USOO849 1250B2

(12) United States Patent (10) Patent No.: US 8.491,250 B2

Zhang et al. (45) Date of Patent: Jul. 23, 2013
(54) PALLETIZING ROBOT (56) References Cited
(75) Inventors: Guo-Qing Zhang, Shenzhen (CN); U.S. PATENT DOCUMENTS
Qi-Jun Wang, Shenzhen (CN) 2.915,919 A * 12/1959 Mitchell et al. ................. 74,590
4,502,830 A * 3/1985 Inaba et al. ... 414f735
(73) Assignees: Hong Fu Jin Precision Industry 3.6%
- W
A : (3. She t . . . . . . . . . .34-3.
aSSCO C. a. ........
(Shenzhen) Co. Ltd. Shenzhen (CN), 7,476,072 B2 * 1/2009 Tamura ...................... 414,749.1
Hon Hai Precision Industry Co., Ltd., 7,918,639 B2 * 4/2011 Finket al. .. ... 414,744.6
New Taipei (TW) 2008/025.3876 A1* 10, 2008 Sandmeier ................. 414,744.3

(*) Notice: Subject to any disclaimer, the term of this CN FoENENIEMENTs

patent is extended or adjusted under 35 CN 201198.314 Y 2, 2009
U.S.C. 154(b) by 372 days. CN 2009 1030 1845 * 4, 2009
(21) Appl. No.: 12/944,920 * cited by examiner
(22) Filed: Nov. 12, 2010 Primary Examiner — Scott Lowe
(74) Attorney, Agent, or Firm — Altis Law Group, Inc.
(65) Prior Publication Data
(57) ABSTRACT
US 2011 FO268.549 A1 Nov. 3, 2011 A palletizing robot includes a lifting frame, an end-effector,
(30) Foreign Application Priority Data an extensible mechanical arm, and a balancing mechanism.
The extensible mechanical arm is rotatably connected to the
lifting frame. The balancing mechanism and the end-effector
Apr. 28, 2010 (CN) .......................... 2010 1 O1572O7 are located on opposite ends of the extensible mechanical
arm. The balancing mechanism includes a threaded rod, a
(51) Int. Cl. sliding member, a driving member, and a counterweight. The
B66F 9/075 (2006.01) threaded rod is located on the extensible mechanical arm. The
B25, 9/04 (2006.01) sliding member receives the threaded rod. The driving mem
(52) U.S. Cl. ber is fixed on an end of the threaded rod. The counterweight
USPC ......................... 414/673: 74/490.01; 187/404 is fixed on the sliding member. The driving member rotates
(58) Field of Classification Search the threaded rod such that the sliding member slides relative
USPC 74/490.01; 187/404; 212/195, 197; 248/648: to the threaded rod.
414/662, 673, 74.4.1, 744.3: 901/15, 48
See application file for complete search history. 15 Claims, 6 Drawing Sheets

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U.S. Patent Jul. 23, 2013 Sheet 2 of 6 US 8.491,250 B2

FIG 2
U.S. Patent Jul. 23, 2013 Sheet 3 of 6 US 8.491,250 B2

FIG 3
U.S. Patent Jul. 23, 2013 Sheet 4 of 6 US 8.491,250 B2

FIG, 4
U.S. Patent Jul. 23, 2013 Sheet 5 of 6 US 8.491,250 B2

FIG 5
U.S. Patent Jul. 23, 2013 Sheet 6 of 6 US 8.491,250 B2

FIG, 6
 US 8,491,250 B2
1. 2
PALLETIZING ROBOT The lifting frame 30 includes a base portion 31, a top
portion 32, and two support plates 35. The two lifting plates
BACKGROUND 35 interconnect the base portion 31 and the top plate 32, and
are positioned opposite to each other. Each support plate 35
1. Technical Field includes a pair of sliding rails 351 at an inner Surface facing
The present disclosure relates to robotics, and particularly, each other.
to a palletizing robot. Referring to FIG. 3, the extensible mechanical arm 40
2. Description of the Related Art includes a pair of limiting members 41, a main body 43, an
Industrial robots are widely used in various applications to extension arm 45, a holding member 47, and an elevator (not
greatly reduce the burden of factory workers. An industrial 10 shown). The main body 41 may be an elongated hollow rod.
robot Such as a palletizing robot, is used to stack objects for The limiting members 41 are fixed on opposite surfaces at one
transport or storage. end of the main body 43. Each limiting member 41 defines a
pair of sliding grooves (not shown) receiving a corresponding
A palletizing robot includes a rotary base, a lifting frame, pair of sliding rails 351 of the two lifting plates 35. An end of
an extensible mechanical arm, an end-effector, and a coun 15 the extension arm 45 movably sleeves on a distal end of the
terweight. The lifting frame is fixed on the rotary base. The main body 43 such that the extension arm 45 can extend out
extensible mechanical arm is slidably connected to the lifting from the distal end of the main body 43. The holding member
frame. The end-effector and the counterweight are fixed on 47 is fixed on the other end of the extension arm 45 away from
opposite ends of the extensible mechanical arm. An extension the main body 43. The elevator is disposed on the lifting frame
of the extensible mechanical arm is controlled by a controller. 30 to slide the pair of limiting members 41 relative to the
When the end-effector clamps an object, the object can be lifting frame 30 and also control a sliding direction of the
moved to any positionina three dimensional space depending limiting members 41 with the main body 43. Thus, the hold
on the rotation of the rotary base, and the sliding position and ing member 47 can be moved to any position in a three
the extension of the extensible mechanical arm. However, dimensional space depending on the rotation of the rotary
when the extension of the extensible mechanical arm or the 25 base 20, the sliding position of the extensible mechanical arm
weight of the objects is changed, the counterweight is not in 40, and the extension of the extension arm 45 of the extensible
balance. Thus, balance performance of the palletizing robot is mechanical arm 40.
lower because of the bending moment. Referring to FIG. 3 again, the balancing mechanism 50
Therefore, there is room for improvement within the art. includes a pair of counterweights 51, a sliding member 53, a
30 pair of guide rails 55, a threaded rod 57, two fixing members
BRIEF DESCRIPTION OF THE DRAWINGS 58, and a driving member 59.
The counterweights 51 arefixed on the sliding members 53
Many aspects of the embodiments can be better understood to balance the object 70.
with reference to the following drawings. The components in Referring to FIG. 4, the sliding member 53 includes a
the drawings are not necessarily drawn to Scale, the emphasis 35 connecting block 532, two sliding blocks 534, and a threaded
instead being placed upon clearly illustrating the principles of fastener 535. The connecting block 532 is substantially
the embodiments. Moreover, in the drawings, like reference I-shaped. The counterweights 51 are fixed on the connecting
numerals designate corresponding parts throughout the sev block 532. The two sliding blocks 534 are fixed on opposite
eral views. ends of the connecting block 532. Each sliding block 534
FIG. 1 is an assembled, isometric view of an embodiment 40 defines a sliding groove 5341 in a side surface of each sliding
ofapalletizing robot, the palletizing robot including an exten block 534. In the illustrated embodiment, the sliding groove
sible mechanical arm and a balancing mechanism having a 5341 is a dovetailed groove. The threaded fastener 535 is
sliding member. fixed in a middleportion of the connecting block 532 between
FIG. 2 is an isometric view of the extensible mechanical the two sliding blocks 534. The threaded fastener535 defines
arm shown in FIG. 1. 45 a threaded hole 5351 in a middle portion of the threaded
FIG. 3 is a partial, exploded, isometric view of the balanc fastener535. The threaded rod57 passes through the threaded
ing mechanism shown in FIG. 1. hole 5351.
FIG. 4 is an exploded, isometric view of the sliding mem Referring to FIGS. 3 and 5, the pair of guide rails 55 are
ber shown in FIG. 3. substantially parallel and fixed on a bottom of the receiving
FIG. 5 is a partial, isometric view of the balancing mecha 50 groove 432. Each guide rail 55 includes a guide rib 552. In the
nism shown in FIG. 3. illustrated embodiment, the guide rib 552 is dovetailed. The
FIG. 6 is planar view showing a work state of the palletiz two fixing members 58 are fixed on the bottom of the receiv
ing robot. ing groove 432 between the pair of guide rails 55. The
threaded rod 57 passes through the two fixing members 58
DETAILED DESCRIPTION 55 and fixed to the driving member 59. The driving member 59
rotates the threaded rod 57 Such that the threaded fastener 535
Referring to FIGS. 1, 2, and 6, an embodiment of a pallet of the sliding member 53 slides relative to the threaded rod57.
izing robot 100 includes a rotary base 20, a lifting frame 30, In the illustrated embodiment, the driving member 59 is a
an extensible mechanical arm 40, a balancing mechanism 50. motor.
and an end-effector 60. The lifting frame 30 is rotatably 60 Referring to FIGS.3 through 6, in use, the palletizing robot
connected to the rotary base 20. The extensible mechanical acquires an object 70. The driving member 59 of the balanc
arm 40 is slidably connected to the lifting frame 30. The ing mechanism 50 rotates the threaded rod 57. The threaded
balancing mechanism 50 and the end-effector 60 are located fastener 535 of the sliding member 53 slides relative to the
on opposite ends of the extensible mechanical arm 40 respec threaded rod 57 such that the counterweights 51 are moved
tively. In the illustrated embodiment, the end-effector 60 is a 65 along the extensible mechanical arm 40. The balancing
vacuum chuck. The rotary base 20 may be substantially mechanism 50, the object 70, and the lifting frame 30 coop
columnar in shape. eratively form a lever balance. Based on the principle of lever
 US 8,491,250 B2
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balance, a moment generated by the counterweights 51 and 2. The palletizing robot of claim 1, wherein the extensible
the sliding member 53 equals that of the holding member 47. mechanical arm comprises a main body and an extension arm
the end-effector 60 and the object 70, as expressed in the movably sleeved in a distal end of the main body.
following formula: 3. The palletizing robot of claim 2, wherein the extensible
mechanical arm further comprises a holding member fixed on
(1) an end of the extension arm away from the main body, and the
wherein mg represents a total weight of the counterweights end-effector is fixed on the holding member.
51 and the sliding member 53, 1 represents the moment arm 4. The palletizing robot of claim 2, wherein the extensible
of the counterweights 51 and the sliding member 53, mg 10
mechanical arm further comprises a pair of limiting members
represents a total weight of the holding member 47, the end fixed on opposite Surfaces at one end of the main body and
effector 60, and the object 70, and 1 represents the moment slide relative to the lifting frame.
arm of the holding member 47, the end-effector 60, and the 5. The palletizing robot of claim 4, wherein the lifting
object 70. frame comprises a pair of sliding rails at an inner Surface
According to formula (1), the moment arm of the counter 15 facing each other, and each limiting member defines a pair of
weights 51 and the sliding member 53 is determined by the sliding grooves engaged with the sliding rails.
following formula: 6. The palletizing robot of claim 1, wherein the balancing
mechanism further comprises two fixing members fixed on
n2g Xi (2) the extensible mechanical arm, and opposite ends of the
l = ing threaded rod pass through the two fixing members.
7. The palletizing robot of claim 1, wherein the threaded
fastener defines a threaded hole to receive the threaded rod.
wherein the moment arm 1 is generated by the moment 8. A palletizing robot, comprising:
arm 1 and the total weight mg. When the moment arm 1 or a rotary base;
the total weight mg is changed, the driving member 59 25 a lifting frame rotatably connected to the rotary base:
rotates the threaded rod 57 Such that the threaded rod 535 an extensible mechanical arm slidably connected to the
slides relative to the threaded rod 57. The counterweights 51 lifting frame;
and the sliding member 53 are moved to a new balance posi an end-effector fixed on one end of the extensible mechani
tion corresponding to the momentarm1 so that the extensible cal arm and grasping an object, and
mechanical arm 40 remains balanced. 30 a balancing mechanism fixed on the other end of the exten
It should be pointed out that the palletizing robot 100 may sible mechanical arm, wherein the balancing mecha
further include a controller (not shown) automatically con nism comprises a threaded rod located on the extensible
trolling the counterweights 51 and the sliding member 53 mechanical arm, a sliding member, and a counterweight,
relative to the threaded rod 57. the sliding member comprises a connecting block, two
Finally, while the present disclosure has been described 35 sliding blocks fixed on opposite ends of the connecting
with reference to particular embodiments, the description is block, and a threaded fastener fixed in a middle portion
illustrative of the disclosure and is not to be construed as of the connecting block between the two sliding blocks,
limiting the disclosure. Therefore, various modifications can the threaded fastener engages with the threaded rod, the
be made to the embodiments by those of ordinary skill in the two sliding blocks is capable of sliding relative to the
art without departing from the true spirit and scope of the 40 extensible mechanical arm, and the counterweight is
disclosure as defined by the appended claims. fixed on the connecting block, Such that the counter
weight is capable of sliding relative to the extensible
What is claimed is: mechanical arm to balance the object.
1. A palletizing robot, comprising: 9. The palletizing robot of claim 8, wherein the balancing
a lifting frame; 45 mechanism further comprises a driving member fixed on an
an extensible mechanical arm rotatably connected to the end of the threaded rod, and the driving member drives the
lifting frame; threaded rod to rotate such that the sliding member slides
an end-effector located on an end of the extensible relative to the threaded rod.
mechanical arm; and 10. The palletizing robot of claim 9, wherein the extensible
a balancing mechanism comprising a threaded rod located 50 mechanical arm comprises a main body and an extension arm
on the extensible mechanical arm, a sliding member movably sleeved in a distal end of the main body.
received on the threaded rod, a driving member fixed on 11. The palletizing robot of claim 10, wherein the exten
an end of the threaded rod, a counterweight fixed on the sible mechanical arm further comprises a holding member
sliding member, and a pair of guide rails substantially fixed on an end of the extension arm away from the main
parallel to each other and fixed on the extensible 55 body, and the end-effector is fixed on the holding member.
mechanical arm, wherein the driving member drives the 12. The palletizing robot of claim 10, wherein the exten
threaded rod to rotate such that the sliding member sible mechanical arm further comprises a pair of limiting
slides relative to the threaded rod, and the sliding mem members fixed on opposite surfaces at one end of the main
ber comprises a connecting block, two sliding blocks body and slide relative to the lifting frame.
fixed on opposite ends of the connecting block, and a 60 13. The palletizing robot of claim 12, wherein the lifting
threaded fastener fixed in a middle portion of the con frame comprises a pair of sliding rails at an inner Surface
necting block between the two sliding blocks, the facing each other, and each limiting member defines a pair of
threaded fastener engages with the threaded rod, the two sliding grooves engaged with the sliding rails.
sliding blocks is capable of sliding relative to the pair of 14. The palletizing robot of claim 9, wherein the balancing
guide rails, and the counterweight is fixed on the con 65 mechanism further comprises two fixing members fixed on
necting block, such that the counterweight is capable of the extensible mechanical arm, and opposite ends of the
sliding relative to the extensible mechanical arm. threaded rod pass through the two fixing members.
 US 8,491,250 B2
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15. The palletizing robot of claim 9, wherein the balancing
mechanism further comprises a pair of guide rails Substan
tially parallel to each other and fixed on the extensible
mechanic arm, the two sliding blocks slide relative to the
guide rails. 5