A distribution and palletizing robot for warehousing logistics

Abstract

The present invention belongs to the technical field of warehousing and logistics, and in particular relates to a sorting and palletizing robot for warehousing and logistics, comprising: a cargo conveyor belt, a palletizing positioning mechanism, a power transfer mechanism, a suspension frame, etc. The cargo in the warehousing and logistics is placed on the cargo conveyor belt in an intermittent manner for transportation, and the power source is started to synchronously control the power transfer mechanisms on both sides to move toward the cargo conveyor belt in an alternating manner, and then the cargo is automatically clamped in cooperation with the clamping and positioning unit inside the palletizing positioning mechanism, and then moved toward a side away from the cargo conveyor belt, and after moving to the palletizing area, the cargo is automatically released, and thus the cycle is repeated to realize the automatic sorting, transfer and palletizing processing of the cargo in a moving state on the cargo conveyor belt, and at the same time, the structural operation component inside the power transfer mechanism is used to control the palletizing positioning mechanism to automatically palletize the cargo, thereby fully reducing the manufacturing and use costs of the robot.

Description

Technical Field

[0001] The invention belongs to the technical field of warehousing logistics, and in particular relates to a sorting and stacking robot for warehousing logistics. Background Art

[0002] In the field of warehousing and logistics, handling robots using handling shelves are widely used. When sorting and palletizing goods on the conveyor belt, the most commonly used one is the palletizing robot, which is placed on both sides of the warehousing and logistics conveyor belt to perform automated palletizing and transfer processing on the passing goods or the goods transported to the export.

[0003] The existing sorting and palletizing robots have the following problems when in operation: (1) The key point of controlling the operation of the robot is the selection and use of the robot arm. Although the flexibility of the robot arm has been greatly improved with the development of the robot arm, the complexity of the internal structure and the difficulty of manufacturing have led to high costs for use and production, making it impossible to expand the scope of use. For some small-scale warehousing and logistics, the cost of use is high;

[0004] (2) The clamping mechanisms of some existing palletizing robots have a narrow scope of application when clamping, positioning, releasing and transferring goods. That is, each set of clamping mechanisms can only clamp and fix goods of a specific shape. They are not practical for the diverse types of goods in warehousing and logistics, and lack automatic loading and unloading functions for goods in palletizing and transfer.

[0005] Therefore, in view of the above-mentioned problems, the present technical solution proposes a sorting and palletizing robot for warehousing logistics. Summary of the invention

[0006] The purpose of the embodiments of the present invention is to provide a sorting and palletizing robot for warehousing logistics, aiming to solve the above-mentioned problems.

[0007] The present invention is implemented as follows: a sorting and stacking robot for warehousing logistics comprises: a cargo conveyor belt for conveying and transferring cargo in the warehouse;

[0008] The stacking positioning mechanism is used to automatically clamp and release the stored goods placed on the goods conveyor belt; the stacking positioning mechanism includes a clamping positioning unit that controls clamping and release based on sensors, that is, it automatically controls the clamping, fixing and separation and release of the goods according to the number of force contacts of the sensor;

[0009] The power transfer mechanism is arranged on one side of the top of the stacking positioning mechanism and connected to the stacking positioning mechanism. The power transfer mechanism is used to control the stacking positioning mechanism to perform a reciprocating U-shaped trajectory movement, that is, to automatically transfer and stack the stored goods placed on the cargo conveyor belt; the power transfer mechanism includes a structural power operation component, which controls the stacking positioning mechanism to perform a reciprocating movement between the cargo conveyor belt and the stacking area (the area where the goods are stacked) under the simple connection and cooperation between the various structures. Compared with the mechanical arm transmission, it has a simpler structure and a lower manufacturing and use cost; the stacking positioning mechanism and the power transfer mechanism are both provided with two groups and symmetrically distributed on both sides of the cargo conveyor belt, which are used for staggered distribution and stacking of the goods in the conveying state on the cargo conveyor belt; the power transfer mechanisms on both sides are connected to a group of power sources, that is, under the premise of a group of power sources, the power transfer mechanisms on both sides are driven to operate at the same time, thereby further improving the energy-saving and efficient operation mode of the robot;

[0010] The suspension frame is arranged just above the cargo conveyor belt, and the power transfer mechanisms on both sides are connected to the suspension frame, that is, the power transfer mechanism and the stacking positioning mechanism on the lower side of the power transfer mechanism are suspended on both sides of the upper part of the cargo conveyor belt by the suspension frame;

[0011] Among them, the goods in the warehousing logistics are placed on the cargo conveyor belt at intervals for transportation, and then the stacking positioning mechanism and the power transfer mechanism are placed on both sides of the cargo conveyor belt through the suspension connection of the suspension frame, and the power source is started to synchronously control the power transfer mechanisms on both sides to move toward the cargo conveyor belt in an alternating manner. Then, in conjunction with the clamping positioning unit inside the stacking positioning mechanism, when the stacking positioning mechanism moves to the cargo conveyor belt, under the control of the power transfer mechanism, the goods are automatically clamped and then moved toward the side away from the cargo conveyor belt. After moving to the stacking area, the goods are automatically released, and this cycle is repeated to realize the automatic distribution, transfer and stacking processing of the goods in the moving state on the cargo conveyor belt, and at the same time, the structural operating components inside the power transfer mechanism are used to control the stacking positioning mechanism to automatically stack the goods, thereby fully reducing the manufacturing and use costs of the robot, and the power transfer mechanism is driven to operate by a single power source, thereby further improving the energy-saving effect of the robot.

[0012] The present invention provides a distribution and palletizing robot for warehousing logistics. The robot is provided with a power transfer mechanism connected with a plurality of structures. Then, under the drive of a single power transfer motor, the robot cooperates with structures such as a transmission belt I and a transmission shaft to simultaneously drive two power transfer mechanisms to control the palletizing positioning mechanism to run in a U-shaped track. Then, the warehouse goods on the goods conveyor belt between the palletizing positioning mechanisms on both sides are staggeredly distributed and grasped, and then palletized. That is, the simple structure inside the power transfer mechanism is used to realize the transfer of goods at a low cost, so that the robot can be used in warehousing logistics of different scales, thereby improving the application range of the robot.

[0013] By setting a built-in pressure sensor and an external pressure sensor inside the stacking positioning mechanism, and then under the connection control of the control box, the extrusion parts inside the stacking positioning mechanism are driven to automatically clamp, fix and separate and release goods of different types and sizes, and cooperate with the transfer of the power transfer mechanism to achieve efficient automatic transfer and stacking of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The figure is a schematic diagram of the three-dimensional structure of a distribution and palletizing robot for warehousing logistics.

[0015] Figure 2 This is a schematic diagram of the main structure of a distribution and palletizing robot for warehousing logistics.

[0016] Figure 3 The diagram is a top-down structural diagram of a distribution and palletizing robot for warehousing logistics.

[0017] Figure 4 The figure is a schematic diagram of the side view structure of a distribution and palletizing robot for warehousing logistics.

[0018] Figure 5 The diagram is a partial first-person structural diagram of a power transfer mechanism in a distribution and palletizing robot for warehousing logistics.

[0019] Figure 6 The diagram is a partial second-perspective structural diagram of a power transfer mechanism in a distribution and palletizing robot for warehousing logistics.

[0020] Figure 7 This is a schematic diagram of the structure of the turntable I in a distribution and palletizing robot for warehousing logistics.

[0021] Figure 8 This is a schematic diagram of the structure of the turntable II of a distribution and palletizing robot for warehousing logistics.

[0022] Fig. 9 The figure is a structural schematic diagram of a palletizing positioning mechanism in a distribution and palletizing robot for warehousing logistics.

[0023] Fig.10 for Fig. 9 A is a schematic diagram of the enlarged structure of the middle part;

[0024] In the accompanying drawings: stacking positioning mechanism 10, power transfer mechanism 11, suspension mechanism 12, power transfer motor 13, transmission belt I 15, transmission belt II 16, transmission shaft 17, power transfer mechanism mounting frame 18, turntable I 19, turntable II 20, equilateral triangle slide rail 21, diamond slide rail 22, bottom plate 23, stacking positioning mechanism connecting rod 24, connecting shaft 25, slide rod I 26, L-shaped swing rod 27, rotating positioning block 28, horizontal moving plate 29, lifting and moving slide 3 0, lifting power plate 31, lifting drive slide rod 32, lifting swing rod 33, rod positioning block 34, lateral movement drive groove 35, cargo conveyor belt 36, nut 38, screw 39, control box 40, clamping drive component box 41, servo motor 42, connecting rod 43, screw 44, nut 45, mobile mounting plate 46, clamping rod 47, clamping part bin 48, cylinder 49, built-in pressure sensor 50, external pressure sensor 51, elastic clamping plate 52, spring 53. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0027] like Figure 1-4 As shown, it is a structural diagram of a distribution and palletizing robot for warehousing logistics provided by an embodiment of the present invention, comprising: a cargo conveyor belt 36, which is used to convey and transfer the cargo in the warehouse;

[0028] The stacking positioning mechanism 10 is used to automatically clamp and release the stored goods placed on the goods conveyor belt 36; the stacking positioning mechanism 10 includes a clamping positioning unit that controls clamping and releasing based on sensors, that is, it automatically controls the clamping, fixing and separation and release of the goods according to the number of force contacts of the sensor;

[0029] The power transfer mechanism 11 is arranged on one side of the top of the stacking positioning mechanism 10 and connected to the stacking positioning mechanism 10. The power transfer mechanism 11 is used to control the stacking positioning mechanism 10 to perform a reciprocating U-shaped trajectory movement, that is, to automatically transfer and stack the stored goods placed on the cargo conveyor belt 36; the power transfer mechanism 11 includes a structural power operation component, which controls the stacking positioning mechanism 10 to move back and forth between the cargo conveyor belt 36 and the stacking area (the area where the goods are stacked) under the simple connection and cooperation between the various structures. Compared with the mechanical arm transmission, it has a simpler structure and a lower manufacturing and use cost; the stacking positioning mechanism 10 and the power transfer mechanism 11 are both provided with two groups and symmetrically distributed on both sides of the cargo conveyor belt 36, which are used for staggered distribution and stacking of the goods in the conveying state on the cargo conveyor belt 36; the power transfer mechanisms 11 on both sides are connected to a group of power sources, that is, under the premise of a group of power sources, the power transfer mechanisms 11 on both sides are driven to operate at the same time, thereby further improving the energy-saving and efficient operation mode of the robot;

[0030] The suspension frame 12 is arranged just above the cargo conveyor belt 36, and the power transfer mechanisms 11 on both sides are connected to the suspension frame 12, that is, the power transfer mechanism 11 and the stacking positioning mechanism 10 on the lower side of the power transfer mechanism 11 are suspended on both sides of the upper part of the cargo conveyor belt 36 by the suspension frame 12;

[0031] The goods in the warehouse logistics are placed on the goods conveyor belt 36 for transportation at intervals, and then the stacking positioning mechanism 10 and the power transfer mechanism 11 are placed on both sides of the goods conveyor belt 36 through the suspension connection of the suspension frame 12, and the power source is started to synchronously control the power transfer mechanisms 11 on both sides to move toward the goods conveyor belt 36 in an alternating manner, and then cooperate with the clamping positioning unit inside the stacking positioning mechanism 10. When the stacking positioning mechanism 10 moves onto the goods conveyor belt 36, under the control of the power transfer mechanism 11, the goods are automatically clamped, and then moved toward the side away from the goods conveyor belt 36. After moving to the stacking area, the goods are automatically released, and this cycle is repeated to realize the automatic distribution, transfer and stacking processing of the goods in the moving state on the goods conveyor belt 36. At the same time, the structural operating components inside the power transfer mechanism 11 are used to control the stacking positioning mechanism 10 to automatically stack the goods, thereby fully reducing the manufacturing and use costs of the robot, and driving the power transfer mechanism 11 to operate by a single power source, further improving the energy-saving effect of the robot.

[0032] In the embodiment of the present invention, when the stacking positioning mechanism 10 and the power transfer mechanism 11 cooperate to clamp and transfer the goods moving on the cargo conveyor belt 36, by reasonably controlling the power transfer mechanism 11 and the stacking positioning mechanism 10 to grab the goods, and adjusting the cargo conveyor belt 36 to control the running speed of the goods, as well as the interval at which the goods are placed on the cargo conveyor belt 36, it is ensured that when the stacking positioning mechanisms 10 on both sides perform staggered movement for transfer, all the goods are allocated for stacking and transfer. The specific speed setting and interval control can be carried out through multiple tests and measurements during actual operation, and the details will not be repeated here. The suspension frame 12 shown in the accompanying drawings is only a part of it. The suspension frame 12 can be set according to the specific storage environment during installation, and the structure of the cargo conveyor belt 36, which in most cases includes automatic conveyor belts, automatic conveyor plates and other tools, are all existing equipment and will not be elaborated on.

[0033] In one embodiment of the present invention, see Figure 9-10The stacking positioning mechanism 10 also includes a positioning clamping box with a rectangular structure and an opening at the bottom. A clamping drive component box 41 is installed on the top of the positioning clamping box. A control box 40 is arranged on one side of the top of the clamping drive component box 41. A connecting piece is installed on the top of the control box 40. The connecting piece is fixedly connected to the power transfer mechanism 11. The connecting piece is used to control the positioning clamping box and the power transfer mechanism 11 to be detachably installed. That is, during use, the size of the positioning clamping box can be adjusted according to the size of the goods to be clamped and transferred, so as to ensure that the goods within a certain size range are used in a corresponding manner. A positioning clamping box with a space of a certain size is used; the clamping and positioning unit includes a clamping and positioning component arranged inside a clamping drive component box 41, and the clamping and positioning component includes a connecting rod 43 arranged inside the clamping drive component box 41 for transverse rotation, one end of the connecting rod 43 is rotatably connected to the inner wall of the clamping drive component box 41 through a bearing, and the other end is connected to a servo motor 42, and a clamping part bin 48 is opened in the inner wall of the positioning clamping box located at both ends of the connecting rod 43, and the top of the clamping part bin 48 is connected to the clamping drive component box 41, and the corresponding connecting rod 43 at the top of the clamping part bin 48 is connected to the inner wall of the clamping drive component box 41. A lead screw 44 is provided on the connecting rod 43, and the tooth grooves of the lead screws 44 on the top of the clamping bins 48 on both sides are in opposite directions, and nuts 45 are threadedly connected to the lead screws 44, and a guide device for limiting the rotation thereof is provided on the nuts 45, that is, when the servo motor 42 is started to drive the connecting rod 43 to rotate, the structure in which the tooth grooves of the lead screws 44 on both sides are in opposite directions is utilized to control the nut 45 to move back and forth along the lead screw 44, and a vertical moving mounting plate 46 is connected to the side of the nut 45 facing the inside of the clamping bin 48, that is, the moving mounting plate 46 moves along the clamping bin 48 under the movement of the nut 45. The interior of the bin 48 moves horizontally, and a plurality of groups of extrusion pieces are evenly installed on one side of the mobile mounting plate 46 facing the interior of the positioning clamping box. An inlet and an outlet are opened on the inner wall of the positioning clamping box corresponding to the extrusion pieces. Driven by the horizontal movement of the mobile mounting plate 46, the extrusion pieces are controlled to move along the inlet and outlet, and then the two sides of the goods placed inside the box are clamped at the same time to fix the goods inside the positioning clamping box, that is, by setting a single group of servo motors 42 to simultaneously control the movement of the extrusion pieces on both sides, the contact or separation of the extrusion pieces and the goods is utilized to realize the fixing and releasing functions of the positioning clamping box on the goods;

[0034] It is worth noting that the servo motor 42 is electrically connected to the control box 40, that is, the start and stop of the servo motor 42 can be achieved by controlling the control box 40, and the clamping and positioning unit clamps and releases based on the sensor, that is, a group of cylinders 49 are installed on the top of the positioning clamping box, and the bottom of the cylinder 49 is connected to a built-in pressure sensor 50. At the same time, two groups of external pressure sensors 51 are symmetrically arranged on both sides of the bottom of the positioning clamping box. The cylinder 49, the built-in pressure sensor 50, and the external pressure sensor 51 are all electrically connected to the built-in pressure sensor 50, that is, when the positioning clamping box is controlled to contact the goods for the first time, the goods are placed inside the positioning clamping box. At this time, under the descending action of the power transfer mechanism 11, and the height of the built-in pressure sensor 50 is pre-controlled by the cylinder 49, so that the built-in pressure sensor 50 contacts the goods, and the clamping drive component box 41 is kept not in contact with the goods and the goods conveyor belt 36 (that is, the external pressure sensor 51 is in a non-stressed state). By pre-setting the corresponding control program, when only the built-in pressure sensor 50 is subjected to pressure , indicating that the goods have entered the maximum position inside the positioning clamping box. At this time, the control box 40 can be used to control the clamping drive assembly box 41 to operate, and then drive the connecting rod 43 to rotate, and then drive the mobile mounting plate 46 to control the extrusion parts to clamp and fix the goods on both sides under the action of the lead screw 44 and the nut 45; then after fixation, the goods in the clamping state are transferred to the stacking area through the control transfer of the power transfer mechanism 11, and then when the power transfer mechanism 11 controls the positioning clamping box to descend, by setting the structural relationship of the stacking area, when the positioning clamping box is controlled to descend, the external pressure sensor 51 can be subjected to pressure (for example, a corresponding protruding structure can be set in the stacking area), and then according to the program setting, when the external pressure sensor 51 and the internal pressure sensor 50 are subjected to force at the same time, the control box 40 controls the servo motor 42 to run in the reverse direction, and then under the action of the connecting rod 43, the lead screw 44 and the nut 45, the mobile mounting plate 46 is controlled to drive the extrusion parts to separate from both sides of the goods, thereby realizing the automatic clamping and fixing of the goods and the separation and release function;

[0035] Specifically, the extrusion member includes a clamping rod 47 installed on the side wall of the movable mounting plate 46. The two ends of the clamping rod 47 are symmetrically connected to the elastic clamping plates 52 through springs 53. When the springs 53 are in a free state, the elastic clamping plates 52 on both sides are in a slightly open state, which can freely pass through the inlet and outlet under the pull of the movable mounting plate 46. At the same time, when the end of the elastic clamping plate 52 contacts the goods, under the push of the movable mounting plate 46, the inner side of the elastic clamping plate 52 is continuously fitted with the goods, thereby under the joint action of multiple groups of elastic clamping plates 52, the goods are quickly and stably clamped and fixed.

[0036] As a preferred embodiment of the present invention, the connecting part includes a connecting rod installed in the middle of the top of the positioning and clamping box, a screw 39 is installed on the top of the connecting rod, a nut 38 is threadedly connected to the top of the screw 39, and the top of the nut 38 is connected to the power transfer mechanism 11, that is, the threaded connection between the nut 38 and the screw 39 is utilized to realize the disassembly and installation between the positioning and clamping box and the power transfer mechanism 11.

[0037] As a preferred embodiment of the present invention, refer to Figure 1-8 The power transfer mechanism 11 also includes a power transfer mechanism mounting frame 18 and a bottom plate 23 arranged on the upper and lower sides of the structural power operation component. The structural power operation component includes two sets of parallel and spaced turntables Ⅰ19 and turntables Ⅱ20. A connecting shaft 25 is connected between the centers of turntables Ⅰ19 and turntables Ⅱ20. One end of the connecting shaft 25 extends outward and is connected to a rotating rod. The rotating rods inside the power transfer mechanisms 11 on both sides are connected to the power source together. An equilateral triangular slide rail 21 and a rhombus-shaped slide rail 22 are respectively provided on the inner walls opposite to each other of turntables Ⅰ19 and turntables Ⅱ20. A transverse moving plate 29 is slidably connected to the bottom plate 23 along its length direction. A vertical transverse moving driving groove 35 is provided on the side of the transverse moving plate 29 facing the turntable Ⅰ19. The transverse moving driving groove 35 is located on the side wall of the transverse moving plate 29 facing the cargo conveyor belt 36. A swinging arrangement is provided between the transverse moving driving groove 35 and the equilateral triangular slide rail 21. A group of L-shaped swing rods 27, both ends of the L-shaped swing rods 27 are provided with slide rods Ⅰ26, and the slide rods Ⅰ26 at both ends are respectively slidably connected to the corresponding quasi-equilateral triangle slide rails 21 and the transverse movement driving grooves 35, and at the same time, a rotation positioning block 28 is rotatably connected to the corner of the L-shaped swing rod 27 through a rotating shaft, and the top of the rotation positioning block 28 is fixed to the power transfer mechanism mounting frame 18 through a connecting rod, that is, when the turntable Ⅰ19 rotates, the slide rod Ⅰ26 at the end of the L-shaped swing rod 27 is driven to slide along the track of the quasi-equilateral triangle slide rails 21, and then, under the rotation positioning of the rotating shaft and the power transfer mechanism mounting frame 18 and the sliding drive of the slide rod Ⅰ26 at the bottom end of the L-shaped swing rod 27 in the transverse movement driving groove 35, the transverse movement plate 29 is cyclically controlled to reciprocate along the length direction of the bottom plate 23, thereby controlling the stacking positioning mechanism 10 connected to the power transfer mechanism 11 to move back and forth between the cargo conveyor belt 36 and the stacking area;

[0038] Two spaced lifting and moving slides 30 are provided on one side of the transverse moving plate 29 relative to the transverse moving driving groove 35. A group of lifting power plates 31 are installed on the two lifting and moving slides 30 in a lifting and sliding manner. The lifting power plates 31 are vertically distributed with the lifting and moving slides 30. A transverse slide rail is provided on the side of the lifting power plate 31 facing the turntable II 20. A lifting driving slide bar 32 is slidably connected inside the slide rail. The side of the lifting driving slide bar 32 away from the lifting power plate 31 is slidably connected in the diamond-shaped slide rail 22. The end of the lifting driving slide bar 32 away from the cargo conveyor belt 36 is connected to a lifting swing rod 33. The end of the lifting swing rod 33 is rotatably connected to a rod positioning block 34. The top of the rod positioning block 34 is fixed to the power transfer mechanism mounting frame 18 through a connecting rod. At the same time, a group of horizontal structure code blocks are installed at the bottom of the lifting power plate 31 through a connecting rod. The connecting rod 24 of the stacking positioning mechanism drives the lifting driving slide bar 32 to slide along the track of the rhombus-shaped slide rail 22 under the rotation of the turntable II 20, and then utilizes the sliding of the other side of the lifting driving slide bar 32 in the slide rail inside the lifting power plate 31, and the rotation connection of the lifting swing rod 33 and the rod positioning block 34 to control the lifting power plate 31 to move cyclically along the lifting moving slide groove 30. Then, the structure of the transverse moving plate 29 is synchronously controlled to perform a reciprocating U-shaped track operation under the transverse circulation drive of the slide bar I 26 placed inside the transverse moving driving groove 35. Then, the connecting rod 24 of the stacking positioning mechanism is connected to the connecting piece, thereby controlling the stacking positioning mechanism 10 to perform a reciprocating movement, and realizing the function of controlling the stacking positioning mechanism 10 to perform sorting and stacking of goods through a simple mechanical structure and under the premise of ensuring low cost;

[0039] It should be noted that, since the goods placed on the cargo conveyor belt 36 are in a continuous operation process, the stacking positioning mechanisms 10 on both sides need to maintain staggered entry when clamping and transferring them. At this time, by reasonably setting the structural operation relationship of the symmetrical setting of the power transfer mechanisms 11 on both sides, the power transfer mechanisms 11 on both sides drive the stacking positioning mechanisms 10 to move toward the cargo conveyor belt 36, and they are in the same direction of operation. That is, when one group of stacking positioning mechanisms 10 moves toward the cargo conveyor belt 36, the stacking positioning mechanism 10 on the other side is in a state of being away from the cargo conveyor belt 36. In this way, the power transfer mechanisms 11 on both sides can be driven by the power source at the same time to accurately grab, transfer and stack the goods on the stacking positioning mechanism 10.

[0040] As a preferred embodiment of the present invention, the power source includes a power transfer motor 13 installed in the middle of the suspension frame 12, the output shaft of the power transfer motor 13 is connected to the transmission belt Ⅰ15 for rotation toward the power transfer mechanism 11 on both sides, the end of the transmission belt Ⅰ15 is connected to the transmission shaft 17 for rotation, the transmission shaft 17 is fixed to the suspension frame 12 through a support sleeve rod, the transmission shaft 17 and the rotating rod on the connecting shaft 25 are on the same straight line, the transmission shaft 17 is connected to the rotating rod at the end of the connecting shaft 25 through the transmission belt Ⅱ16 downward, that is, by setting a group of power transfer motors 13 to rotate, under the transmission of the two groups of transmission belts Ⅰ15, the transmission shaft 17 and the transmission belt Ⅱ16, the connecting shafts 25 on both sides are driven to rotate at the same time, thereby driving the turntable Ⅰ19 and the turntable Ⅱ20 to rotate.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A distribution and palletizing robot for warehousing logistics, characterized in that: include: A cargo conveyor belt (36) is used to convey and transfer cargo in storage; A stacking positioning mechanism (10) is used to automatically clamp and release stored goods placed on a goods conveyor belt (36); the stacking positioning mechanism (10) includes a clamping positioning unit that controls clamping and releasing based on a sensor, that is, the clamping, fixing and separation and release of the goods are automatically controlled according to the force contact amount of the sensor; A power transfer mechanism (11) is arranged on one side of the top of the stacking positioning mechanism (10) and is connected to the stacking positioning mechanism (10). The power transfer mechanism (11) is used to control the stacking positioning mechanism (10) to perform a reciprocating U-shaped track movement, that is, to automatically transfer and stack the stored goods placed on the goods conveyor belt (36); the power transfer mechanism (11) includes a structural power operation component, which controls the stacking positioning mechanism (10) to perform a reciprocating movement between the goods conveyor belt (36) and the stacking area under the simple connection and cooperation between the various structures; The stacking positioning mechanism (10) and the power transfer mechanism (11) are both provided in two groups and are symmetrically distributed on both sides of the cargo conveyor belt (36), and are used for staggered distribution, stacking and transfer of the cargo in the conveying state on the cargo conveyor belt (36); the power transfer mechanisms (11) on both sides are connected to a group of power sources in common, and under the premise of a group of power sources, the power transfer mechanisms (11) on both sides are driven to operate simultaneously; A suspension frame (12) is arranged directly above the cargo conveyor belt (36), and the power transfer mechanisms (11) on both sides are connected to the suspension frame (12); The power transfer mechanism (11) also includes a power transfer mechanism mounting frame (18) and a bottom plate (23) arranged on the upper and lower sides of the structural power operation component. The structural power operation component includes two sets of parallel and spaced turntables I (19) and turntables II (20). A connecting shaft (25) is connected between the centers of the turntables I (19) and the turntables II (20). One end of the connecting shaft (25) extends outward and is connected to a rotating rod. The rotating rods inside the power transfer mechanisms (11) on both sides are connected to a power source. The inner walls of the turntables I (19) and the turntables II (20) facing each other are respectively provided with equilateral triangle slide rails (21) and rhombus slide rails (22). The bottom plate (23) is slidably connected to a transverse moving plate (29) along its length direction. The transverse moving plate (29) is connected to the bottom plate (23) in a sliding manner. A vertical transverse moving driving groove (35) is provided on the side of the plate (29) facing the turntable I (19). The transverse moving driving groove (35) is located on the side wall of the transverse moving plate (29) facing the cargo conveyor belt (36). A group of L-shaped swinging rods (27) are swingably arranged between the transverse moving driving groove (35) and the quasi-equilateral triangle slide rail (21). Both ends of the L-shaped swinging rod (27) are provided with sliding rods I (26). The sliding rods I (26) at both ends are respectively slidably connected to the corresponding quasi-equilateral triangle slide rail (21) and the transverse moving driving groove (35). A rotating positioning block (28) is rotatably connected to the corner of the L-shaped swinging rod (27) through a rotating shaft. The top of the rotating positioning block (28) is fixed to the power transfer mechanism mounting frame (18) through a connecting rod. The side of the transverse moving plate (29) opposite to the transverse moving driving groove (35) is provided with two lifting and moving sliding grooves (30) arranged at intervals. A group of lifting power plates (31) are installed on the two lifting and moving sliding grooves (30) in a lifting and sliding manner. The lifting power plates (31) are vertically arranged with the lifting and moving sliding grooves (30). A transverse slide rail is provided on the side of the lifting power plate (31) facing the turntable II (20). A lifting driving slide rod (32) is slidably connected inside the slide rail. The side of the lifting driving slide rod (32) away from the lifting power plate (31) is slidably connected in the rhombus-shaped slide rail (22). The end of the lifting driving slide rod (32) away from the cargo conveyor belt (36) is connected to a lifting swing rod (33). The end of the lifting swing rod (33) is rotatably connected to a rod positioning block (34). The top of the rod positioning block (34) is fixed to the power transfer mechanism mounting frame (18) through a connecting rod. A group of horizontally structured stacking positioning mechanism connecting rods (24) are installed at the bottom of the lifting power plate (31) through a connecting rod. The power source comprises a power transfer motor (13) installed in the middle of the suspension frame (12); the output shaft of the power transfer motor (13) is connected to a transmission belt I (15) for rotation toward the power transfer mechanisms (11) on both sides; the ends of the transmission belt I (15) are connected to a transmission shaft (17) for rotation; the transmission shaft (17) is fixed to the suspension frame (12) through a supporting sleeve rod; the transmission shaft (17) and the rotating rod on the connecting shaft (25) are on the same straight line; the transmission shaft (17) is connected to the rotating rod at the end of the connecting shaft (25) for rotation downward through a transmission belt II (16).

2. A distribution and palletizing robot for warehousing logistics according to claim 1, characterized in that: The stacking positioning mechanism (10) further comprises a positioning clamping box with a rectangular structure and an opening at the bottom, a clamping drive component box (41) being installed on the top of the positioning clamping box, a control box (40) being arranged on one side of the top of the clamping drive component box (41), a connecting piece being installed on the top of the control box (40), the connecting piece being fixedly connected to the power transfer mechanism (11), and being used to control the positioning clamping box and the power transfer mechanism (11) to be detachably installed.

3. A distribution and palletizing robot for warehousing logistics according to claim 1, characterized in that: The clamping and positioning unit comprises a clamping and positioning assembly arranged inside a clamping drive assembly box (41), the clamping and positioning assembly comprises a connecting rod (43) arranged inside the clamping drive assembly box (41) for transverse rotation, one end of the connecting rod (43) is rotatably connected to the inner wall of the clamping drive assembly box (41) through a bearing, and the other end is connected to a servo motor (42), and a clamping part bin (48) is opened in the inner wall of the positioning clamping box located at both ends of the connecting rod (43), the top of the clamping part bin (48) is connected to the clamping drive assembly box (41), and the corresponding clamping part bin ( A lead screw (44) is arranged on the connecting rod (43) at the top of the clamping bin (48), the tooth grooves of the lead screws (44) at the top of the clamping bins (48) on both sides are in opposite directions, and nuts (45) are threadedly connected to the lead screws (44), and a guide device for limiting the rotation of the nut (45) is arranged on the nut (45), and a vertical movable mounting plate (46) is connected to the side of the nut (45) facing the inside of the clamping bin (48), and a plurality of groups of extrusion parts are evenly installed on the side of the movable mounting plate (46) facing the inside of the positioning clamping box, and an inlet and outlet are opened on the inner wall of the positioning clamping box corresponding to the extrusion parts.

4. A distribution and palletizing robot for warehousing logistics according to claim 3, characterized in that: The servo motor (42) is electrically connected to the control box (40), and the start and stop of the servo motor (42) is achieved by operating the control box (40). The clamping and positioning unit clamps and releases based on the sensor. A group of cylinders (49) are installed on the top of the positioning clamping box, and the bottom of the cylinders (49) is connected to a built-in pressure sensor (50). Two groups of external pressure sensors (51) are symmetrically arranged on both sides of the bottom of the positioning clamping box. The cylinders (49), the built-in pressure sensors (50), and the external pressure sensors (51) are all electrically connected to the built-in pressure sensors (50).

5. A distribution and palletizing robot for warehousing logistics according to claim 4, characterized in that: The extrusion member comprises a clamping rod (47) mounted on the side wall of the movable mounting plate (46); both ends of the clamping rod (47) are symmetrically swingably connected to elastic clamping plates (52) via springs (53); when the springs (53) are in a free state, the elastic clamping plates (52) on both sides are in a slightly open state.

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