. The palletizing robot uses the end effector to carry the finished packaging to complete Palletizing process.

The existing palletizing robot includes an end effector and a mechanical arm. In particular, for the packaged bags, they are transported to the palletizing robot grabbing position through the wrapping device and the shaping device. After grabbing the bags, they are stacked according to the requirements. To achieve automatic stacking, in order to make the end effector of grabbing the packaging bag in the required working position, it is necessary to simplify the motion structure of each joint to meet the needs of the narrow working space when the packaging bag is stacked, and the mechanical structure of the palletizing robot The connection between the arm and the end effector is not stable enough, and the workpiece is easy to fall during the process of carrying the workpiece, resulting in low efficiency of carrying the workpiece.

Contents of the invention

The object of the present invention is to provide a palletizing robot for carrying workpieces with high efficiency and its operation method, aiming to solve the problem in the prior art that the connection between the mechanical arm of the palletizing robot and the end effector is not stable enough, and it is easy for the workpiece to be lost in the process of carrying the workpiece. Falling, causing the problem of low efficiency of carrying workpieces.

The present invention is realized in this way, the stacking robot of high efficiency carrying workpiece, comprises base, horizontal driving mechanism, vertical driving mechanism, attitude adjustment mechanism, arm mechanism and wrist; The lower end of described arm mechanism is connected with described horizontal driving mechanism and The vertical drive mechanism is connected, the upper end of the arm mechanism is connected with a triangular arm, the attitude adjustment mechanism includes a first parallelogram linkage mechanism and a second parallelogram linkage mechanism, and the first parallelogram linkage mechanism The lower end is connected to the wrist, the upper end of the first parallelogram linkage mechanism is connected to the triangular arm, the lower end of the second parallelogram linkage mechanism is connected to the horizontal drive mechanism, and the second parallelogram linkage mechanism is connected to the horizontal drive mechanism. The upper end of the quadrilateral linkage mechanism is connected with the triangular arm; the lower end of the wrist is connected with a clamp, and the clamp includes a frame frame and a gripper, and the upper end of the frame frame is provided with a mounting block, and the mounting block There is a mounting groove for the wrist to be embedded inside, and a locking mechanism for locking the wrist is provided in the mounting groove, and the locking mechanism includes two toggle levers arranged oppositely and connected to the toggle lever The lower end of the extrusion block, the upper end of the toggle lever extends above the installation block to form an operation part, a pillar is arranged in the installation groove, the middle part of the toggle lever is connected to the pillar, and Between the lower end of the toggle lever and the side wall of the installation groove, there is a return spring that drives the toggle lever to move and reset toward the center of the installation groove, and the side end of the wrist is provided with an embedded groove, and An embedding block for embedding in the embedding groove is provided on the inner side of the operation part, and the depth of the installation groove is greater than that of the embedding block.

Further, a handle block is formed on the outer side of the operation part.

Further, the grabbing clip includes a platen mechanism, a pair of cylinders and a pair of symmetrical fork tube mechanisms, and the fork tube mechanism includes parallel fork tubes, baffle plates, connecting rods, rotating shafts and a pair of bearing frames. One end of the fork tube is fixed to the connecting rod through a right-angle elbow, the other end of the fork tube points to the same side through the ball table, the baffle plate is vertically arranged above the fork tube, and is fixed with the connecting rod. The bearing frame is fixed on the connecting rod, the bearings are connected by the rotating shaft, a pair of the cylinders are respectively fixed on the support plate, and the piston rod is connected to the rotating shaft, the pressing plate mechanism includes a guide rod cylinder and a pressing plate, the guide The rod cylinder is vertically arranged on the wrist fixing plate, and its guide rod is vertically connected to the pressing plate, and the pressing plate is arranged in parallel between the fork pipe and the guide rail, and is evenly distributed with four slot-shaped air holes.

Further, the frame frame includes a pair of parallel slide rails and a wrist fixing plate, the frame frame is arranged above the gripper, the frame frame includes a pair of parallel guide rails and a pair of support plate, above a pair of slide rails, the wrist fixing plate is fixed by nuts and gaskets, and the mounting block is connected to the wrist fixing plate; a pair of support plates are arranged on the lower surface of a pair of guide rails both ends.

Further, the outer edge of the bearing frame is provided with a boss, and the boss abuts against a vertical shock-absorbing bolt, and the shock-absorbing bolt is connected to the support plate through a nut.

Further, the fixture also includes a positioning mechanism, the positioning mechanism includes two positioning sliders and a two-way screw, the positioning sliders are arranged above the guide rail on the same side, and are respectively connected with the support plate, the two-way The screw rod is passed between the two positioning sliders, and is respectively fixed through threaded connection.

Further, the arm mechanism includes a forearm, a lower connecting arm, a cross bar and a rear arm connected in sequence, the lower end of the lower connecting arm is connected to the horizontal drive mechanism through the lower auxiliary arm, and the upper end of the lower connecting arm is connected to One point of the triangular arm, the other two fulcrums of the triangular arm are respectively connected with a front rod and a rear rod, the front rod is connected to the wrist correspondingly with the forearm through the front auxiliary rod, and the rear rod is connected to the wrist through the connecting rod. A rod is connected to the horizontal drive mechanism.

Further, the first parallelogram linkage mechanism is composed of the wrist, the forearm, the first arm of the triangular arm, the front rod and the front auxiliary rod, and the second parallelogram linkage mechanism is composed of the first arm of the triangular arm. Two arms, a rear rod, a connecting rod, a lower auxiliary arm and a lower connecting arm are formed. The horizontal driving mechanism and the vertical driving mechanism are connected through a support arm and are installed on the base. The vertical driving mechanism and the Rear arm connection.

Further, the vertical drive mechanism includes a fixed plate, a vertical slider, a vertical slide rail, a connecting seat, a horizontal shaft, a ball screw and a first servo motor, and a vertical slider is fixed at both ends of the fixed plate, and two The vertical slide rails are installed on the base in parallel, and each of the vertical slide blocks is correspondingly installed on the vertical slide rails, and each vertical slide rail is fixed along the vertical direction of the base, and the fixed plate is fixed with two parallel connection seats, so The horizontal shaft passes through two connecting seats and is supported by tapered roller bearings. The rear arm is sleeved on the horizontal shaft. The ball screw is fixed on the fixed plate along the vertical direction of the base, and is powered by the first servo motor. connected, and one end of the fixed plate is provided with a limiting plate.

The present invention also provides the operation method of palletizing robot, and specific steps are as follows:

Step 1. Click the open button of the palletizing robot, and the horizontal drive mechanism, vertical drive mechanism, attitude adjustment mechanism and arm mechanism will rotate, driving the fixture to rotate to the direction where the workpiece is located;

Step 2. The connection point between the lower auxiliary arm and the horizontal driving mechanism is the horizontal active joint of the arm mechanism, which moves horizontally and linearly with the horizontal driving mechanism; the connection point between the rear arm and the vertical driving mechanism is the vertical active joint of the arm mechanism, which moves along with the The vertical driving mechanism makes a vertical linear motion. When the horizontal driving mechanism moves the horizontal active joints of the lower connecting arm and the lower auxiliary arm horizontally, the movement in the horizontal direction is realized; when the vertical driving mechanism moves the vertical active joints of the rear arm vertically, it realizes the Move vertically, so that the fork tube of the fixture is aligned with the position of the workpiece;

Step 3. Operate the horizontal drive mechanism, vertical drive mechanism, attitude adjustment mechanism and arm mechanism to lower the fixture to the workpiece;

Step 4. The piston rod of the cylinder drives the crank to drive the rotating shaft to rotate, thereby driving the bearing frame to swing, and then the fork tube grabs the packaging bag. The baffle plate, fork tube, and pressure plate form a frame for shaping the packaging bag. The two sides are pressed by the baffle, the top surface of the packaging bag is pressed by the guide rod cylinder to drive the pressure plate, and the bottom surface of the packaging bag is supported by the fork tubes arranged in parallel, and two packages of packaging bags are grabbed at the same time at a time to complete the clamping of the workpiece;

Step 5. Operate the horizontal drive mechanism, vertical drive mechanism, attitude adjustment mechanism and arm mechanism to move the workpiece to the unloading position;

Step 6. The piston rod of the cylinder drives the crank to drive the rotating shaft to rotate, thereby driving the bearing frame to swing, and then makes the fork tube loosen the packaging bag, and at the same time drives the baffles on both sides of the packaging bag to loosen, and the guide rod cylinder drives the pressure plate to rise. Complete the entire unloading process.

Compared with the prior art, the high-efficiency palletizing robot for carrying workpieces provided by the present invention realizes the effect of carrying workpieces by setting a base, a horizontal drive mechanism, a vertical drive mechanism, an attitude adjustment mechanism, an arm mechanism, a wrist, and a fixture, and A locking piece is provided at the connection between the wrist and the fixture, and the stability of the connection between the wrist and the fixture is improved through the locking piece, which reduces the drop of the workpiece during the process of carrying the workpiece, and improves the efficiency of carrying the workpiece.

Description of drawings

Fig. 1 is a front view structural schematic diagram of a palletizing robot for carrying workpieces with high efficiency provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the lateral structure of the vertical drive mechanism provided by the embodiment of the present invention;

Fig. 3 is a front structural schematic view of the clamp provided by the embodiment of the present invention;

Fig. 4 is a top view structural schematic view of the clamp provided by the embodiment of the present invention;

Fig. 5 is a left view structural schematic diagram of the clamp provided by the embodiment of the present invention;

Fig. 6 is a schematic cut-away structure diagram of the locking member provided by the embodiment of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The implementation of the present invention will be described in detail below in conjunction with specific embodiments.

Referring to Fig. 1 ~ 6, for the preferred embodiment that the present invention provides.

The high-efficiency palletizing robot for carrying workpieces provided in this embodiment can be used in the fields of chemical industry, beverage, food processing, etc., and can be palletized according to different shapes of finished product packaging such as cartons, packaging bags, fillings, boxes, and bottles. It realizes high-efficiency carrying of workpieces, and has a simple structure and occupies a small area.

A palletizing robot for efficiently carrying workpieces, including a base 10, a horizontal drive mechanism 20, a vertical drive mechanism 30, an attitude adjustment mechanism 40, an arm mechanism 50 and a wrist 60; the lower end of the arm mechanism 50 is connected to the horizontal drive mechanism 20 and the vertical drive mechanism respectively. 30 connection, the upper end of the arm mechanism 50 is connected with a triangular arm 70, the attitude adjustment mechanism 40 includes a first parallelogram linkage mechanism 80 and a second parallelogram linkage mechanism 90, the lower end of the first parallelogram linkage mechanism 80 is connected to the wrist 60 Connected, the upper end of the first parallelogram linkage mechanism 80 is connected with the triangle arm 70, the lower end of the second parallelogram linkage mechanism 90 is connected with the horizontal drive mechanism 20, and the upper end of the second parallelogram linkage mechanism 90 is connected with the triangle arm 70 Connection; the lower end of the wrist 60 is connected with a clamp, the clamp includes a frame frame 1 and a gripper 2, the upper end of the frame frame 1 is provided with a mounting block 41, and the mounting block 41 is provided with a mounting groove for the wrist 6 to be embedded in 42. A locking mechanism for locking the wrist 60 is provided in the installation groove 42. The locking mechanism includes two toggle levers arranged opposite to each other and an extrusion block 46 connected to the lower end of the toggle lever, wherein the toggle lever The upper end extends to the top of the mounting block 41 to form an operating part. A pillar 47 is provided in the mounting groove 42. The middle part of the toggle lever is connected to the pillar 47, and a drive is provided between the lower end of the toggle lever and the side wall of the mounting groove 42. The return spring 45 that toggle bar moves reset toward the center of mounting groove 42, the side end of wrist is provided with embedding groove, and the inner side of operating part is provided with the embedding block 43 that is used to be embedded in the embedding groove, and the depth of mounting groove is greater than embedding block 43 in depth.

Insert the lower end of the wrist 60 into the installation groove 42 along the gap between the two toggle levers, the wrist 60 will press the extrusion block 46 at the lower end of the toggle lever, and the extrusion block 46 will drive the return spring 45 towards the installation groove 42 The side of the arm moves, and the return spring 45 is compressed. In addition, the return spring 45 will give a reaction force to the extrusion block 46, which drives the extrusion block 46 to clamp the mechanical arm, and the embedded block is embedded in the embedded groove, further locking the clamp and the wrist. 60; when the mechanical arm needs to be disassembled, it is only necessary to squeeze the operating part inward. Since the lower end of the toggle lever and the upper end of the toggle lever form a lever with the pillar 47 as the fulcrum of the lever, the lower end of the toggle lever moves outward accordingly. Thereby loosen the clamping to mechanical arm, move wrist 60 upwards, away from extruding block 46, then swing the upper end of toggle bar outwards, pull out wrist 60, in addition, back-moving spring 45 resets simultaneously, drives toggle bar reset .

The above-mentioned palletizing robot for carrying workpieces with high efficiency realizes the effect of carrying workpieces by setting the base 10, the horizontal drive mechanism 20, the vertical drive mechanism 30, the attitude adjustment mechanism 40, the arm mechanism 50, the wrist 60 and the clamps, and the wrist 60 The connection with the fixture is provided with a locking piece, which improves the stability of the connection between the wrist 60 and the fixture, reduces the drop of the workpiece during the process of carrying the workpiece, and improves the efficiency of carrying the workpiece.

A handle block 44 is formed on the outer side of the operation part.

In the present embodiment, the gripper 2 includes a platen mechanism 21, a pair of cylinders 22 and a pair of symmetrical fork tube mechanisms 23, and the fork tube mechanism 23 includes a fork tube 231, a baffle plate 232, a connecting rod 233, a rotating shaft 234 and A pair of bearing frames 235, 8 fork tubes 231 are arranged in parallel, one end of each fork tube 231 is fixed to the connecting rod 233 by using a nut and a washer through a right-angle elbow 236, and the other end is directed to the same side through a ball table 237, and the baffle plate 232 is vertically arranged above the fork pipe 231, and is fixed with the connecting rod 233 through bolt connection. A pair of bearing frames 235 are fixed on the connecting rod by bolts

233, its bearing is connected by the rotating shaft 234, and a pair of cylinders 22 are bolted to the support plate 12 respectively, and its piston rod is connected with the rotating shaft 234 by the crank 24. The outer edge of the bearing frame 235 is provided with a boss 235a, and the boss 235a abuts against a vertical shock-absorbing bolt 25, and the shock-absorbing bolt 25 is connected to the support plate 12 through a nut. The cylinder 22 drives the crank 24 to drive the rotating shaft 234 to rotate, thereby realizing the opening and closing of the fork tube mechanism 23 to grasp. The pressing plate mechanism 21 comprises a guide rod cylinder 211 and a pressing plate 212. The guide rod cylinder 211 is vertically bolted to the wrist fixing plate 13, and its guide rod is vertically connected to the pressing plate 212. The pressing plate 212 is arranged in parallel between the fork pipe 231 and the guide rail 11. There are four slot-shaped ventilation holes 212a evenly distributed.

Since the symmetrical fork tube mechanism adopts fork tubes arranged in parallel, and the end of each fork tube adopts the ball shape of a ball table, it avoids the tip of the fork tube from touching the packaging bag and being pierced. The plastic frame of the packaging bag is compressed by the baffle on both sides of the packaging bag, and the top surface of the packaging bag is compressed by the pressure plate. Since the pressure plate is equipped with four groove-shaped air holes, the plastic film of the packaging bag will not be exposed to atmospheric pressure. Under the action, it is sucked by the pressure plate, and the bottom surface of the packaging bag is supported by the fork tubes arranged in parallel, so as to achieve a better plastic bag shaping effect. At the same time, the two symmetrical grabbing devices can grab two bags of packaging bags at the same time at a time, greatly Improved crawling efficiency.

In addition, the frame frame 1 includes a pair of parallel slide rails 5 and a wrist fixing plate 6. The frame frame 1 is arranged above the gripper 2. The frame frame 1 consists of a pair of parallel guide rails 11 and a pair of support plates 12. The connected rectangular frame serves as the main frame of the palletizing robot. The top of a pair of slide rails 5 fixes the wrist fixing plate 6 through nuts and washers, and the above-mentioned installation block 41 is connected on the wrist fixing plate 6 . A pair of support plates 12 are arranged at both ends of the lower surface of the pair of guide rails 11 , and are slidably installed in the grooves of the guide rails 11 , and can slide left and right along the guide rails 11 . So that the grabbing device 4 can slide left and right along the slide rail 5 .

Above-mentioned fixture also comprises positioning mechanism 3, and positioning mechanism 3 comprises two positioning slide blocks 31 and a two-way screw rod 32, and positioning slide block 31 is located at the top of guide rail 11 on the same side, and is respectively connected with support plate 12, and two-way screw rod 32 passes through. It is arranged between the two positioning sliders 31 and is respectively fixed by threaded connection. Since the two-way screw 32 is distributed with reverse threads, the two positioning sliders 31 can move in reverse synchronously, thereby also driving a pair of support plates 12 to move in reverse synchronously, and then the support plates 12 drive the fork tube mechanism 23 to reverse along the guide rail 11. Slide to slide, like this just can adjust the distance of fork tube mechanism 23 according to the width of packaging bag.

In this embodiment, the arm mechanism 50 includes a forearm 510, a lower connecting arm 520, a cross bar 530 and a rear arm 540 connected in sequence, and the forearm 510, the lower connecting arm 520, the cross bar 530 and the rear arm 540 form a four-bar linkage mechanism, The lower end of the lower connecting arm 520 is connected to the horizontal drive mechanism 20 through the lower auxiliary arm 550, the upper end of the lower connecting arm 520 is connected to a fulcrum of the triangular arm 70, and the other two fulcrums of the triangular arm 70 are respectively connected to the front rod 410 and the rear rod 420. , the front rod 410 is connected to the wrist 60 correspondingly to the forearm 510 through the front auxiliary rod 430 , and the rear rod 420 is connected to the horizontal driving mechanism 20 through the connecting rod 440 .

The first parallelogram link mechanism 80 is made up of the wrist 60, the forearm 510, the first arm 710 of the triangular arm, the front bar 410 and the front auxiliary bar 430, and the second parallelogram link mechanism 90 is composed of the second arm 72 of the triangular arm, The rear rod 420, the connecting rod 440, the lower auxiliary arm 550 and the lower connecting arm 520 are composed. The horizontal driving mechanism 20 and the vertical driving mechanism 30 are connected by the support arm 10 and are installed on the base 10. The vertical driving mechanism 30 is connected to the rear arm 540 .

The posture adjustment mechanism 40 is connected to the position mechanism through the first parallelogram linkage mechanism 80 and the second parallelogram linkage mechanism 90, but they do not affect each other. When the posture adjustment mechanism 40 is used to adjust, the posture of the wrist 60 remains unchanged. , that is, the working posture of the end effector connected to the wrist 60 remains unchanged. At the same time, the base 10 is provided with a rotary mechanism, so that the base 10 can perform rotary motion around the rotary shaft, thereby expanding the working range of the palletizing robot.

The horizontal driving mechanism 20 includes a horizontal slide rail 210 , a horizontal slide block 220 and a second servo motor. The horizontal slide rail 210 is fixed on the base 10 . The horizontal slide block 220 is installed on the horizontal slide rail 210 and is power-connected with the second servo motor. The second servo motor drives the horizontal slider 220 to move horizontally and linearly along the horizontal slide rail 210 .

The vertical drive mechanism 30 includes a fixed plate 310, a vertical slider 320, a vertical slide rail 330, a connecting seat 340, a horizontal shaft 350, a ball screw 360 and a first servo motor, and a vertical slider 320 is fixed at both ends of the fixed plate 310. , two vertical slide rails 330 are installed in parallel on the base 10, each vertical slide block 320 is correspondingly installed on the vertical slide rail 330, each vertical slide rail 330 is fixed on the base 10 along the vertical direction, and the fixing plate 310 is fixed with two parallel connecting seat 340, the transverse shaft 350 passes through the two connecting seats 340, and is supported by the tapered roller bearing 37, the rear arm 540 is sleeved on the transverse shaft 350, the ball screw 360 is fixed on the fixed plate 310 along the vertical direction of the base 10, and Connected with the power of the first servo motor, one end of the fixing plate 310 is provided with a limiting plate 38 . The first servo motor drives the helical transmission of the ball screw 360 , thereby driving the fixing plate 310 and the vertical slider 320 to move vertically and linearly along the vertical slide rail 330 .

The connection point between the wrist 60 and the forearm 510 is the load bearing point, and the connection point between the lower auxiliary arm 550 and the horizontal slider 220 of the horizontal drive mechanism 20 is the horizontal active joint of the arm mechanism 50, which moves horizontally and linearly with the horizontal drive mechanism 20; The connection point between the rear arm 540 and the fixed plate 310 of the vertical driving mechanism 30 is the vertical active joint of the arm mechanism 50 , which moves vertically and linearly with the vertical driving mechanism 30 . With this arm mechanism 50, when the horizontal driving mechanism 20 moves the horizontal active joints of the lower connecting arm 520 and the lower auxiliary arm 550 horizontally, the load bearing point only moves in the horizontal direction; when the vertical driving mechanism 30 makes the vertical active joint of the rear arm 540 When the joint moves vertically, the load-bearing point only moves in the vertical direction, so the load-bearing point of the palletizing robot can move linearly in both horizontal and vertical directions. Utilizing the arm mechanism 50 of parallelogram linkage and its configuration form of the horizontal drive mechanism 20 and the vertical drive mechanism 30, the linear movement of the working position of the arm mechanism 50 is realized, and the kinematic structure of the kinematic joint is simplified.

The present invention also provides the operation method of palletizing robot, and specific steps are as follows:

Step 1. Click the start button of the palletizing robot, the horizontal drive mechanism 20, the vertical drive mechanism 30, the attitude adjustment mechanism 40 and the arm mechanism 50 rotate, driving the clamp to rotate to the direction where the workpiece is located;

Step 2. The connection point between the lower auxiliary arm 550 and the horizontal drive mechanism 20 is the horizontal active joint of the arm mechanism, which moves horizontally and linearly with the horizontal drive mechanism; the connection point between the rear arm 540 and the vertical drive mechanism 30 is the vertical active joint of the arm mechanism. The joint, which moves vertically and linearly with the vertical drive mechanism, realizes horizontal movement when the horizontal drive mechanism 20 makes the horizontal active joints of the lower connecting arm 520 and the lower auxiliary arm 550 move horizontally; When the active joint moves vertically, it realizes moving in the vertical direction, thereby driving the fork tube 231 of the fixture to align with the position of the workpiece;

Step 3. Operate the horizontal drive mechanism 20, the vertical drive mechanism 30, the attitude adjustment mechanism 40 and the arm mechanism 50 to lower the fixture to the workpiece;

Step 4. The piston rod of the cylinder 22 drives the crank 24 to drive the rotating shaft 234 to rotate, thereby driving the bearing frame 235 to swing, and then the fork tube 231 grabs the packaging bag. Shaped frame, the two sides of the packaging bag are pressed by the baffle plate 232, the top surface of the packaging bag is pressed by the guide rod cylinder 211 to drive the pressure plate 212, and the bottom surface of the packaging bag is supported by the fork tubes 231 arranged in parallel. Grab two packs of packaging bags to complete the clamping of the workpiece;

Step 5. Operate the horizontal drive mechanism 20, the vertical drive mechanism 30, the attitude adjustment mechanism 40 and the arm mechanism 50 to move the workpiece to the unloading position;

Step 6. The piston rod of the cylinder 22 drives the crank to drive the rotating shaft 234 to rotate, thereby driving the bearing frame 235 to swing, and then the fork tube 231 releases the packaging bag, and at the same time drives the baffle plates 232 on both sides of the packaging bag to release, and the guide rod The cylinder 211 drives the pressing plate 212 to rise to complete the whole unloading process.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. The stacking robot for carrying workpieces with high efficiency is characterized in that it comprises a base, a horizontal drive mechanism, a vertical drive mechanism, an attitude adjustment mechanism, an arm mechanism and a wrist; the lower end of the arm mechanism is connected to the horizontal drive mechanism and the The vertical drive mechanism is connected, the upper end of the arm mechanism is connected with a triangular arm, the attitude adjustment mechanism includes a first parallelogram linkage mechanism and a second parallelogram linkage mechanism, and the lower end of the first parallelogram linkage mechanism connected with the wrist, the upper end of the first parallelogram linkage is connected with the triangular arm, the lower end of the second parallelogram linkage is connected with the horizontal drive mechanism, and the second parallelogram linkage The upper end of the link mechanism is connected with the triangular arm; the lower end of the wrist is connected with a clamp, and the clamp includes a frame frame and a gripper, and the upper end of the frame frame is provided with a mounting block, and the mounting block There is a mounting groove for the wrist to be embedded in, and a locking mechanism for locking the wrist is provided in the mounting groove. The locking mechanism includes two toggle levers arranged oppositely and a lever connected to the toggle lever. The extrusion block at the lower end, the upper end of the toggle lever extends above the installation block to form an operation part, a pillar is arranged in the installation groove, the middle part of the toggle lever is connected with the pillar, and the Between the lower end of the toggle lever and the side wall of the installation groove, there is a return spring that drives the toggle lever to move and reset toward the center of the installation groove, and the side end of the wrist is provided with an embedded groove, and the An embedding block for embedding in the embedding groove is provided on the inner side of the operation part, and the depth of the installation groove is greater than that of the embedding block. 2. The palletizing robot for carrying workpieces with high efficiency according to claim 1, characterized in that, a handle block is formed on the outer side of the operation part. 3. The palletizing robot for carrying workpieces with high efficiency according to claim 2, characterized in that, the gripper includes a platen mechanism, a pair of cylinders and a pair of symmetrical fork tube mechanisms, and the fork tube mechanisms include parallel Fork tube, baffle plate, connecting rod, rotating shaft and a pair of bearing frames, one end of the fork tube is fixed to the connecting rod through a right angle elbow, the other end of the fork tube points to the same side through the ball table, the baffle plate Vertically arranged above the fork tube, and fixed with the connecting rod, a pair of the bearing frames are fixed on the connecting rod, the bearings are connected through the rotating shaft, a pair of the cylinders are respectively fixed on the support plate, and the piston rod Connected to the rotating shaft, the pressing plate mechanism includes a guide rod cylinder and a pressing plate. The guide rod cylinder is vertically arranged on the wrist fixing plate, and its guide rod is vertically connected to the pressing plate. The pressing plate is arranged in parallel between the fork tube and the guide rail. There are four slot-shaped ventilation holes evenly distributed. 4. The palletizing robot for carrying workpieces with high efficiency as claimed in claim 3, wherein the frame frame includes a pair of parallel slide rails and a wrist fixing plate, and the frame frame is arranged on the gripper Above the clip, the frame frame includes a pair of parallel guide rails and a pair of support plates, the wrist fixing plate is fixed above the pair of slide rails through nuts and washers, and the mounting block is connected to the wrist On the fixed plate; a pair of support plates are arranged at both ends of the lower surface of the pair of guide rails. 5. The palletizing robot for carrying workpieces with high efficiency according to claim 4, characterized in that, the outer edge of the bearing frame is provided with a boss, and the boss abuts against a vertical shock-absorbing bolt, the The damping bolts are connected to the support plate through nuts. 6. The palletizing robot for carrying workpieces with high efficiency according to any one of claims 1 or 5, wherein the clamps also include a positioning mechanism, and the positioning mechanism includes two positioning sliders and a two-way screw rod, so that The positioning sliders are arranged above the guide rails on the same side, and are respectively connected with the support plates. The two-way screw rods are passed between the two positioning sliders, and are respectively fixed through screw connections. 7. The palletizing robot for carrying workpieces with high efficiency according to claim 6, wherein the arm mechanism comprises a forearm, a lower connecting arm, a cross bar and a rear arm connected in sequence, and the lower end of the lower connecting arm passes through The lower auxiliary arm is connected to the horizontal drive mechanism, the upper end of the lower connecting arm is connected to a fulcrum of the triangular arm, and the other two fulcrums of the triangular arm are respectively connected to a front rod and a rear rod, and the front rod passes through The front auxiliary rod and the forearm are correspondingly connected to the wrist, and the rear rod is connected to the horizontal driving mechanism through a connecting rod. 8. The palletizing robot for carrying workpieces with high efficiency as claimed in claim 7, wherein the first parallelogram linkage mechanism is composed of the wrist, the forearm, the first arm of the triangular arm, the front rod and the front auxiliary rod, the second parallelogram linkage mechanism is composed of the second arm of the triangular arm, the rear rod, the connecting rod, the lower auxiliary arm and the lower connecting arm, and the horizontal driving mechanism and the vertical driving mechanism are supported by The arms are connected and installed on the base, and the vertical driving mechanism is connected with the rear arm. 9. The palletizing robot for efficiently carrying workpieces according to claim 8, wherein the vertical drive mechanism includes a fixed plate, a vertical slide block, a vertical slide rail, a connecting seat, a transverse shaft, a ball screw and a second A servo motor, a vertical slide block is fixed at both ends of the fixed plate, two vertical slide rails are installed on the base in parallel, each vertical slide block is correspondingly installed on the vertical slide rail, and each vertical slide rail is installed along the base The fixed plate is fixed in the vertical direction, the fixed plate is fixed with two parallel connecting seats, the horizontal shaft passes through the two connecting seats, and is supported by a tapered roller bearing, the rear arm is sleeved on the horizontal shaft, and the ball The screw rod is fixed to the fixed plate along the vertical direction of the base, and is connected with the power of the first servo motor. One end of the fixed plate is provided with a limiting plate. 10. The operation method of the palletizing robot is characterized in that the specific steps are as follows: Step 1. Click the open button of the palletizing robot, and the horizontal drive mechanism, vertical drive mechanism, attitude adjustment mechanism and arm mechanism will rotate, driving the fixture to rotate to the direction where the workpiece is located; Step 2. The connection point between the lower auxiliary arm and the horizontal driving mechanism is the horizontal active joint of the arm mechanism, which moves horizontally and linearly with the horizontal driving mechanism; the connection point between the rear arm and the vertical driving mechanism is the vertical active joint of the arm mechanism, which moves along with the The vertical driving mechanism makes a vertical linear motion. When the horizontal driving mechanism moves the horizontal active joints of the lower connecting arm and the lower auxiliary arm horizontally, the movement in the horizontal direction is realized; when the vertical driving mechanism moves the vertical active joints of the rear arm vertically, it realizes the Move vertically, so that the fork tube of the fixture is aligned with the position of the workpiece; Step 3. Operate the horizontal drive mechanism, vertical drive mechanism, attitude adjustment mechanism and arm mechanism to lower the fixture to the workpiece; Step 4. The piston rod of the cylinder drives the crank to drive the rotating shaft to rotate, thereby driving the bearing frame to swing, and then the fork tube grabs the packaging bag. The baffle plate, fork tube, and pressure plate form a frame for shaping the packaging bag. The two sides are pressed by the baffle, the top surface of the packaging bag is pressed by the guide rod cylinder to drive the pressure plate, and the bottom surface of the packaging bag is supported by the fork tubes arranged in parallel, and two packages of packaging bags are grabbed at the same time at a time to complete the clamping of the workpiece; Step 5. Operate the horizontal drive mechanism, vertical drive mechanism, attitude adjustment mechanism and arm mechanism to move the workpiece to the unloading position; Step 6. The piston rod of the cylinder drives the crank to drive the rotating shaft to rotate, thereby driving the bearing frame to swing, and then makes the fork tube loosen the packaging bag, and at the same time drives the baffles on both sides of the packaging bag to loosen, and the guide rod cylinder drives the pressure plate to rise. Complete the entire unloading process.