CN110540076B

CN110540076B - Stacking manipulator and stacking robot

Info

Publication number: CN110540076B
Application number: CN201911014044.9A
Authority: CN
Inventors: 朱金达; 刘兆奂; 张嘉钰; 牛虎利
Original assignee: Hebei University of Science and Technology
Current assignee: Hebei Qinuo Information Technology Co ltd
Priority date: 2019-10-23
Filing date: 2019-10-23
Publication date: 2021-02-02
Anticipated expiration: 2039-10-23
Also published as: CN110540076A

Abstract

The invention provides a stacking manipulator and a stacking robot, which comprise a support, a clamping jaw and a driving assembly, wherein the support is provided with a plurality of clamping jaws; the two clamping jaws are respectively and rotatably arranged at the bottom of the bracket; the clamping jaw comprises a rotating arm and a plurality of clamping jaw bodies arranged at the bottom of the rotating arm at intervals along the length direction of the rotating arm, and a second connecting part used for being rotatably connected with the bottom of the support is arranged on the rotating arm; the driving assembly is arranged on the bracket; the driving assembly comprises a linear driving mechanism fixedly arranged on the support, and one end of a connecting rod rotatably connected with the driving end of the linear driving mechanism is rotatably connected with the driving end, and the other end of the connecting rod is rotatably connected with the rotating arm. The stacking manipulator and the stacking robot provided by the invention are simple in structure, and the linear driving mechanism can rapidly drive the two groups of clamping claws to be matched with each other to clamp a material bag, so that the working efficiency of the stacking manipulator is effectively improved.

Description

Stacking manipulator and stacking robot

Technical Field

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

Background

In recent years, with the improvement of automation degree of processing and production of enterprises, the application range of the palletizing robot is wider and wider. The palletizing robot generally consists of a frame and a palletizing manipulator.

Traditional splint formula manipulator adopts motor drive splint to press from both sides tightly more, and the structure is complicated, and clamping action is slow, accomplishes that once transport the operation need consume long time, can not satisfy the requirement of transporting fast, and current splint formula manipulator still has the pile up neatly effect not good simultaneously, the problem of low reliability.

Disclosure of Invention

The invention aims to provide a stacking manipulator and a stacking robot, and aims to solve the problems that the existing manipulator is complex in structure, slow in clamping action and incapable of meeting the requirement of rapid conveying.

In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a stacking manipulator comprising:

a support;

the two clamping jaws are arranged at the bottom of the support in a rotating mode respectively and are used for clamping material bags in a mutually matched mode; the clamping jaw comprises a rotating arm and a plurality of jaw bodies arranged at the bottom of the rotating arm at intervals along the length direction of the rotating arm, and a second connecting part used for being rotatably connected with the bottom of the support is arranged on the rotating arm; and

the driving assembly is arranged on the bracket; the driving assembly comprises a linear driving mechanism fixedly arranged on the support and a connecting rod rotationally connected with the driving end of the linear driving mechanism, one end of the connecting rod is rotationally connected with the driving end, and the other end of the connecting rod is rotationally connected with the rotating arm.

As another embodiment of this application, the second connecting portion set up two and divide and locate the both ends of swinging boom, each the second connecting portion respectively one end with swinging boom fixed connection, the other end with the bottom of support is rotated and is connected, the connecting rod with second connecting portion one-to-one, each the one end of connecting rod with the drive end rotates to be connected, the other end with the second connecting portion with the one end rotation connection is connected to the swinging boom.

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

As another embodiment of the application, a baffle plate used for blocking the material bag is arranged on the claw body positioned on the outer side.

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

the plate body is internally provided with a first channel which penetrates through the plate body along the width direction and a second channel with an upward opening communicated with the first channel, and the second channel is positioned in the middle of the claw body;

the expansion board is inserted in the first channel; the two expansion plates are arranged and are respectively arranged at two sides of the second channel;

the pressing plate is a trapezoidal piece with a wide upper part and a narrow lower part, the top surface of the pressing plate is higher than the upper plate surface of the plate body, and the bottom of the pressing plate penetrates through the second channel to extend into the first channel and is respectively connected with the two expansion plates in a sliding manner; and

one end of the elastic piece is connected with the top of the pressing plate, and the other end of the elastic piece is connected with the upper plate surface of the plate body;

when the material bag falls onto the pressing plate, the pressing plate overcomes the elasticity of the elastic piece to move downwards under the action of the gravity of the material bag, and pushes the expansion plate to move outwards, so that the expansion plate extends out of the plate body 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 the original position under the action of the elastic piece.

As another embodiment of the application, the bracket comprises two parallel mounting plates arranged at intervals and a connecting piece for connecting the two mounting plates, and each mounting plate is provided with a strip-shaped hole arranged along the length direction of the mounting plate;

the stacking manipulator further comprises a transmission piece, the transmission piece comprises a connecting block detachably connected with the driving end of the linear driving mechanism, and two groups of connecting rods which are respectively arranged at two ends of the connecting block; each connecting rod respectively penetrates through the corresponding strip-shaped hole, extends to the outside of a cavity defined by the two mounting plates, and is rotatably connected with one end of the corresponding connecting rod.

As another embodiment of the application, the bottom end of the support is provided with a bag pressing plate for pressing the material bag flatly.

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

The stacking manipulator and the stacking robot provided by the invention have the beneficial effects that: compared with the prior art, the linear driving mechanism is connected with the clamping jaws through the connecting rod, so that the linear driving mechanism can simultaneously drive the two clamping jaws to be opened or closed outwards, the opening and closing speed of the clamping jaws is effectively improved, the work efficiency of grabbing material bags is further improved, and the requirement of quick conveying is met. The second connecting portion can rotate along with the removal production of connecting rod, drives the quick completion of two jack catchs or open action, the effectual work efficiency who improves this pile up neatly machinery hand. The stacking manipulator has the characteristics of simple structure, low production cost, easiness in assembly and longer service life.

The present invention also provides a palletizing robot comprising:

a frame;

the first sliding beam is arranged on the rack in a sliding manner along the X direction;

the sliding piece is arranged on the first sliding beam in a sliding mode along the Y direction;

the second sliding beam is arranged on the sliding piece in a sliding mode along the Z direction; and the stacking manipulator is arranged at the bottom of the second sliding beam.

As another embodiment of the present application, the palletizing robot further comprises a roller type conveying mechanism for carrying the material bag, wherein the roller type conveying mechanism comprises a plurality of rotating rollers which are arranged in parallel and at intervals; the distance between the adjacent rollers is larger than the width of the single claw body; the diameter of the rotary roller is smaller than the interval between the adjacent claw bodies.

The palletizing robot provided by the invention has the beneficial effects that: compared with the prior art, the first module, the first sliding beam and the second sliding beam are matched, so that the stacking robot can drive the material bags to move along the X direction, the Y direction and the Z direction respectively, the stacking robot is convenient to move the material bags, and the working efficiency of stacking operation is effectively improved; the stacking robot provided by the invention has the characteristics of high automation degree, high repetition precision, low manufacturing cost and capability of ensuring stable movement of the material bag, reduces the labor intensity of workers and improves the production efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic perspective view of a stacking manipulator according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a stacking manipulator according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a palletizing manipulator according to another embodiment of the present invention;

FIG. 4 is an enlarged view of the structure at A in FIG. 3;

FIG. 5 is a schematic view of the claw body employed in FIG. 3;

FIG. 6 is a sectional view taken along line B-B of FIG. 5;

fig. 7 is a first schematic perspective view of a palletizing robot according to an embodiment of the present invention;

fig. 8 is a schematic perspective view of a palletizing robot according to an embodiment of the present invention;

fig. 9 is a schematic perspective view of the palletizing robot according to the present invention.

In the figure: 1. a support; 11. a first connection portion; 12. mounting a plate; 13. a strip-shaped hole; 2. a linear drive mechanism; 3. a connecting rod; 4. a claw; 41. a rotating member; 411. a second connecting portion; 412. a rotating arm; 42. a claw body; 421. a plate body; 422. a buffer member; 423. an expansion board; 424. pressing a plate; 43. a baffle plate; 5. pressing a bag plate; 51. a telescoping member; 6. an electromagnetic chuck; 7. a transmission member; 71. connecting blocks; 72. a connecting rod; 8. a frame; 81. a roller-type conveying mechanism; 811. rotating the roller; 812. a rectangular fixed frame; 813. folding the support legs; 82. a first module; 9. a first sliding beam; 91. a slider; 10. a second sliding beam.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 to 3 together, a stacking robot according to the present invention will now be described. The stacking manipulator comprises a support 1, two clamping jaws 4 and a driving assembly, wherein the two clamping jaws 4 are arranged at the bottom of the support 1 and are respectively and rotatably arranged at the bottom of the support 1, and the two clamping jaws 4 are used for mutually matching and clamping a material bag; the claw 4 comprises a rotating arm 412 and a plurality of claw bodies 42 arranged at the bottom of the rotating arm 412 at intervals along the length direction, one end of the rotating arm 412 is rotatably connected with the bracket 1, and the other end of the rotating arm 412 is fixedly connected with the plurality of claw bodies 42; the driving assembly is arranged on the bracket 1; the driving assembly comprises a linear driving mechanism 2 fixedly arranged on the support 1 and a connecting rod 3 rotatably connected with the driving end of the linear driving mechanism 2, the connecting rod 3 is in one-to-one correspondence with the rotating arms 412, one end of the connecting rod is rotatably connected with the driving end, and the other end of the connecting rod is rotatably connected with one end of the rotating arms 412 connected with the claw body 42.

When a material bag is grabbed, the stacking manipulator is firstly installed on an external device (such as a stacker crane, a material conveying machine and the like), the external device controls the stacking manipulator to move right above the material bag, then the driving end of the linear driving mechanism 2 moves downwards, and the connecting rod 3 drives the two clamping claws 4 to open; then the driving end of the linear driving mechanism 2 moves upwards, and the connecting rod 3 drives the two clamping jaws 4 to be closed to grab the material bag; and then the stacking manipulator is moved, when the stacking manipulator moves to a specified position, the driving end of the linear driving mechanism 2 moves downwards, and the two clamping jaws 4 are opened again to put down the material bag.

Compared with the prior art, the stacking manipulator provided by the embodiment of the invention has the advantages that the linear driving mechanism 2 is connected with the clamping jaws 4 through the connecting rod 3, so that the linear driving mechanism 2 can simultaneously drive the two clamping jaws 4 to be opened or closed outwards, the opening and closing speeds of the clamping jaws 4 are effectively improved, the work efficiency of grabbing material bags is further improved, and the requirement of quick conveying is met. Second connecting portion 411 can produce along with the removal of connecting rod 3 and rotate, drives the quick completion of two jack catchs or open action, the effectual work efficiency who improves this pile up neatly machinery hand of two jack catchs 4. The stacking manipulator has the characteristics of simple structure, low production cost, easiness in assembly and longer service life.

As a specific embodiment of the stacking manipulator provided by the present invention, the linear driving mechanism 2 is a double-rod cylinder, and is connected to the support 1 by a bolt or a threaded structure. Double-rod cylinder power is stronger, can provide bigger clamp force and better balance performance, the effectual operating efficiency who improves this pile up neatly machinery hand.

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

In the present embodiment, a plurality of claw bodies 42 are provided. The bearing capacity of the clamping jaws 4 is improved, when a single clamping jaw body 42 is damaged in the process of conveying the material bag, the clamping jaws 4 can still stably limit the material bag between the two clamping jaws 4, and the fault resistance of the clamping jaws 4 is effectively improved.

Referring to fig. 1 to 6 together, two second connecting portions 411 are disposed at two ends of the rotating arm 412, one end of each second connecting portion 411 is fixedly connected to the rotating arm 412, the other end of each second connecting portion 411 is rotatably connected to the bottom of the bracket 1, the connecting rods 3 correspond to the second connecting portions 411 one by one, one end of each connecting rod 3 is rotatably connected to the driving end, and the other end of each connecting rod 3 is rotatably connected to one end of the second connecting portion 411 connected to the rotating arm 412. The firmness of the stacking manipulator is improved, and the connecting rod 3 can conveniently rotate the rotating arm 412.

In this embodiment, the rotating arm 412 is connected to the second connecting portion 411 through a bolt structure, which facilitates the individual replacement of the rotating arm 412 or the second connecting portion 411 by an operator.

In the present 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 6, the claw 42 is an L-shaped plate, which has a simple structure and is more firm for grabbing the material bag.

As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1 to fig. 6, the claw body 42 includes a plate body 421, an expanding plate 423, a pressing plate 424 and an elastic member, a first channel penetrating through the plate body 421 along a width direction and a second channel having an upward opening and communicating with the first channel are disposed in the plate body 421, and the second channel is located in a middle portion of the claw body 42. The expansion plate 423 is inserted in the first passage. The two expansion plates 423 are disposed on two sides of the second channel. The pressing plate 424 is a trapezoidal member with a wide top and a narrow bottom, the top surface of the pressing plate is higher than the upper surface of the plate 421, and the bottom of the pressing plate passes through the second channel and extends into the first channel, and is slidably connected to the two expansion plates 423. One end of the elastic element is connected with the top of the pressing plate 424, and the other end is connected with the upper plate surface of the plate 421.

When the pocket falls onto the pressing plate 424, the pressing plate 424 overcomes the elasticity of the elastic member to move downwards under the gravity of the pocket, and pushes the expanding plate 423 to move outwards, so that the expanding plate 423 extends to the outside of the plate body 421 to support the pocket; when the pocket is separated from the pressing plate 424, the pressing plate 424 drives the expanding plate 423 to return to the original position under the action of the elastic member. The bag presses the pressing plate 424, and the pressing plate 424 drives the expanding plate 423 to move, so that the gap between the adjacent claw bodies 42 is shortened, even the adjacent claw bodies 42 are abutted, and the risk that the claw bodies 42 damage the bag is reduced.

In the present embodiment, the pressing plate 424 is slidably connected to the expanding plate 423 via a pulley provided on the expanding plate 423 on an inclined side surface thereof, and a slide groove for sliding the pulley is provided on the inclined surface of the pressing plate 424.

In this embodiment, the elastic member is one or more of elastic elements such as a coil spring, a leaf spring, and the like.

As a specific implementation manner of the embodiment of the present invention, the claw body 42 further includes a buffer 422 disposed on the plate body 421, and the buffer 422 can effectively slow down an impact force applied to the plate body 421 when the claw body 42 grabs the pocket, so as to reduce a risk of damage to the plate body 421 and prolong a service life of the plate body 421.

In the present embodiment, the buffer 422 is a casing covering the pressing plate 424, the casing is made of rubber, and a bottom surface of the casing is fixedly connected to a top surface of the plate 421. The buffer member 422 forms a cage for the pressing plate 424, so that the pressing plate 424 is prevented from being in direct contact with the material bag, and the material bag is prevented from being squeezed into a gap between the pressing plate 424 and the plate body 421 and being damaged.

In this embodiment, the claw body 42 is detachably connected to the rotating arm 412 through a bolt, so that the operator can replace the claw body 42 conveniently.

As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1 and fig. 4, a baffle 43 for blocking the material bag is disposed on the outer claw 42. The outer pawl 42 is the outermost pawl 42. The baffle 43 can effectively prevent the material bag from falling off from the claw 4 in the grabbing process and the conveying process, and the reliability of the claw body 42 is improved.

As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1 to fig. 3, the bracket 1 includes two parallel mounting plates 12 arranged at intervals and a connecting member connecting the two mounting plates 12, and each mounting plate 12 is provided with a strip-shaped hole 13 arranged along the length direction of the mounting plate 12.

The stacking manipulator further comprises a transmission piece 7, wherein the transmission piece 7 comprises a connecting block 71 detachably connected with the driving end of the linear driving mechanism 2, and two groups of connecting rods 72 which are respectively arranged at two ends of the connecting block 71; each connecting rod 72 respectively passes through the corresponding strip-shaped hole 13 and extends out of a cavity enclosed by the two mounting plates 12 to be rotatably connected with one end of the corresponding connecting rod 3. The connecting block 71 is detachably connected with the driving end of the linear driving mechanism 2, so that an operator can conveniently replace the connecting rod 3 or the linear driving mechanism 2 independently. The setting of connecting rod 72 has restricted the position that connecting rod 3 located, has improved this pile up neatly machinery hand's an organic whole nature, has improved this pile up neatly machinery hand's fastness, has prolonged this pile up neatly machinery hand's life.

In the present embodiment, the linear driving mechanism 2 is disposed between the two mounting plates 12, so that the bracket 1 protects the linear driving mechanism 2, and the probability of collision between an article outside the bracket 1 and the linear driving mechanism 2 is reduced.

In this embodiment, support 1 and external device threaded connection, the relation of connection is simple, makes things convenient for the change of operation personnel to this pile up neatly machinery hand. The first connecting portion 11 is a connecting hole, when the manipulator is installed on the external device, a bolt can be inserted into the connecting hole, so that the bolt connection between the support 1 and the external device is realized, on-site punching is not needed, and the operation speed of connecting the manipulator and the external device is effectively improved.

As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1 to 4, a bag pressing plate 5 for pressing the material bag is disposed at the bottom end of the support 1.

When the stacking manipulator snatchs the pocket, linear drive mechanism 2 drives two jack catchs 4 earlier and opens, then the stacking manipulator can wholly move downwards under external device's drive, until pressing bag board 5 to flatten the pocket, then linear drive mechanism 2 drives two jack catchs 4 closed actions of accomplishing snatching the pocket and with the pocket restriction between two jack catchs 4, then this stacking manipulator can shift this pocket under external device's drive. The object of pile up neatly is the steel bar connection cover pocket that the packing is good, and the pocket does not have fixed shape, presses bag board 5 to extrude the pocket, can flatten the pocket to the jack catch 4 of being convenient for snatchs the pocket.

As a specific implementation manner of the embodiment of the present invention, please refer to fig. 3, an electromagnetic chuck 6 is disposed on the bag pressing plate 5; the surface of the electromagnetic chuck 6 is flush with the lower plate surface of the bag pressing plate 5. The bag pressing plate 5 flattens the material bag firstly, then starts the electromagnetic chuck 6, the electromagnetic chuck 6 has an electromagnetic adsorption effect on the steel bar connecting sleeve, the stacking manipulator is convenient for lifting the material bag in the earlier stage, and the stability of the material bag in the transferring process is also improved.

In this embodiment, be equipped with a plurality of through holes that will press bag board 5 to run through along thickness direction on pressing bag board 5, electromagnet 6's quotation passes the through hole and can dismantle with pressing bag board 5 and be connected, has made things convenient for the change of operating personnel to electromagnet 6. The electromagnetic chuck 6 is provided with a plurality of effects of improving the steel bar connecting sleeve in the electromagnetic adsorption material bag of the electromagnetic chuck 6, and the stability of the material bag in the conveying process is improved.

As a specific implementation manner of the embodiment of the present invention, the bag pressing plate 5 is connected to the bottom end of the bracket 1 through an expansion piece 51, and the expansion piece 51 is a rubber block with a hollow interior. When the bag pressing plate 5 contacts with the material bag provided with the reinforcing steel bar connecting sleeve at an excessively high speed, the bag pressing plate 5 is easily damaged due to excessive stress. Set up extensible member 51 between bag board 5 and support 1 additional, can effectively alleviate the pressure that bag board 5 received, reduce the risk that bag board 5 takes place to damage.

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

The present invention further provides a palletizing robot, please refer to fig. 7 to 9, the palletizing robot includes a frame 8, a first sliding beam 9, a sliding member 91 and a second sliding beam 10, the first sliding beam 9 is slidably disposed on the frame 8 along the X direction; the sliding member 91 is slidably disposed on the first sliding beam 9 in the Y direction; the second slide beam 10 is slidably disposed on the slide member 91 in the Z direction. The stacking robot is disposed at the bottom of the second sliding beam 10.

Two groups of first modules 82 which are arranged in parallel are arranged on the rack 8, and two ends of the first sliding beam 9 are respectively connected with the two groups of first modules 82 in a sliding manner and do reciprocating motion along the length direction of the first modules 82; the first sliding beam 9 is provided with a sliding piece 91, and the sliding piece 91 reciprocates along the length direction of the first sliding beam 9; the second sliding beam 10 is connected with the sliding piece 91 in a sliding manner and used for reciprocating up and down along the height direction parallel to the rack 8; the stacking manipulator is detachably arranged at the lower end of the second sliding beam 10.

When the material bag is conveyed to a grabbing position, firstly adjusting the position of a first sliding beam 9 on a first module 82, moving a sliding part 91 and a second sliding beam 10 to the upper part of the material bag, then adjusting the position of the sliding part 91 on the first sliding beam 9, moving the second sliding beam 10 to the right upper part of the material bag, then moving the second sliding beam 10 downwards relative to the sliding part 91, driving a stacking manipulator to open two groups of clamping jaws 4 under the driving of a linear driving mechanism 2 before the second sliding beam 10 drives the stacking manipulator to descend to the grabbing position, and after the stacking manipulator descends to the grabbing position, matching the two groups of clamping jaws 4 to complete the grabbing action of the material bag; after the grabbing operation is finished, the second sliding beam 10 drives the stacking manipulator to ascend to a certain position, and then the first sliding beam 9 and the sliding piece 91 drive the stacking manipulator to move to a specified position under the driving of the motor; opening a stacking manipulator to stack the material bags; the first sliding beam 9, the sliding member 91 and the second sliding beam 10 then cooperate to perform the palletizing operation of the next pocket.

According to the stacking robot, the first module 82, the first sliding beam 9 and the second sliding beam 10 are matched, so that the stacking robot can drive the material bags to move along the X direction, the Y direction and the Z direction respectively, the movement of the stacking robot to the material bags is facilitated, and the working efficiency of stacking operation is effectively improved; the stacking robot provided by the invention has the characteristics of high automation degree, high repetition precision, low manufacturing cost and capability of ensuring stable movement of the material bag, reduces the labor intensity of workers and improves the production efficiency.

It should be noted that the frame 8 is a rectangular frame body, and includes four parallel supporting legs; the first module 82 and the first sliding beam 9 are both driven in a screw nut mode, the length directions of the two groups of first modules 82 and the length direction of the first sliding beam 9 are respectively in the x direction and the y direction, a guide rail module is arranged in the first module 82, the guide rail module adopts the support of double guide rails and four sliding blocks, and a linear module arranged in the first sliding beam 9 also adopts the support mode of double guide rails and four sliding blocks; the second sliding beam 10 has a length direction z, and the second sliding beam 10 is also configured as a screw nut. Meanwhile, the first module 82, the second sliding beam 10 and the first sliding beam 9 are all provided with motors for providing power for the screw nut structure.

As an embodiment of the palletizing robot provided by the present invention, please refer to fig. 7 to 9, the palletizing robot is further provided with a roller type conveying mechanism 81 for carrying the material bag, the roller type conveying mechanism 81 includes a plurality of rotating rollers 811 arranged in parallel and at intervals, and the distance between the adjacent rotating rollers 811 is larger than the width of a single claw 42; the diameter of the roller 811 is smaller than the interval between the adjacent claw bodies 42. The bag is conveyed to the roller conveyor 81 from the previous step. The second sliding beam 10 drives the stacking manipulator to move right above the roller type conveying mechanism 81, then the driving end of the linear driving mechanism 2 moves downwards to drive the connecting rod 3 to move, and the connecting rod 3 drives the two groups of clamping jaws 4 to form an opening; then the driving end of the linear driving mechanism 2 moves upwards to drive the openings of the two groups of claws 4 to be closed, in the process, each claw body 42 moves to the gap between the adjacent rotating rollers 811 respectively, and then the grabbing of the material bag is completed. The cooperation of claw body 42 and commentaries on classics roller 811 has made things convenient for jack catch 4 to snatching of pocket, the effectual operating efficiency who improves this pile up neatly machine people.

As a specific embodiment of the palletizing robot provided by the present invention, the roller conveyor 81 further includes a rectangular fixed frame 812 and a folding leg 813 disposed at the bottom of the rectangular fixed frame 812, wherein the rectangular fixed frame 812 is rotatably connected to a leg of the frame 8; the plurality of rollers 811 are disposed in a rectangular fixing frame 812 at intervals. The roller conveying mechanism 81 is foldable, and the roller conveying mechanism 81 can be conveniently stored.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. Pile up neatly machinery hand, its characterized in that includes:

a support (1);

the two clamping jaws (4) are arranged and are respectively rotatably arranged at the bottom of the support (1), and the two clamping jaws (4) are matched with each other to clamp a material bag; the clamping jaw (4) comprises a rotating arm (412) and a plurality of jaw bodies (42) arranged at the bottom of the rotating arm (412) at intervals along the length direction of the rotating arm (412), and a second connecting part (411) used for being rotatably connected with the bottom of the support is arranged on the rotating arm (412); and

the driving assembly is arranged on the bracket (1); the driving assembly comprises a linear driving mechanism (2) fixedly arranged on the support (1) and a connecting rod (3) rotatably connected with the driving end of the linear driving mechanism (2), one end of the connecting rod (3) is rotatably connected with the driving end, and the other end of the connecting rod is rotatably connected with the rotating arm (412);

the two second connecting parts (411) are respectively arranged at two ends of the rotating arm (412), one end of each second connecting part (411) is fixedly connected with the rotating arm (412), the other end of each second connecting part is rotatably connected with the bottom of the support (1), the connecting rods (3) correspond to the second connecting parts (411) one by one, one end of each connecting rod (3) is rotatably connected with the driving end, and the other end of each connecting rod is rotatably connected with one end of the second connecting part (411) connected with the rotating arm (412);

the claw body (42) is an L-shaped plate body;

the pawl body (42) includes:

the claw structure comprises a plate body (421), a first channel and a second channel, wherein the first channel penetrates through the plate body (421) along the width direction, the second channel is provided with an upward opening and communicated with the first channel, and the second channel is positioned in the middle of the claw body (42);

an expansion plate (423) inserted in the first passage; the two expansion plates (423) are arranged and are respectively arranged at two sides of the second channel;

the pressing plate (424) is a trapezoidal piece with a wide upper part and a narrow lower part, the top surface of the pressing plate is higher than the upper plate surface of the plate body (421), and the bottom of the pressing plate penetrates through the second channel to extend into the first channel and is respectively connected with the two expansion plates (423) in a sliding manner; and

one end of the elastic piece is connected with the top of the pressing plate (424), and the other end of the elastic piece is connected with the upper plate surface of the plate body (421);

when the material bag falls onto the pressing plate (424), the pressing plate (424) moves downwards under the gravity of the material bag against the elasticity of the elastic piece to push the expansion plate (423) to move outwards, 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 the original position under the action of the elastic piece.

2. A stacking manipulator as claimed in claim 1, in which: the claw body (42) positioned at the outer side is provided with a baffle (43) used for blocking the material bag.

3. A stacking manipulator as claimed in claim 1, in which: the support (1) comprises two parallel mounting plates (12) arranged at intervals and a connecting piece for connecting the two mounting plates (12), and strip-shaped holes (13) arranged along the length direction of the mounting plates (12) are respectively formed in each mounting plate (12);

the stacking manipulator further comprises a transmission piece (7), wherein the transmission piece (7) comprises a connecting block (71) detachably connected with the driving end of the linear driving mechanism (2), and two groups of connecting rods (72) which are respectively arranged at two ends of the connecting block (71); each connecting rod (72) respectively passes through the corresponding strip-shaped hole (13), extends to the outside of a cavity surrounded by the two mounting plates (12), and is rotatably connected with one end of the corresponding connecting rod (3).

4. A stacking manipulator as claimed in claim 1, in which: the bottom end of the support (1) is provided with a bag pressing plate (5) for pressing the material bag.

5. The palletizing robot as recited in claim 4, wherein: an electromagnetic chuck (6) is arranged on the bag pressing plate (5); the surface of the electromagnetic chuck (6) is flush with the lower plate surface of the bag pressing plate (5).

6. Pile up neatly machine people, its characterized in that includes:

a frame (8);

the first sliding beam (9) is arranged on the rack (8) in a sliding mode along the X direction;

a sliding member (91) which is arranged on the first sliding beam (9) in a sliding manner along the Y direction;

a second sliding beam (10) which is arranged on the sliding piece (91) in a sliding manner along the Z direction; and

a stacking manipulator according to any one of claims 1 to 5, arranged at the bottom of the second sliding beam (10).

7. The palletizing robot as recited in claim 6, wherein: the palletizing robot further comprises a roller type conveying mechanism (81) for bearing the material bags, wherein the roller type conveying mechanism (81) comprises a plurality of rotating rollers (811) which are arranged in parallel and at intervals; the distance between the adjacent rollers (811) is larger than the width of the single claw body (42); the diameter of the rotating roller (811) is smaller than the interval between the adjacent claw bodies (42).