An intelligent four-axis palletizing robot for assembly line production and a palletizing method thereof

Abstract

The present invention discloses an intelligent four-axis palletizing robot for production line and a palletizing method thereof, which relates to the technical field of palletizing robots, and comprises a base, a control unit is installed on the top of the base, a torsion motor unit 1 is installed on the top of the base, a rotating rod is installed on the output end of the torsion motor unit 1, a torsion motor unit 2 is installed inside the box body, a torsion rod 2 is installed on one end of the torsion rod 1, a vacuum suction cup is installed on the bottom of the torsion rod 2, a hydraulic cylinder unit 1 is symmetrically installed on both sides of the torsion rod 2, a tension detection unit is installed on the output end of the hydraulic cylinder unit 1, a fixture frame is installed on the bottom input end of the tension detection unit, and lifting and supporting mechanisms are symmetrically arranged on both sides of the fixture frame. The vacuum suction cup of the present invention sucks the smooth product, and at the same time, the support plate moves to the bottom of the product and moves up to contact the product for support, which can prevent the product from falling due to accidental separation from the vacuum suction cup.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing robots, in particular to an intelligent four-axis palletizing robot for assembly line production and a palletizing method thereof. Background Art

[0002] Four-axis palletizing robots are commonly used equipment for transporting products in assembly line production. Palletizing robots generally use clamps or suction cups to clamp or absorb products for transfer. Smooth products are generally adsorbed by suction cups, and rough products are generally clamped by clamps. Some products are placed inside a box, and when the clamp is large, it is impossible to fully enter the box to clamp the product out. When transporting products, the clamp or suction cup may cause the product to fall easily if it works abnormally or hits an object.

[0003] The defects of existing palletizing robots are:

[0004] 1. The prior art KR101595753B1 discloses a 4-axis three-dimensional robot. This technology does not have a structure to prevent objects from falling, and cannot prevent objects from falling when the product accidentally detaches from the fixture or suction cup. Therefore, an intelligent 4-axis stacking robot for assembly line production that can prevent objects from accidentally falling is needed to solve this problem.

[0005] 2. The prior art KR1019970001660B1 discloses a vertical multi-joint robot, which does not have a structure for grasping multiple products. It is impossible to use a suction cup when the product surface is smooth, and it is impossible to use a clamp to clamp the product when the product surface is not smooth. Therefore, it is impossible to use it to transport multiple products. At the same time, the device cannot use a clamp to clamp the product inside a small box. When the volume of the clamp is larger than the volume of the product, it is easy for the clamp to be unable to enter the box to clamp the product. Therefore, an intelligent four-axis palletizing robot for assembly line production that can transport multiple products and enter the box to clamp the product is needed to solve this problem.

[0006] 3. The prior art KR101812026B1 discloses a 6-axis multi-joint robot, which does not have a structure for supporting products. However, for a robot with a structure for supporting products, the supporting structure is generally located below the clamp, which makes it easy for the supporting structure to interfere with the clamp's clamping of the product. Therefore, an intelligent four-axis palletizing robot for assembly line production that can shift the supporting structure to avoid the clamp's clamping of the product is needed to solve this problem.

[0007] 4. Prior art CN108045970B discloses a four-axis palletizing industrial robot. This technology does not have a structure to protect the handling structure. When carrying objects, it is unable to detect whether there are obstacles around, and thus is unable to prevent collision with obstacles when carrying objects. When encountering obstacles, the robot continues to exert pressure on the obstacles, which can easily cause damage to the robot. Therefore, an intelligent four-axis palletizing robot for assembly line production that can detect whether there are obstacles around the handling structure and reduce the probability of collision with obstacles is needed to solve this problem. Summary of the invention

[0008] One purpose of the present application is to provide an intelligent four-axis palletizing robot for assembly line production and a palletizing method thereof, which can solve the technical problems raised in the prior art.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent four-axis palletizing robot for production line, comprising a base, a torsion motor unit 1 and a torsion motor unit 2, a control unit is installed on the top of the base, a torsion motor unit 1 is installed on the top of the base, and the torsion motor unit 1 is connected to the control unit by electrical signals, a rotating rod is installed on the output end of the torsion motor unit 1, a frame body 2 is installed on one end of the rotating rod, a rotating rod is movably installed on the inner side of the frame body 2, a frame body 1 is installed on one end of the rotating rod, a swing rod is movably installed on the inner side of the frame body 1, and the swing rod A box body is installed at one end of the moving rod, a torsion motor unit 2 is installed inside the box body, and the torsion motor unit 2 is electrically connected to the control unit, a torsion rod 1 is installed at the output end of the torsion motor unit 2, a torsion rod 2 is installed at one end of the torsion rod 1, a vacuum suction cup is installed at the bottom of the torsion rod 2, a hydraulic cylinder unit 1 is symmetrically installed on both sides of the torsion rod 2, and the hydraulic cylinder unit 1 is electrically connected to the control unit, a tension detection unit is installed at the output end of the hydraulic cylinder unit 1, and the tension detection unit is electrically connected to the control unit, and a clamp frame is installed at the bottom input end of the tension detection unit;

[0010] Lifting and supporting mechanisms are symmetrically arranged on both sides of the clamp frame.

[0011] Preferably, a lifting motor unit is installed on one side of the frame body 2, the lifting motor unit is electrically connected to the control unit, the output end of the lifting motor unit is connected to one side of the rotating rod, a swing motor unit is installed on one side of the frame body 1, the output end of the swing motor unit is connected to one side of the swing rod, and the swing motor unit is electrically connected to the control unit.

[0012] Preferably, the lifting and supporting mechanism includes a hydraulic cylinder unit 2, a lifting guide frame and a support plate. The two hydraulic cylinder units 2 are symmetrically installed on both sides of the torsion rod 2. The hydraulic cylinder unit 2 is electrically connected to the control unit. The output end of the hydraulic cylinder unit 2 is installed with a lifting guide frame, and the support plate is movably installed on the inner side of the lifting guide frame.

[0013] Preferably, the lifting and supporting mechanism also includes an electric telescopic unit and a connecting block. The electric telescopic unit is symmetrically installed at the bottom of the lifting guide frame. The electric telescopic unit is electrically connected to the control unit. The output end of the electric telescopic unit is installed with a connecting block, and the top of the connecting block is connected to the bottom of the support plate.

[0014] Preferably, hydraulic cylinder units three are symmetrically installed on both sides of the clamp frame, and hydraulic cylinder unit three is electrically connected to the control unit, a clamp plate one is installed on the output end of the hydraulic cylinder unit three, and a camera unit is symmetrically installed on the top inner wall of the clamp frame.

[0015] Preferably, a fixed guide frame is symmetrically installed on one side of the clamping plate one, a fixed motor unit is symmetrically installed on one side of the clamping plate one, and the fixed motor unit is electrically connected to the control unit, a screw rod is installed on the output end of the fixed motor unit, an internal threaded tube is installed on the outer side of the screw rod, and clamping plate two is installed on one side of the internal threaded tube.

[0016] Preferably, an electric telescopic unit 2 is symmetrically installed on the outer side of the torsion rod 2, and the electric telescopic unit 2 is electrically connected to the control unit, a connecting rod is installed at the output end of the electric telescopic unit 2, and a lifting ring is installed at one end of the connecting rod.

[0017] Preferably, a pressure detection unit is symmetrically installed on the outer side of the lifting ring, and the pressure detection unit is electrically connected to the control unit by signals. A plastic protective ring is installed at the input end of the pressure detection unit, and a plurality of laser ranging units are symmetrically installed on the outer side of the plastic protective ring, and the laser ranging units are electrically connected to the control unit by signals.

[0018] Preferably, the palletizing method of the intelligent four-axis palletizing robot for assembly line production is as follows:

[0019] S1. When the surface of the product being transported is smooth, the second torsion bar moves downward to allow the vacuum suction cup to suck the product, and then the second torsion bar drives the product to be transferred. At the same time, the pallet moves under the product and moves upward to contact the product for support;

[0020] S2. When the surface of the product being transported is not smooth and cannot be adsorbed by the vacuum suction cup, the guide frame and the pallet are lifted up, and then the clamping plate 1 clamps the product for transport;

[0021] S3. During the transportation process, the plastic protective ring moves down to protect the components on the fixture frame. When the laser ranging unit detects that the distance to the object is lower than the set value, the fixture frame stops moving to prevent other objects from colliding with the plastic protective ring during transportation. When other objects collide with the plastic protective ring, the pressure detection unit detects the pressure and the fixture frame stops moving.

[0022] Preferably, the step S1 further includes the following steps:

[0023] S11, when the support plate supports the product, when the tension detection unit detects that the tension value reaches the set value, the support plate stops moving upward;

[0024] The step S2 also includes the following steps:

[0025] S21. When it is necessary to clamp the items in the product frame, the second clamping plate moves downward into the product frame to clamp the products.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention is provided with a lifting and supporting mechanism. The vacuum suction cup sucks the smooth product, and then the torsion rod 2 drives the product to be transferred. At the same time, the support plate moves to the bottom of the product and moves up to contact the product for support, which can prevent the product from falling due to accidental separation from the vacuum suction cup.

[0028] 2. When the surface of the product is not smooth, the present invention can clamp the product by means of the first and second clamps, which can adsorb smooth products as well as clamp rough products. Meanwhile, the second clamp can extend into the product frame or the product box to clamp the product, thus avoiding the defect that the clamp frame is too large to enter the product frame to clamp the product.

[0029] 3. The present invention moves the support plate outward and then moves the support plate and the fixed guide frame upward, thereby preventing the support plate and the fixed guide frame from being too low, causing the first and second clamps to be unable to move down to a position that contacts the product, so that the first and second clamps can smoothly clamp the product.

[0030] 4. The present invention protects the components on the clamp frame by moving the plastic protective ring downward. When the laser ranging unit detects that the distance to the object is lower than the set value, the clamp frame stops moving to prevent other objects from colliding with the plastic protective ring during transportation. When other objects collide with the plastic protective ring, the pressure detection unit detects the pressure and the clamp frame stops moving, thereby preventing the protective ring from continuously applying pressure to the collided object and causing continuous injury to the collided object. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A perspective view of the present invention;

[0032] Figure 2 It is a structural schematic diagram of the second torsion rod of the present invention;

[0033] Figure 3 It is a schematic diagram of the fixture frame structure of the present invention;

[0034] Figure 4 It is a schematic diagram of a structure of a frame of the present invention;

[0035] Figure 5 It is a schematic diagram of the box structure of the present invention;

[0036] Figure 6 It is a schematic diagram of the lifting guide frame structure of the present invention;

[0037] Figure 7 It is a schematic diagram of the structure of a splint of the present invention;

[0038] Figure 8 It is a schematic diagram of the lifting ring structure of the present invention;

[0039] Fig. 9 The figure is a flow chart of the method for using the present invention.

[0040] In the figure: 1, base; 2, control unit; 3, torsion motor unit 1; 4, rotating rod; 5, rotating rod; 6, lifting motor unit; 7, frame 1; 8, swing rod; 9, swing motor unit; 10, box; 11, torsion motor unit 2; 12, torsion rod 1; 13, torsion rod 2; 14, vacuum suction cup; 15, hydraulic cylinder unit 1; 16, tension detection unit; 17, fixture frame; 18, hydraulic cylinder unit 2; 19, lifting guide Frame; 20, support plate; 21, electric telescopic unit one; 22, connecting block; 23, hydraulic cylinder unit three; 24, clamping plate one; 25, fixed guide frame; 26, fixed motor unit; 27, screw rod; 28, internal threaded pipe; 29, clamping plate two; 30, electric telescopic unit two; 31, connecting rod; 32, lifting ring; 33, pressure detection unit; 34, plastic protective ring; 35, laser ranging unit; 36, frame two; 37, camera unit. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , an embodiment provided by the present invention: an intelligent four-axis palletizing robot for assembly line production;

[0045] The invention comprises a base 1, a torsion motor unit 1 3 and a torsion motor unit 2 11, a control unit 2 is installed on the top of the base 1, a torsion motor unit 1 3 is installed on the top of the base 1, and the torsion motor unit 1 3 is connected to the control unit 2 by electrical signals, a rotating rod 4 is installed on the output end of the torsion motor unit 3, a frame 2 36 is installed on one end of the rotating rod 4, a rotating rod 5 is movably installed through the inner side of the frame 2 36, a frame 1 7 is installed on one end of the rotating rod 5, a swing rod 8 is movably installed through the inner side of the frame 1 7, a box body 10 is installed on one end of the swing rod 8, a torsion motor unit 2 11 is installed inside the box body 10, and the torsion motor unit 2 11 is connected to the control unit 2 by electrical signals, a torsion rod 1 is installed on the output end of the torsion motor unit 11 12, a torsion rod 13 is installed at one end of the torsion rod 12, a vacuum suction cup 14 is installed at the bottom of the torsion rod 13, hydraulic cylinder units 15 are symmetrically installed on both sides of the torsion rod 13, and the hydraulic cylinder unit 15 is connected to the control unit 2 by electrical signals, a tension detection unit 16 is installed at the output end of the hydraulic cylinder unit 15, and the tension detection unit 16 is connected to the control unit 2 by electrical signals, a clamp frame 17 is installed at the bottom input end of the tension detection unit 16, the base 1 can provide an installation position for the torsion motor unit 3, the torsion motor unit 3 is a motor, which can convert electrical energy into kinetic energy, thereby driving the rotating rod 4 to rotate, and the control unit 2 is a controller, which can receive signals from the tension detection unit 16, the pressure detection unit 33 and the laser ranging. The signal of unit 35 can control the torsion motor unit 1 3, the lifting motor unit 6, the torsion motor unit 2 11, the vacuum suction cup 14, the hydraulic cylinder unit 15, the hydraulic cylinder unit 2 18, the electric telescopic unit 1 21, the hydraulic cylinder unit 3 23, the fixed motor unit 26 and the electric telescopic unit 2 30 at the same time. The rotating rod 4 can drive the frame 2 36 to rotate by rotating. The frame 2 36 can drive the rotating rod 5 to rotate in the horizontal direction by rotating. The rotating rod 5 can drive the frame 1 7 to rotate up and down by rotating up and down. At the same time, the rotating rod 5 can drive the frame 1 7 to rotate in the horizontal direction by rotating in the horizontal direction. The frame 1 7 can drive the swing rod 8 and the box body 10 to rotate up and down and horizontally by rotating up and down and in the horizontal direction. , and then drive the clamp frame 17 to rotate up and down and horizontally. The swing rod 8 can drive the box body 10 and the clamp frame 17 to swing back and forth by swinging back and forth. The box body 10 can twist the motor unit 2 11 to provide an installation position. The twisting motor unit 2 11 is a motor that can convert electrical energy into kinetic energy, thereby driving the torsion rod 1 12, the torsion rod 2 13 and the clamp frame 17 to rotate. The torsion rod 1 12 can drive the torsion rod 2 13 to rotate by rotating. The torsion rod 2 13 can drive the clamp frame 17 to rotate by rotating. The vacuum suction cup 14 is connected to the control unit 2 by electrical signals and can absorb products with smooth surfaces. The hydraulic cylinder unit 15 is a hydraulic cylinder that can convert hydraulic energy into kinetic energy, thereby driving the tension detection unit 16 and the clamp frame 17 to move up and down.The tension detection unit 16 can detect the supporting force of the support plate 20 on the product. The clamp frame 17 can drive the support plate 20 and the clamp plate 1 24 to move up and down. The clamp frame 17 is located outside the torsion bar 2 13.

[0046] See also Figure 1 , an embodiment provided by the present invention: an intelligent four-axis palletizing robot for assembly line production;

[0047] It includes a lifting motor unit 6 and a swinging motor unit 9. The lifting motor unit 6 is installed on one side of the frame 36. The lifting motor unit 6 is electrically connected to the control unit 2. The output end of the lifting motor unit 6 is connected to one side of the rotating rod 5. The swinging motor unit 9 is installed on one side of the frame 7, and the output end of the swinging motor unit 9 is connected to one side of the swinging rod 8. The swinging motor unit 9 is electrically connected to the control unit 2. The lifting motor unit 6 is a motor that can convert electrical energy into kinetic energy. The output end of the lifting motor unit 6 is connected to a round rod that runs through the inner wall of one side of the frame 36 and is set on one side of the rotating rod 5, thereby driving the rotating rod 5 to rotate up and down. The swinging motor unit 9 is a motor that can convert electrical energy into kinetic energy. The output end of the swinging motor unit 9 is connected to a round rod that runs through the inner wall of one side of the frame 7 and is set on one side of the swinging rod 8, thereby driving the swinging rod 8 to swing back and forth.

[0048] See also Figure 1 , Figure 2 , Figure 3 and Figure 6 , an embodiment provided by the present invention: an intelligent four-axis palletizing robot for assembly line production;

[0049] The lifting and supporting mechanism includes a lifting and supporting mechanism symmetrically arranged on both sides of the clamp frame 17, and the lifting and supporting mechanism includes a hydraulic cylinder unit 18, a lifting guide frame 19 and a support plate 20. The two hydraulic cylinder units 18 are symmetrically installed on both sides of the torsion bar 13. The hydraulic cylinder unit 18 is electrically connected to the control unit 2. The output end of the hydraulic cylinder unit 18 is installed with a lifting guide frame 19, and the inner side of the lifting guide frame 19 is movably installed with a support plate 20. The hydraulic cylinder unit 18 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the lifting guide frame 19 to move up and down. The lifting guide frame 19 can drive the support plate 20 to move up and down by moving up and down, and the lifting guide frame 19 can provide a guide for the support plate 20. , thereby enabling the support plate 20 to move left and right. The support plate 20 can support the product inside the fixture frame 17 by moving inward to prevent the product from falling accidentally. The lifting and supporting mechanism also includes an electric telescopic unit 21 and a connecting block 22. The bottom of the lifting guide frame 19 is symmetrically installed with an electric telescopic unit 21. The electric telescopic unit 21 is electrically connected to the control unit 2. The output end of the electric telescopic unit 21 is installed with a connecting block 22, and the top of the connecting block 22 is connected to the bottom of the support plate 20. The electric telescopic unit 21 is an electric telescopic rod, which can convert electrical energy into kinetic energy, thereby driving the connecting block 22 to move left and right. The connecting block 22 can drive the support plate 20 to move left and right by moving left and right.

[0050] See also Figure 1 , Figure 2 , Figure 3 and Figure 7 , an embodiment provided by the present invention: an intelligent four-axis palletizing robot for assembly line production;

[0051] It includes a hydraulic cylinder unit 3 23 and a fixed guide frame 25. The hydraulic cylinder unit 3 23 is symmetrically installed on both sides of the clamp frame 17, and the hydraulic cylinder unit 3 23 is connected to the control unit 2 by electrical signals. The output end of the hydraulic cylinder unit 3 23 is installed with a clamp plate 1 24, and a fixed guide frame 25 is symmetrically installed on one side of the clamp plate 1 24. A fixed motor unit 26 is symmetrically installed on one side of the clamp plate 1 24, and the fixed motor unit 26 is connected to the control unit 2 by electrical signals. A screw rod 27 is installed on the output end of the fixed motor unit 26, and an internal threaded tube 28 is installed on the outer side of the screw rod 27. A clamp plate 29 is installed on one side of the internal threaded tube 28. A camera unit 37 is symmetrically installed on the top inner wall of the clamp frame 17. The hydraulic cylinder unit 3 23 is a hydraulic cylinder that can convert hydraulic energy into motion. The fixed guide frame 25 can provide guidance for the second clamp 29, so that the second clamp 29 can only move up and down. The fixed motor unit 26 is a motor, which can convert electrical energy into kinetic energy, thereby driving the screw rod 27 to rotate. The screw rod 27 can drive the internal threaded tube 28 to move up and down by rotating. The internal threaded tube 28 can drive the second clamp 29 to move up and down by moving up and down. The second clamp 29 can extend into the interior of the product frame to clamp the product by moving downward, avoiding the defect that the clamp frame 17 is too large to enter the interior of the product frame to clamp the product. The camera unit 37 is a camera, which can shoot the picture below the clamp frame 17.

[0052] See also Figure 1 , Figure 2 and Figure 8 , an embodiment provided by the present invention: an intelligent four-axis palletizing robot for assembly line production;

[0053] It includes an electric telescopic unit 2 30, which is symmetrically installed on the outer side of the torsion rod 2 13, and the electric telescopic unit 2 30 is electrically connected to the control unit 2, a connecting rod 31 is installed on the output end of the electric telescopic unit 2 30, a lifting ring 32 is installed on one end of the connecting rod 31, a pressure detection unit 33 is symmetrically installed on the outer side of the lifting ring 32, the pressure detection unit 33 is electrically connected to the control unit 2, a plastic protective ring 34 is installed on the input end of the pressure detection unit 33, a plurality of laser ranging units 35 are symmetrically installed on the outer side of the plastic protective ring 34, and the laser ranging units 35 are electrically connected to the control unit 2.

[0054] The palletizing method of the intelligent four-axis palletizing robot for assembly line production is as follows:

[0055] S1. When the surface of the product being transported is smooth, the torsion bar 13 moves downward to allow the vacuum suction cup 14 to suck the product, and then the torsion bar 13 drives the product to be transferred, while the support plate 20 moves to the bottom of the product and moves upward to contact the product for support;

[0056] S2. When the surface of the product being transported is not smooth and cannot be adsorbed by the vacuum suction cup 14, the lifting guide frame 19 and the support plate 20 are moved upward, and then the clamping plate 24 clamps the product for transport;

[0057] S3. During the transportation process, the plastic protective ring 34 moves downward to protect the components on the clamp frame 17. When the laser ranging unit 35 detects that the distance to the object is lower than the set value, the clamp frame 17 stops moving to prevent other objects from colliding with the plastic protective ring 34 during transportation. When other objects collide with the plastic protective ring 34, the pressure detection unit 33 detects the pressure and the clamp frame 17 stops moving.

[0058] S1 also includes the following steps:

[0059] S11, when the support plate 20 supports the product, when the tension detection unit 16 detects that the tension value reaches the set value, the support plate 20 stops moving upward;

[0060] The step S2 also includes the following steps:

[0061] S21. When it is necessary to clamp the items in the product frame, the second clamping plate 29 moves downward into the product frame to clamp the products.

[0062] Working principle: Before using the intelligent four-axis palletizing robot for assembly line production, you should first check whether the intelligent four-axis palletizing robot for assembly line production has any problems that affect its use. When the surface of the product being transported is smooth, the torsion rod 13 moves down to allow the vacuum suction cup 14 to absorb the product, and then the torsion rod 13 drives the product to be transferred. At the same time, the pallet 20 moves to the bottom of the product and moves up to contact the product for support. When the pallet 20 supports the product, the tension detection unit 16 detects that the tension value reaches the set value, and the pallet 20 stops moving up. When the surface of the product being transported is not smooth and the vacuum suction cup 14 cannot be used for adsorption, the lifting guide frame 19 and the pallet 20 move up. Then the clamp 1 24 clamps the product for transportation. When it is necessary to clamp the items inside the product frame, the clamp 2 29 moves down into the product frame to clamp the product. During the transportation process, the plastic protective ring 34 moves down to protect the components on the clamp frame 17. When the laser ranging unit 35 detects that the distance to the object is lower than the set value, the clamp frame 17 stops moving to prevent other objects from colliding with the plastic protective ring 34 during transportation. When other objects collide with the plastic protective ring 34, the pressure detection unit 33 detects the pressure and the clamp frame 17 stops moving.

[0063] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from all points of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference signs in the claims should not be regarded as limiting the rights involved.

Claims

1. An intelligent four-axis palletizing robot for assembly line production, characterized in that: The invention comprises a base (1), a torsion motor unit 1 (3) and a torsion motor unit 2 (11), wherein a control unit (2) is mounted on the top of the base (1), a torsion motor unit 1 (3) is mounted on the top of the base (1), and the torsion motor unit 1 (3) is electrically connected to the control unit (2), a rotating rod (4) is mounted on the output end of the torsion motor unit 1 (3), a frame body 2 (36) is mounted on one end of the rotating rod (4), a rotating rod (5) is movably mounted on the inner side of the frame body 2 (36), a frame body 1 (7) is mounted on one end of the rotating rod (5), a swing rod (8) is movably mounted on the inner side of the frame body 1 (7), a box body (10) is mounted on one end of the swing rod (8), and a rotating rod (5) is mounted on the inner side of the box body (10). There is a torsion motor unit 2 (11), and the torsion motor unit 2 (11) is electrically connected to the control unit (2); a torsion rod 1 (12) is installed at the output end of the torsion motor unit 2 (11); a torsion rod 2 (13) is installed at one end of the torsion rod 1 (12); a vacuum suction cup (14) is installed at the bottom of the torsion rod 2 (13); hydraulic cylinder units 1 (15) are symmetrically installed on both sides of the torsion rod 2 (13); the hydraulic cylinder unit 1 (15) is electrically connected to the control unit (2); a tension detection unit (16) is installed at the output end of the hydraulic cylinder unit 1 (15); the tension detection unit (16) is electrically connected to the control unit (2); and a clamp frame (17) is installed at the bottom input end of the tension detection unit (16); The two sides of the clamp frame (17) are symmetrically provided with lifting and supporting mechanisms, and the lifting and supporting mechanisms include a second hydraulic cylinder unit (18), a lifting guide frame (19) and a support plate (20). The two second hydraulic cylinder units (18) are symmetrically installed on the two sides of the torsion rod (13). The second hydraulic cylinder unit (18) is connected to the control unit (2) via an electrical signal. The output end of the second hydraulic cylinder unit (18) is provided with a lifting guide frame (19), and the inner side of the lifting guide frame (19) is movably provided with a support plate (20); The lifting support mechanism further comprises an electric telescopic unit (21) and a connecting block (22); the electric telescopic unit (21) is symmetrically mounted on the bottom of the lifting guide frame (19); the electric telescopic unit (21) is electrically signal-connected to the control unit (2); the connecting block (22) is mounted on the output end of the electric telescopic unit (21); and the top of the connecting block (22) is connected to the bottom of the support plate (20); Hydraulic cylinder units 3 (23) are symmetrically mounted on both sides of the clamp frame (17), and the hydraulic cylinder units 3 (23) are electrically connected to the control unit (2), a clamping plate 1 (24) is mounted on the output end of the hydraulic cylinder unit 3 (23), and a camera unit (37) is symmetrically mounted on the top inner wall of the clamp frame (17); A fixed guide frame (25) is symmetrically mounted on one side of the clamping plate (24), a fixed motor unit (26) is symmetrically mounted on one side of the clamping plate (24), and the fixed motor unit (26) is electrically connected to the control unit (2), a screw rod (27) is mounted on the output end of the fixed motor unit (26), an internal threaded tube (28) is mounted on the outer side of the screw rod (27), and a clamping plate (29) is mounted on one side of the internal threaded tube (28).

2. The intelligent four-axis palletizing robot for production line according to claim 1, characterized in that: A lifting motor unit (6) is installed on one side of the frame body 2 (36), the lifting motor unit (6) is electrically connected to the control unit (2), and the output end of the lifting motor unit (6) is connected to one side of the rotating rod (5); a swing motor unit (9) is installed on one side of the frame body 1 (7), and the output end of the swing motor unit (9) is connected to one side of the swing rod (8), and the swing motor unit (9) is electrically connected to the control unit (2).

3. The intelligent four-axis palletizing robot for production line according to claim 1, characterized in that: An electric telescopic unit 2 (30) is symmetrically mounted on the outer side of the second torsion rod (13), and the electric telescopic unit 2 (30) is electrically signal-connected to the control unit (2). A connecting rod (31) is mounted on the output end of the electric telescopic unit 2 (30), and a lifting ring (32) is mounted on one end of the connecting rod (31).

4. The intelligent four-axis palletizing robot for production line according to claim 3, characterized in that: A pressure detection unit (33) is symmetrically mounted on the outer side of the lifting ring (32), the pressure detection unit (33) is electrically connected to the control unit (2), a plastic protection ring (34) is mounted on the input end of the pressure detection unit (33), a plurality of laser distance measuring units (35) are symmetrically mounted on the outer side of the plastic protection ring (34), and the laser distance measuring units (35) are electrically connected to the control unit (2).

5. A palletizing method for an intelligent four-axis palletizing robot for production line according to any one of claims 1 to 4, characterized in that: The palletizing method of the intelligent four-axis palletizing robot for assembly line production is as follows: S1. When the surface of the product being transported is smooth, the second torsion rod (13) moves downward to allow the vacuum suction cup (14) to suck the product, and then the second torsion rod (13) drives the product to be transferred, while the support plate (20) moves to the bottom of the product and moves upward to contact the product for support; S2. When the surface of the product being transported is not smooth and cannot be adsorbed by the vacuum suction cup (14), the lifting guide frame (19) and the support plate (20) are moved upward, and then the clamping plate (24) clamps the product for transport; S3. During the transport process, the plastic protection ring (34) moves downward to protect the components on the clamp frame (17). When the laser distance measuring unit (35) detects that the distance to the object is lower than the set value, the clamp frame (17) stops moving to prevent other objects from colliding with the plastic protection ring (34) during the transport process. When other objects collide with the plastic protection ring (34), the pressure detection unit (33) detects pressure and the clamp frame (17) stops moving.

6. The palletizing method of the intelligent four-axis palletizing robot for production line according to claim 5, characterized in that: The S1 also includes the following steps: S11, when the support plate (20) supports the product, when the tension detection unit (16) detects that the tension value reaches a set value, the support plate (20) stops moving upward; The step S2 also includes the following steps: S21. When it is necessary to clamp the items in the product frame, the second clamping plate (29) moves downward into the product frame to clamp the products.

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