CN110540076A - Palletizing manipulator and palletizing robot - Google Patents

Abstract

The invention provides a palletizing manipulator and a palletizing robot, which include a bracket, claws and a drive assembly; two claws are respectively rotatably arranged at the bottom of the bracket; the claws include a rotating arm and are arranged at intervals along the length direction of the rotating arm There are a plurality of claws at the bottom of the rotating arm, and the rotating arm is provided with a second connecting part for rotating connection with the bottom of the bracket; the driving assembly is arranged on the bracket; the driving assembly includes a linear drive mechanism fixed on the bracket, and a linear drive One end of the connecting rod rotatably connected to the drive end of the drive mechanism is rotatably connected to the drive end, and the other end is rotatably connected to the rotating arm. The palletizing manipulator and the palletizing robot provided by the present invention have a simple structure, and the linear drive mechanism can quickly drive two groups of claws to cooperate with each other to grab the material bag, thereby effectively improving the working efficiency of the palletizing manipulator.

Description

Palletizing manipulator and palletizing robot

technical field

The invention belongs to the technical field of stacking equipment, and more specifically relates to a stacking manipulator and a stacking robot.

Background technique

In recent years, with the improvement of the automation of processing and production in enterprises, the application range of palletizing robots has become wider and wider. Palletizing robots generally consist of racks and palletizing manipulators.

Traditional splint-type manipulators mostly use motor-driven splints for clamping. The structure is complex and the clamping action is slow. It takes a long time to complete a delivery operation and cannot meet the requirements of fast delivery. At the same time, the existing splint-type manipulators still have stacking effects. Poor, low reliability issues.

Contents of the invention

The object of the present invention is to provide a palletizing manipulator and a palletizing robot, aiming at solving the problem that the existing manipulator has complex structure, slow clamping action, and cannot meet the requirements of fast transportation.

In order to achieve the above object, the technical solution adopted in the present invention is to provide a stacking manipulator, comprising:

bracket;

There are two claws, which are respectively rotated and arranged on the bottom of the bracket, and the two claws are used to cooperate with each other to grab the material bag; the claws include a rotating arm and are spaced apart along the length direction of the rotating arm. a plurality of claws disposed at the bottom of the rotating arm, and the rotating arm is provided with a second connecting portion for rotationally connecting with the bottom of the bracket; and

The driving assembly is arranged on the bracket; the driving assembly includes a linear drive mechanism fixed on the bracket, and a connecting rod connected to the driving end of the linear driving mechanism in rotation, and one end of the connecting rod is connected to the The driving end is rotatably connected, and the other end is rotatably connected to the rotating arm.

As another embodiment of the present application, two second connecting parts are provided at both ends of the rotating arm, one end of each second connecting part is fixedly connected to the rotating arm, and the other end is connected to the rotating arm. The bottom of the bracket is rotatably connected, and the connecting rods are in one-to-one correspondence with the second connecting part. One end of each connecting rod is rotatably connected to the driving end, and the other end is connected to the second connecting part and the rotating arm. Connect one end to turn the connection.

As another embodiment of the present application, the claw body is an L-shaped plate body.

As another embodiment of the present application, the outer claw body is provided with a baffle for blocking the material bag.

As another embodiment of the present application, the claw body includes:

The plate body is provided with a first channel passing through the plate body along the width direction, and a second channel with an opening facing upwards communicating with the first channel, and the second channel is located in the middle of the claw body;

An expansion board is inserted into the first passage; two expansion boards are arranged on both sides of the second passage;

The pressure plate is a trapezoidal piece with a wide top and a narrow bottom, the top surface is higher than the upper surface of the plate body, the bottom extends through the second channel into the first channel, and is separated from the two expansion plates sliding connections; and

an elastic member, one end is connected to the top of the pressing plate, and the other end is connected to the upper surface of the plate body;

When the material bag falls onto the pressing plate, the pressing plate overcomes the elasticity of the elastic member and moves downward under the gravity of the material bag, pushing the expansion plate to move outward, so that the expansion plate Extending to the outside of the board to support the material bag; when the material bag is separated from the pressing plate, the pressing plate drives the expansion plate to return to its original position under the action of the elastic member.

As another embodiment of the present application, the bracket includes two parallel and spaced installation boards and a connector connecting the two installation boards, each of the installation boards is respectively provided with the strip hole;

The palletizing manipulator also includes a transmission member, the transmission member includes a connecting block detachably connected to the driving end of the linear drive mechanism, and two sets of connecting rods arranged at both ends of the connecting block; Each of the connecting rods extends through the corresponding strip-shaped hole to outside the cavity surrounded by the two mounting plates, and is rotatably connected to one end of the corresponding connecting rod.

As another embodiment of the present application, the bottom end of the bracket is provided with a bag pressing plate for flattening the material bag.

As another embodiment of the present application, the bag pressing plate is provided with an electromagnetic chuck; the surface of the electromagnetic chuck is flush with the lower surface of the bag pressing plate.

The beneficial effects of the palletizing manipulator and palletizing robot provided by the present invention are: compared with the prior art, the palletizing manipulator of the present invention has a linear drive mechanism connected to the jaws through a connecting rod, so that the linear drive mechanism can drive two clamps at the same time. The claws open or close outwards, which effectively increases the opening and closing speed of the claws, thereby improving the working efficiency of grabbing bags and meeting the requirements of fast transportation. The second connecting part can rotate along with the movement of the connecting rod, and drives the two claws to quickly complete the action of grabbing or opening, which effectively improves the working efficiency of the palletizing manipulator. The palletizing manipulator also has the characteristics of simple structure, low production cost, easy assembly and long service life.

The present invention also provides a palletizing robot, comprising:

frame;

The first sliding beam is slidably arranged on the frame along the X direction;

a sliding member slidably arranged on the first sliding beam along the Y direction;

The second sliding beam is slidably arranged on the slider along the Z direction; and the above-mentioned palletizing manipulator is arranged at the bottom of the second sliding beam.

As another embodiment of the present application, the palletizing robot further includes a roller conveying mechanism for carrying the material bag, and the roller conveying mechanism includes a plurality of parallel and spaced rotating rollers; The distance between the rollers is greater than the width of a single claw; the diameter of the rotating roller is smaller than the distance between adjacent claws.

The beneficial effects of the palletizing robot provided by the present invention are: compared with the prior art, the palletizing robot of the present invention, the cooperation of the first module, the first sliding beam and the second sliding beam, enables the palletizing robot to drive the material The bags move respectively in three directions along the X direction, the Y direction and the Z direction, which facilitates the movement of the palletizing robot to the material bags and effectively improves the working efficiency of the palletizing operation; the palletizing robot provided by the present invention also has automatic The degree is high, which reduces the intensity of manual labor, improves production efficiency, and has high repeatability, low cost, and can ensure the smooth movement of the material bag.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is a three-dimensional structural schematic diagram 1 of a palletizing manipulator provided by an embodiment of the present invention;

Fig. 2 is a three-dimensional structural schematic diagram II of a palletizing manipulator provided by an embodiment of the present invention;

Fig. 3 is a three-dimensional structural schematic diagram of a palletizing manipulator provided by another embodiment of the present invention;

Fig. 4 is the enlarged schematic view of the structure at A in Fig. 3;

Fig. 5 is a schematic structural view of the claw body used in Fig. 3;

Fig. 6 is a cross-sectional structure diagram along the line B-B in Fig. 5;

Fig. 7 is a three-dimensional structural schematic diagram 1 of a palletizing robot provided by an embodiment of the present invention;

Fig. 8 is a schematic diagram 2 of the three-dimensional structure of the palletizing robot provided by an embodiment of the present invention;

Fig. 9 is a schematic diagram of the three-dimensional structure of the palletizing robot of the present invention.

In the figure: 1. bracket; 11. first connecting part; 12. mounting plate; 13. strip hole; 2. linear drive mechanism; 3. connecting rod; 4. claw; 41. rotating part; Connecting part; 412, rotating arm; 42, claw body; 421, plate body; 422, buffer piece; 423, expansion plate; 424, pressure plate; 43, baffle plate; 5, bag pressure plate; 51, telescopic piece; 6, Electromagnetic sucker; 7, transmission part; 71, connecting block; 72, connecting rod; 8, frame; 81, roller conveying mechanism; 811, rotating roller; 812, rectangular fixed frame; A module; 9. The first sliding beam; 91. The sliding part; 10. The second sliding beam.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by 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.

Please refer to Fig. 1 to Fig. 3 together, and now the palletizing manipulator provided by the present invention will be described. The palletizing manipulator includes a bracket 1, claws 4 and a drive assembly. Two claws 4 are provided and are respectively rotated at the bottom of the bracket 1. The two claws 4 are used to cooperate with each other to grab the material bag; the claws 4 include The rotating arm 412 and a plurality of claws 42 arranged at intervals along the length direction at the bottom of the rotating arm 412, one end of the rotating arm 412 is rotationally connected with the support 1, and the other end is fixedly connected with the plurality of claws 42; the drive assembly is arranged on the support 1; The driving assembly includes a linear drive mechanism 2 fixed on the support 1, and a connecting rod 3 that is rotationally connected to the driving end of the linear driving mechanism 2. The connecting rod 3 corresponds to the rotating arm 412 one by one, and one end is rotationally connected to the driving end, and the other One end is connected with the rotating arm 412 and the claw body 42 and the other end is rotatably connected.

When grabbing the material bag, first install the palletizing manipulator on the external device (such as palletizer, conveyor, etc.), the external device controls the palletizing manipulator to move to the top of the material bag, and then the driving end of the linear drive mechanism 2 Moving down, the connecting rod 3 drives the two claws 4 to open; then the driving end of the linear drive mechanism 2 moves upward, the connecting rod 3 drives the two claws 4 to close, and the bag is picked up; then the palletizing manipulator is moved , when the stacking manipulator moves to the designated position, the driving end of the linear drive mechanism 2 moves downward, and the two claws 4 open again to put the bag down.

In the palletizing manipulator provided by the embodiment of the present invention, compared with the prior art, the linear drive mechanism 2 is connected to the claw 4 through the connecting rod 3, so that the linear drive mechanism 2 can drive the two claws 4 to open or close at the same time , effectively improving the opening and closing speed of the claws 4, thereby improving the work efficiency of grabbing the material bag, and meeting the requirements of fast transportation. The second connecting part 411 can rotate along with the movement of the connecting rod 3, driving the two jaws 4 to quickly complete the action of grabbing or opening, which effectively improves the working efficiency of the palletizing manipulator. The palletizing manipulator also has the characteristics of simple structure, low production cost, easy assembly and long service life.

As a specific embodiment of the palletizing manipulator provided by the present invention, the linear drive mechanism 2 is a double-rod cylinder, which is connected to the bracket 1 through bolts or threaded structures. The double-rod cylinder has stronger power, can provide greater clamping force and better balance performance, and effectively improves the working efficiency of the palletizing manipulator.

In this embodiment, the top of the bracket 1 is provided with a first connecting portion 11 for connecting with an external device; the first connecting portion 11 facilitates the fixing of the palletizing robot.

In this embodiment, there are multiple claws 42 . The load-carrying capacity of the jaws 4 is improved. When a single jaw body 42 is damaged during the transport of the material bag, the jaws 4 can still stably limit the material bag between the two jaws 4, which effectively improves the gripping capacity of the jaws. 4. Anti-failure ability.

As a specific implementation of the palletizing manipulator and palletizing robot provided by the present invention, please refer to Fig. 1 to Fig. 6 together. One end of the connecting part 411 is fixedly connected to the rotating arm 412, and the other end is rotatably connected to the bottom of the bracket 1. The connecting rod 3 corresponds to the second connecting part 411 one by one. One end of each connecting rod 3 is connected to the driving end in rotation, and the other end is connected to the One end of the second connecting portion 411 is connected to the rotating arm 412 to rotate. The firmness of the stacking manipulator is improved, and the rotation of the connecting rod 3 to the rotating arm 412 is facilitated.

In this embodiment, the rotating arm 412 is connected to the second connecting portion 411 through a bolt structure, which facilitates the operator to replace the rotating arm 412 or the second connecting portion 411 separately.

In this embodiment, the second connecting portion 411 and the rotating arm 412 together form the rotating member 41 .

As a specific implementation manner of the embodiment of the present invention, please refer to Fig. 1 to Fig. 6 together, the claw body 42 is an L-shaped plate body, the structure is simple, and the grasping bag is firmer.

As a specific implementation of the embodiment of the present invention, please refer to Fig. 1 to Fig. 6 together. The claw body 42 includes a plate body 421, an expansion plate 423, a pressure plate 424 and an elastic member. The first channel of the body 421 and the second channel with the opening upwards communicating with the first channel, the second channel is located in the middle of the claw body 42 . The expansion board 423 is inserted into the first channel. There are two expansion boards 423 disposed on two sides of the second channel. The pressing plate 424 is a trapezoid with a wide top and a narrow bottom. The top surface is higher than the upper surface of the plate body 421 , and the bottom extends through the second channel into the first channel, and is slidably connected with the two expansion plates 423 respectively. One end of the elastic member is connected to the top of the pressing plate 424 , and the other end is connected to the upper surface of the plate body 421 .

When the material bag falls on the pressing plate 424, the pressing plate 424 overcomes the elasticity of the elastic member and moves downward under the gravity of the material bag, pushing the expansion plate 423 to move outward, so that the expansion plate 423 extends to the outside of the plate body 421 to support the material bag; When the material bag is separated from the pressing plate 424, the pressing plate 424 drives the expansion plate 423 to return to its original position under the action of the elastic member. The material bag squeezes the pressure plate 424, and the pressure plate 424 will drive the expansion plate 423 to move, shortening the gap between adjacent claws 42, and even making the adjacent claws 42 contact each other, reducing the risk of damage to the material bag by the claws 42.

In this embodiment, the inclined side of the pressing plate 424 is slidably connected with the expansion plate 423 by means of a pulley provided on the expanding plate 423 , and the inclined surface of the pressing plate 424 is provided with a chute for the sliding of the pulley.

In this embodiment, the elastic member is one or more elastic elements such as coil springs and leaf springs.

As a specific implementation of the embodiment of the present invention, the claw body 42 also includes a buffer piece 422 arranged on the plate body 421, and the buffer piece 422 can effectively slow down the impact force on the plate body 421 when the claw body 42 grabs the bag. , thereby reducing the risk of damage to the plate body 421 and prolonging the service life of the plate body 421 .

In this embodiment, the buffer member 422 is a housing that covers the pressure plate 424 , the housing is made of rubber, and the bottom surface of the housing is fixedly connected to the top surface of the plate body 421 . The buffer member 422 covers the pressing plate 424, avoiding the direct contact between the pressing plate 424 and the material bag, and preventing the material bag from being squeezed into the gap between the pressing plate 424 and the plate body 421, causing damage to the material bag.

In this embodiment, the claw body 42 is detachably connected to the rotating arm 412 through bolts, which is convenient for operators to replace the claw body 42 .

As a specific implementation manner of the embodiment of the present invention, please refer to FIG. 1 and FIG. 4 together, the outer claw body 42 is provided with a baffle plate 43 for blocking the material bag. The outer claw body 42 mentioned here is the outermost claw body 42 . The baffle 43 can effectively prevent the material bag from falling off from the claw 4 during the grabbing process and the transportation process, which improves the reliability of the claw body 42 .

As a specific implementation manner of the embodiment of the present invention, please refer to Fig. 1 to Fig. 3 together, the bracket 1 includes two parallel and spaced installation plates 12 and a connector connecting the two installation plates 12, each installation plate 12 Strip-shaped holes 13 arranged along the length direction of the mounting plate 12 are respectively provided on the top.

The palletizing manipulator described above also includes a transmission member 7, the transmission member 7 includes a connecting block 71 detachably connected to the driving end of the linear drive mechanism 2, and two sets of connecting rods arranged at both ends of the connecting block 71 72 ; each connecting rod 72 extends through the corresponding bar-shaped hole 13 to outside the cavity surrounded by the two mounting plates 12 , and is rotatably connected with one end of the corresponding connecting rod 3 . The connecting block 71 is detachably connected to the drive end of the linear drive mechanism 2, which is convenient for operators to replace the connecting rod 3 or the linear drive mechanism 2 separately. The setting of the connecting rod 72 limits the position of the connecting rod 3, improves the integrity of the stacking manipulator, improves the firmness of the stacking manipulator, and prolongs the service life of the stacking manipulator.

In this embodiment, the linear drive mechanism 2 is arranged between the two mounting plates 12, so that the bracket 1 forms protection for the linear drive mechanism 2, reducing the probability of collision between objects located outside the bracket 1 and the linear drive mechanism 2 .

In this embodiment, the bracket 1 is screwed to the external device, and the connection relationship is simple, which is convenient for operators to replace the palletizing manipulator. The first connecting part 11 is a connecting hole. When the manipulator is installed on the external device, bolts can be inserted into the connecting hole to realize the bolt connection between the support 1 and the external device, without drilling holes on site, which effectively improves the connection between the manipulator and the external device. operating rate.

As a specific implementation of the embodiment of the present invention, please refer to Fig. 1 to Fig. 4 together, the bottom end of the bracket 1 is provided with a bag pressing plate 5 for flattening the material bag.

When the palletizing manipulator grabs the material bag, the linear drive mechanism 2 first drives the two claws 4 to open, and then the palletizing manipulator will move downward as a whole under the drive of the external device until the bag pressing plate 5 flattens the material bag , and then the linear drive mechanism 2 drives the two jaws 4 to close to complete the action of grabbing the material bag and restricting the material bag between the two jaws 4, and then the palletizing manipulator will transfer the material bag under the drive of the external device . The object of palletizing is the packaged steel bar connection sleeve material bag. The material bag has no fixed shape. The bag pressing plate 5 can squeeze the material bag to flatten the material bag, so as to facilitate the grasping of the material bag by the jaws 4. Pick.

As a specific implementation of the embodiment of the present invention, please refer to FIG. 3 , an electromagnetic chuck 6 is provided on the bag pressing plate 5 ; After the bag pressing plate 5 first flattens the material bag, then start the electromagnetic chuck 6, which has an electromagnetic adsorption effect on the steel bar connecting sleeve, which facilitates the early lifting operation of the palletizing manipulator to the material bag, and also improves the material bag on the ground. Stability during transfer.

In this embodiment, the bag press plate 5 is provided with a plurality of through holes through the bag press plate 5 along the thickness direction, and the disk surface of the electromagnetic chuck 6 is detachably connected with the bag press plate 5 through the through holes, which is convenient for the operator Replacement of the electromagnetic chuck 6. Electromagnetic sucker 6 is provided with a plurality of improving the effect of electromagnetic sucker 6 electromagnetic adsorption steel bar connecting sleeve in the material bag, has improved the stability of material bag in conveying process.

As a specific implementation of the embodiment of the present invention, the bag pressing plate 5 is connected to the bottom end of the bracket 1 through a telescopic piece 51, and the telescopic piece 51 is a hollow rubber block. When the bag pressing plate 5 contacts with the material bag equipped with the steel bar connecting sleeve too fast, the bag pressing plate 5 is easily damaged due to excessive force. Adding a telescopic member 51 between the bag pressing plate 5 and the bracket 1 can effectively relieve the pressure on the bag pressing plate 5 and reduce the risk of damage to the bag pressing plate 5 .

As a specific implementation manner of the embodiment of the present invention, the telescopic member 51 may also be a compression spring.

The present invention also provides a stacking robot, please refer to Fig. 7 to Fig. 9 together, the stacking robot includes a frame 8, a first sliding beam 9, a sliding part 91 and a second sliding beam 10, the first sliding beam 9 is slidably arranged on the frame 8 along the X direction; the sliding member 91 is slidably arranged on the first sliding beam 9 along the Y direction; the second sliding beam 10 is slidably arranged on the sliding member 91 along the Z direction. The above-mentioned stacking manipulator is arranged at the bottom of the second sliding beam 10 .

The frame 8 is provided with two groups of first modules 82 arranged in parallel, and the two ends of the first sliding beam 9 are respectively slidably connected with the two groups of first modules 82, and reciprocate along the length direction of the first modules 82; The first sliding beam 9 is provided with a sliding part 91, and the sliding part 91 moves back and forth along the length direction of the first sliding beam 9; direction for up and down reciprocating movement; the stacking manipulator is detachably arranged on the lower end of the second sliding beam 10 .

When the material bag is transported to the grabbing position, first adjust the position of the first sliding beam 9 on the first module 82, move the sliding member 91 and the second sliding beam 10 to the top of the material bag, and then adjust the sliding member 91 At the position on the first sliding beam 9, move the second sliding beam 10 to directly above the material bag, then the second sliding beam 10 moves downward relative to the slider 91, and the second sliding beam 10 drives the palletizing manipulator to descend Before reaching the grabbing position, the palletizing manipulator opens two sets of jaws 4 driven by the linear drive mechanism 2, and after the palletizing manipulator descends to the grabbing position, the two sets of jaws 4 cooperate to complete the grabbing action of the material bag After the grabbing operation is completed, the second sliding beam 10 drives the palletizing manipulator to rise to a certain position, and then the first sliding beam 9 and the sliding part 91 drive the palletizing manipulator to move to the designated position under the drive of the motor; the palletizing manipulator opens , palletizing the material bags; then the first sliding beam 9, the sliding member 91 and the second sliding beam 10 cooperate to perform the palletizing work of the next material bag.

The palletizing robot provided by the present invention, through the cooperation of the first module 82, the first sliding beam 9 and the second sliding beam 10, enables the palletizing robot to drive the material bag along the X direction, the Y direction and the Z direction three times respectively. The movement of the palletizing robot in different directions facilitates the movement of the palletizing robot to the material bag, effectively improving the work efficiency of the palletizing operation; the palletizing robot provided by the present invention also has a high degree of automation, which reduces the intensity of manual labor and improves production efficiency. , and has high repeatability, low cost, and can ensure the smooth movement of the bag.

It should be noted that the frame 8 is a rectangular frame, including four legs arranged in parallel; the first module 82 and the first sliding beam 9 are all driven by screw nuts, and the length of the two groups of first modules 82 is direction and the length direction of the first sliding beam 9 are respectively the x direction and the y direction, the first module 82 is provided with a guide rail module, the guide rail module adopts the support of double guide rails and four slide blocks, and the straight line The module also adopts the supporting form of double guide rails and four sliders; the length direction of the second sliding beam 10 is in the z direction, and the second sliding beam 10 is also a screw nut structure. At the same time, the first module 82 , the second sliding beam 10 and the first sliding beam 9 are all provided with motors for powering the screw nut structure.

As a specific implementation of the palletizing robot provided by the present invention, please refer to Fig. 7 to Fig. 9 together. The palletizing robot is also provided with a roller conveying mechanism 81 for carrying material bags. The rotating rollers 811 are arranged in parallel and at intervals, and the distance between adjacent rotating rollers 811 is greater than the width of a single claw body 42 ; the diameter of the rotating rollers 811 is smaller than the distance between adjacent claw bodies 42 . The material bag is transported on the roller conveying mechanism 81 by the previous step process. The second sliding beam 10 drives the stacking manipulator to move to the top of the roller conveying mechanism 81, and then the driving end of the linear drive mechanism 2 moves downward to drive the connecting rod 3 to move, and the connecting rod 3 drives two groups of claws 4 to form an opening; then The driving end of the linear drive mechanism 2 moves upwards, driving the openings of the two groups of claws 4 to close. During this process, each claw body 42 will first move to the gap between the adjacent rotating rollers 811, and then the grasping of the material bag will be completed. Pick. The cooperation between the claw body 42 and the rotating roller 811 facilitates the grasping of the material bag by the claw 4, and effectively improves the working efficiency of the palletizing robot.

As a specific embodiment of the palletizing robot provided by the present invention, the roller conveying mechanism 81 also includes a rectangular fixed frame 812 and a folding leg 813 arranged at the bottom of the rectangular fixed frame 812, and a certain part of the rectangular fixed frame 812 and the frame 8 One leg is rotatably connected; a plurality of rotating rollers 811 are arranged in a rectangular fixed frame 812 at intervals. The roller conveying mechanism 81 can be folded, which facilitates the storage of the roller conveying mechanism 81 .

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. Palletizing manipulator, it is characterized in that, comprises: bracket (1); Claws (4) are provided with two and respectively rotated at the bottom of the bracket (1), and the two claws (4) are used to cooperate with each other to grab the material bag; the claws (4) include The rotating arm (412) and a plurality of claws (42) arranged at the bottom of the rotating arm (412) at intervals along the length direction of the rotating arm (412), the rotating arm (412) is provided with a bracket for The second connection part (411) of the bottom rotation connection; and The drive assembly is arranged on the support (1); the drive assembly includes a linear drive mechanism (2) fixed on the support (1), and rotates with the drive end of the linear drive mechanism (2). A connected connecting rod (3), one end of the connecting rod (3) is rotatably connected to the driving end, and the other end is rotatably connected to the rotating arm (412). 2. The palletizing manipulator according to claim 1, characterized in that: two second connecting parts (411) are provided and are respectively arranged at both ends of the rotating arm (412), each of the second connecting parts (411) one end is fixedly connected with the rotating arm (412), the other end is rotatably connected with the bottom of the bracket (1), and the connecting rod (3) corresponds to the second connecting part (411) one by one One end of each connecting rod (3) is rotatably connected to the driving end, and the other end is rotatably connected to the second connecting portion (411) and the rotating arm (412). 3. The palletizing manipulator according to claim 2, characterized in that: the claw body (42) is an L-shaped plate body. 4. The palletizing manipulator according to claim 3, characterized in that: the outer claw (42) is provided with a baffle (43) for blocking the material bag. 5. The stacking manipulator according to claim 3, wherein the claw body (42) comprises: The plate body (421) is provided with a first channel that runs through the plate body (421) along the width direction, and a second channel that opens upwards to communicate with the first channel, and the second channel is located in the claw body (42 the middle part of ); The expansion board (423) is inserted in the first channel; the expansion board (423) is provided with two and separately arranged on both sides of the second channel; The pressing plate (424) is a trapezoidal piece with a wide top and a narrow bottom. The expansion boards (423) are respectively slidingly connected; and An elastic member, one end is connected to the top of the pressing plate (424), and the other end is connected to the upper surface of the plate body (421); When the material bag falls onto the pressing plate (424), the pressing plate (424) moves downward against the elasticity of the elastic member under the gravity of the material bag, pushing the expansion plate (423) Move outward, so that the expansion plate (423) extends to the outside of the plate body (421) to support the material bag; when the material bag is separated from the pressing plate (424), the pressing plate (424) Under the action of the elastic member, the expansion board (423) is driven back to its original position. 6. The palletizing manipulator according to claim 1, characterized in that: the bracket (1) includes two parallel and spaced installation plates (12) and a connecting piece connecting the two installation plates (12) , each of the mounting plates (12) is respectively provided with a strip-shaped hole (13) arranged along the length direction of the mounting plate (12); The palletizing manipulator also includes a transmission member (7), and the transmission member (7) includes a connecting block (71) detachably connected to the driving end of the linear drive mechanism (2), and two groups of The connecting rods (72) arranged at both ends of the connecting block (71); each connecting rod (72) extends through the corresponding strip-shaped hole (13) to the two mounting plates (12) The outside of the enclosed cavity is rotatably connected with one end of the corresponding connecting rod (3). 7. The palletizing manipulator according to claim 1, characterized in that: the bottom end of the support (1) is provided with a bag pressing plate (5) for flattening the material bag. 8. The palletizing manipulator as claimed in claim 7, characterized in that: the bag pressing plate (5) is provided with an electromagnetic chuck (6); the disc surface of the electromagnetic chuck (6) is in contact with the bag pressing plate ( 5) The lower plate surface is flush. 9. Palletizing robot, is characterized in that, comprises: Rack (8); The first sliding beam (9) is slidably arranged on the frame (8) along the X direction; a sliding part (91), which is slidably arranged on the first sliding beam (9) along the Y direction; The second sliding beam (10) is slidably arranged on the sliding member (91) along the Z direction; and The palletizing manipulator according to any one of claims 1-8, which is arranged at the bottom of the second sliding beam (10). 10. The stacking robot according to claim 9, characterized in that: the stacking robot also includes a roller conveying mechanism (81) for carrying the material bag, and the roller conveying mechanism (81) includes A plurality of parallel and spaced rollers (811); the distance between adjacent rollers (811) is greater than the width of a single claw (42); the diameter of the rollers (811) is smaller than that of adjacent rollers (811). There is an interval between the claws (42).