A translational lifting and stacking robot platform

Abstract

The present invention belongs to the technical field of palletizing robots, and specifically is a translational lifting palletizing robot platform, comprising a base, a mechanical arm is arranged on the upper end of the base, a frame is arranged at the end of the mechanical arm, both ends of the lower side of the frame are fixedly connected with a frame, the left and right sides of the frame are slidably connected with adjustment rods, the front and rear sides of the adjustment rods are slidably connected with clamping blocks, and the frame is provided with a multi-directional adjustment mechanism that enables the metal bars leaning against the upper edge of the containing box to be placed flat; the present invention realizes the use of the multi-directional adjustment mechanism to push the metal bars that are higher than and leaning against the upper edge of the rectangular containing box, so that they are moved back into the rectangular containing box and placed flat, thereby avoiding the situation that the ends of the metal bars go over and lean against the edge of the rectangular containing box, resulting in the inability to place the remaining rectangular containing boxes on top of the boxes, thereby affecting the normal palletizing work.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing robots, in particular to a translational lifting palletizing robot platform. Background Art

[0002] A palletizing robot is an automated robot that integrates new technologies from multiple fields such as mechanical engineering, electronic engineering, and computer science. It can neatly stack, carry, and load items according to preset programs.

[0003] The patent with announcement number CN219340905U discloses a translational lifting palletizing robot platform, including a base, a support frame fixedly connected to the left side of the bottom of the inner wall of the base, a rocker arm movably connected to the top of the base through an axle pin, a mechanical gripper fixedly connected to the end of the rocker arm away from the support frame, and a hydraulic rod fixedly connected to the left and right sides of the bottom of the inner wall of the base. The patent can make the hydraulic rod work to push the support plate to move upward, and the support plate moves upward to drive the lifting rod to move upward, and the lifting rod moves upward to make the rocker arm rotate around the rotating shaft and drive the mechanical gripper to move upward to lift and stack, replacing the existing palletizing robot that shakes due to excessive load during work, thereby improving the stability of the palletizing robot.

[0004] However, the above technical solution still has the following deficiencies in practical application:

[0005] When it is necessary to stack rectangular boxes containing metal bars, since some rectangular boxes do not have doors on the top, the metal bars placed inside the rectangular boxes may move and bounce up due to external forces before or during palletizing, and lean against the upper edge of the rectangular boxes, and the ends of the metal bars pass over the upper end of the rectangular boxes. When this happens, the remaining rectangular boxes cannot be placed on top of them, which affects the normal palletizing work.

[0006] To this end, the present invention provides a translational lifting and stacking robot platform. Summary of the invention

[0007] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology, the present invention proposes a translational lifting and stacking robot platform.

[0008] The technical solution adopted by the present invention to solve the technical problem is: a translational lifting and stacking robot platform, comprising a base, a mechanical arm is arranged at the upper end of the base, a frame is arranged at the end of the mechanical arm, both ends of the lower side of the frame are fixedly connected with a frame, the left and right sides of the frame are slidably connected with adjustment rods, the front and rear sides of the adjustment rod are slidably connected with clamping blocks, and the frame is provided with a multi-directional adjustment mechanism that allows the metal bars leaning against the upper edge of the storage box to be placed flat;

[0009] The multi-directional adjustment mechanism includes a plurality of sliding rods four slidably connected to the front and rear sides of the frame, one end of each sliding rod four is fixedly connected to a push plate one, and two sliding rods three are slidably connected to the lower ends of the left and right sides of the frame, and one end of each sliding rod three is fixedly connected to a push plate two.

[0010] Preferably, a bidirectional threaded rod 2 is threadedly connected to the middle part of one side of the clamping block, and the front and rear ends of the bidirectional threaded rod 2 are rotatably set on the adjusting rod. A motor 7 is fixedly connected to one side of the rear end of the adjusting rod, and the output end of the motor 7 is fixedly connected to the rear end of the bidirectional threaded rod 2.

[0011] Preferably, the front end of the adjusting rod is threadedly connected to a bidirectional threaded rod three, and both left and right ends of the bidirectional threaded rod three are rotatably set on the frame. The front side of the left end of the frame is fixedly connected to a motor two, and the output end of the motor two is fixedly connected to the left end of the bidirectional threaded rod three.

[0012] Preferably, a threaded column is slidably connected to one side of the clamping block, a support rod is rotatably provided on one side of the lower end of the threaded column, a motor six is ​​fixedly connected to one side of the lower end of the threaded column, an output end of the motor six is ​​fixedly connected to one end of the support rod, the threaded column is threadedly connected to a threaded rod two, an upper end of the threaded rod two is rotatably provided on the clamping block, a motor five is fixedly connected to one side of the upper end of the clamping block, and an output end of the motor five is fixedly connected to the upper end of the threaded rod two.

[0013] Preferably, the middle parts of the front and rear end surfaces of the frame are fixedly connected with electric push rods three, and the piston end of the electric push rod three is fixedly connected to the middle part of one side of the push plate one.

[0014] Preferably, the middle parts of the lower sides of the left and right end surfaces of the frame are fixedly connected with electric push rods 2, and the piston ends of the electric push rods 2 are fixedly connected with the middle part of one side of the push plate 2.

[0015] Preferably, sliding rod 1 is fixedly connected to both left and right ends of the upper side of the frame, and sliding rod 1 is slidably connected to an adjustment plate, sliding rod 2 is slidably connected to both left and right ends of the lower side of the adjustment plate, and the lower end of sliding rod 2 is fixedly connected to a lifting plate, a rotating plate is rotatably provided at the middle of the lower end surface of the lifting plate, and flip blocks are slidably connected to the left and right sides of the rotating plate.

[0016] Preferably, a threaded rod 1 is threadedly connected to one side of the upper end of the adjustment plate, both ends of the threaded rod 1 are rotatably arranged on the frame, a motor 1 is fixedly connected to the upper side of the right end surface of the frame, and the output end of the motor 1 is fixedly connected to the right end of the threaded rod 1.

[0017] Preferably, an electric push rod 1 is fixedly connected to the middle of one side of the adjustment plate, and the piston end of the electric push rod 1 is fixedly connected to the middle of the upper end surface of the lifting plate.

[0018] Preferably, a motor three is fixedly connected to the middle part of one side of the lifting plate, the output end of the motor three is fixedly connected to the rotating plate, a bidirectional threaded rod one is threadedly connected to the upper end of the flip block, both ends of the bidirectional threaded rod one are rotatably arranged on the rotating plate, a motor four is fixedly connected to the right end face of the rotating plate, and the output end of the motor four is fixedly connected to one end of the bidirectional threaded rod one.

[0019] The beneficial effects of the present invention are as follows:

[0020] 1. The present invention discloses a translational lifting palletizing robot platform, which uses a mechanical arm to drive a frame to move to a rectangular container to be clamped, and then starts a second motor to drive a third bidirectional threaded rod to rotate, so that the adjustment rods on both sides slide simultaneously, close to or away from each other, and the spacing between the clamping blocks on the left and right sides can be adjusted, and then the second bidirectional threaded rod is driven by the motors on both sides to rotate, so that the clamping blocks on the front and rear sides slide in different directions at the same time, and the spacing between the clamping blocks on the front and rear sides can be adjusted, so that the inner angles of the four clamping blocks can be matched with the four corners of the rectangular container, and the container can be fixed. When the clamping block drives the box to rise, the motor five can be used to drive the threaded rod two to rotate according to the height of the box, so that the threaded column slides up and down, and cooperates with the motor six to drive the support rod to rotate until the end of the support rod contacts the bottom of the box, so as to provide support for the bottom of the box, and then the robot arm can be used to move horizontally and up and down to place the box in the specified position; therefore, after the clamping block clamps the box, the support rod can be used to provide a supporting effect to its bottom to prevent the box from slipping during movement, thereby further ensuring the stability of the stacking process.

[0021] 2. The translational lifting and stacking robot platform described in the present invention can push the metal bars that are higher than and lean against the upper edge of the rectangular containing box by means of a multi-directional adjustment mechanism, so that they are moved back into the rectangular containing box and become flat, thereby avoiding the situation where the other rectangular containing boxes cannot be placed on top of the metal bars due to the ends of the metal bars passing over and leaning against the edge of the rectangular containing box, thereby affecting the normal stacking work. In addition, when the metal bars lean against the edge of the rectangular containing box and are parallel to the width direction of the rectangular containing box, and the push plates 1 and 2 cannot push them to a flat state, the metal bars leaning against the length edge of the rectangular containing box can be flipped and adjusted by means of a flip block, so that they can be parallel to the length direction of the rectangular containing box and lie flat inside the rectangular containing box, thereby further ensuring the smooth progress of subsequent stacking work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the local three-dimensional structure of the frame;

[0025] Figure 3 yes Figure 2 A partial enlarged view of the middle part;

[0026] Figure 4 yes Figure 2 A partial enlarged view of point B in the middle;

[0027] Figure 5 It is a schematic diagram of the partial three-dimensional structure of the frame from another perspective;

[0028] Figure 6 It is a schematic diagram of the local three-dimensional structure at the flip block;

[0029] Figure 7 It is a schematic diagram of the local three-dimensional structure at the clamping block;

[0030] Figure 8 It is a schematic diagram of the local three-dimensional structure of two push plates.

[0031] In the figure: 1. base; 2. mechanical arm; 3. frame; 4. motor 1; 5. adjustment plate; 6. frame; 7. threaded rod 1; 8. slide rod 1; 9. electric push rod 1; 10. slide rod 2; 11. electric push rod 2; 12. slide rod 3; 13. electric push rod 3; 14. slide rod 4; 15. adjustment rod; 16. motor 2; 17. lifting plate; 18. motor 3; 19. rotating plate; 20. motor 4; 21. flip block; 22. two-way threaded rod 1; 23. clamping block; 24. motor 5; 25. threaded rod 2; 26. threaded column; 27. motor 6; 28. support rod; 29. ​​push plate 1; 30. two-way threaded rod 2; 31. two-way threaded rod 3; 32. motor 7; 33. push plate 2. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0033] Please refer to Figure 1-Figure 8 The present invention provides a technical solution: a translational lifting and stacking robot platform, comprising a base 1, a mechanical arm 2 is arranged at the upper end of the base 1, a frame 3 is arranged at the end of the mechanical arm 2, both ends of the lower side of the frame 3 are fixedly connected with a frame 6, the left and right sides of the frame 6 are slidably connected with an adjusting rod 15, the front and rear sides of the adjusting rod 15 are slidably connected with a clamping block 23, and the frame 3 is provided with a multi-directional adjustment mechanism to make the metal bar leaning against the upper edge of the storage box into a flat state;

[0034] The multi-directional adjustment mechanism includes a plurality of slide bars 14 slidably connected to the front and rear sides of the frame 6, one end of the slide bar 14 is fixedly connected to a push plate 29, and the lower ends of the left and right sides of the frame 3 are slidably connected to two slide bars 12, and one end of the slide bar 12 is fixedly connected to a push plate 2 33.

[0035] In this embodiment, Figure 1-Figure 5 , Figure 7 As shown, a bidirectional threaded rod 2 30 is threadedly connected to the middle part of one side of the clamping block 23, and both front and rear ends of the bidirectional threaded rod 2 30 are rotatably arranged on the adjusting rod 15, and a motor 7 32 is fixedly connected to one side of the rear end of the adjusting rod 15, and the output end of the motor 7 32 is fixedly connected to the rear end of the bidirectional threaded rod 2 30;

[0036] The front end of the adjusting rod 15 is threadedly connected with a bidirectional threaded rod 31, and both the left and right ends of the bidirectional threaded rod 31 are rotatably arranged on the frame 6. The front side of the left end of the frame 6 is fixedly connected with a motor 2 16, and the output end of the motor 2 16 is fixedly connected to the left end of the bidirectional threaded rod 31;

[0037] A threaded column 26 is slidably connected to one side of the clamping block 23, a support rod 28 is rotatably arranged on one side of the lower end of the threaded column 26, a motor 6 27 is fixedly connected to one side of the lower end of the threaded column 26, and the output end of the motor 6 27 is fixedly connected to one end of the support rod 28, a threaded rod 25 is threadedly connected to the threaded column 26, and the upper end of the threaded rod 25 is rotatably arranged on the clamping block 23, a motor 5 24 is fixedly connected to one side of the upper end of the clamping block 23, and the output end of the motor 5 24 is fixedly connected to the upper end of the threaded rod 25;

[0038] Specifically, the mechanical arm 2 is used to drive the frame 6 to move to the rectangular containing box to be clamped. The mechanical arm 2 is a prior art and will not be described in detail. Then, by starting the motor 2 16, the bidirectional threaded rod 3 31 can be driven to rotate, so that the adjustment rods 15 on both sides slide at the same time, close to or away from each other, and the spacing between the clamping blocks 23 on the left and right sides can be adjusted. Then, the motors 7 32 on both sides are used to drive the bidirectional threaded rod 2 30 to rotate, so that the clamping blocks 23 on the front and rear sides slide in different directions at the same time, and the spacing between the clamping blocks 23 on the front and rear sides can be adjusted. The inner angles of the four clamping blocks 23 are all fitted with the four corners of the rectangular container, so that the container can be fixed. At the same time, when the clamping block 23 drives the container to rise, the motor 5 24 can be used to drive the threaded rod 25 to rotate according to the height of the container, so that the threaded column 26 slides up and down, and the motor 6 27 drives the support rod 28 to rotate until the end of the support rod 28 contacts the bottom of the container, so as to provide support for the bottom of the container, and then the robot arm 2 is used to move in a translational and lifting manner to place the container at a designated position;

[0039] Therefore, after the clamping block 23 clamps the box, the support rod 28 can be used to provide a support effect to the bottom of the box to prevent the box from sliding during movement, thereby further ensuring stability during the stacking process.

[0040] In this embodiment, Figure 1 , Figure 2 , Figure 4-Figure 6 , Figure 8 As shown, the middle parts of the front and rear end surfaces of the frame 6 are fixedly connected with electric push rods 3 13, and the piston end of the electric push rods 3 13 is fixedly connected to the middle part of one side of the push plate 1 29;

[0041] The lower middle parts of the left and right end surfaces of the frame 3 are both fixedly connected with electric push rods 11, and the piston end of the electric push rods 11 is fixedly connected to the middle part of one side of the push plate 33;

[0042] The left and right ends of the upper side of the frame 3 are fixedly connected with a slide bar 8, the slide bar 8 is slidably connected with an adjustment plate 5, the left and right ends of the lower side of the adjustment plate 5 are slidably connected with a slide bar 2 10, the lower end of the slide bar 2 10 is fixedly connected with a lifting plate 17, the middle part of the lower end surface of the lifting plate 17 is rotatably provided with a rotating plate 19, and the left and right sides of the rotating plate 19 are slidably connected with flip blocks 21;

[0043] A threaded rod 7 is threadedly connected to one side of the upper end of the adjustment plate 5, and both ends of the threaded rod 7 are rotatably arranged on the frame body 3. A motor 4 is fixedly connected to the upper side of the right end surface of the frame body 3, and the output end of the motor 4 is fixedly connected to the right end of the threaded rod 7;

[0044] An electric push rod 9 is fixedly connected to the middle of one side of the adjustment plate 5, and the piston end of the electric push rod 9 is fixedly connected to the middle of the upper end surface of the lifting plate 17;

[0045] A motor 3 18 is fixedly connected to the middle of one side of the lifting plate 17, and the output end of the motor 3 18 is fixedly connected to the rotating plate 19. A two-way threaded rod 1 22 is threadedly connected to the upper end of the flip block 21, and both ends of the two-way threaded rod 1 22 are rotatably arranged on the rotating plate 19. A motor 4 20 is fixedly connected to the right end surface of the rotating plate 19, and the output end of the motor 4 20 is fixedly connected to one end of the two-way threaded rod 1 22;

[0046] Specifically, a palletizing robot is an automated robot that integrates new technologies in multiple fields such as mechanical engineering, electronic engineering, and computer science. It can neatly stack, carry, and load items according to preset programs. When the existing translational lifting palletizing robot platform is in use, when it is necessary to palletize rectangular containers containing metal bars, since some rectangular containers do not have doors on the top, the rectangular containers may be subjected to external forces before or during palletizing, causing the metal bars placed inside to move and bounce up, and lean against the upper edge of the rectangular containers, and the ends of the metal bars pass over the upper end of the rectangular containers. When this happens, the remaining rectangular containers cannot be placed on top, thereby affecting the normal palletizing work.

[0047] Therefore, in order to solve the above problem, when the present embodiment is in use, the rectangular containing box is clamped by the clamping block 23, and the upper end surface of the clamping block 23 is flush with the upper end surface of the rectangular containing box. When the metal bar leans against the upper edge of the rectangular containing box, the electric push rod 2 11 or the electric push rod 3 13 is started according to the position of the metal bar leaning against the upper edge of the rectangular containing box, so that the push plate 2 33 or the push plate 1 29 is moved. When the push plate 1 29 and the push plate 2 33 move, since the bottom of the push plate 1 29 and the push plate 2 33 is flush with the upper end surface of the clamping block 23, the metal bar that is higher than and leans against the upper edge of the rectangular containing box can be pushed back into the rectangular containing box and turned into a flat state, thereby avoiding the situation that the end of the metal bar passes over and leans against the edge of the rectangular containing box, causing the remaining rectangular containing boxes to be unable to be placed on top of it, thereby affecting the normal stacking work.

[0048] When a rectangular containing box is used to contain metal bars, if the length of the metal bar is close to that of the rectangular containing box and is greater than the width of the rectangular containing box, the metal bar can only be laid flat if it is parallel to the length direction of the rectangular containing box. If the metal bar leans against the edge of the rectangular containing box and is parallel to the width direction of the rectangular containing box, then the push plate 1 29 and the push plate 2 33 cannot push it to a flat state because one end of the metal bar will abut against the inner wall of the rectangular containing box or the remaining metal bars. Therefore, at this time, the motor 1 4 can be started to drive the threaded rod 1 7 to rotate, so that the adjustment plate 5 moves horizontally, so that the leaning metal bar is between the two flip blocks 21, and then the electric push rod 1 9 is used to drive the flip block 21 to descend, and the motor 4 20 is used to drive the bidirectional threaded rod 1 22 to rotate until the two flip blocks 21 put the metal bar between the two flip blocks 21. The metal bar is clamped, and then the electric push rod 1 9 drives the flip block 21 to rise, so that the metal bar can be raised, and then the motor 3 18 drives the rotating plate 19 to rotate, so that the metal bar rotates until it is parallel to the length direction of the rectangular containing box, and then the metal bar is driven to move horizontally until the metal bar is within the length range of the rectangular containing box, and then the two flip blocks 21 are driven away from each other to put the metal bar down; so that when the metal bar leans against the edge of the rectangular containing box and is parallel to the width direction of the rectangular containing box, and the push plate 1 29 and the push plate 2 33 cannot push it to a flat state, the flip block 21 is used to flip and adjust the metal bar leaning against the length edge of the rectangular containing box, so that it can be parallel to the length direction of the rectangular containing box and lie flat inside the rectangular containing box, further ensuring the smooth progress of subsequent stacking work;

[0049] Therefore, the multi-directional adjustment mechanism can be used to push the metal bars that are higher than and lean against the upper edge of the rectangular containing box, so that they can be moved back into the rectangular containing box and turned into a flat state, thereby avoiding the situation where the remaining rectangular containing boxes cannot be placed on top of the metal bars due to the ends of the metal bars passing over and leaning against the edge of the rectangular containing box, thereby affecting the normal stacking work. In addition, when the metal bars lean against the edge of the rectangular containing box and are parallel to the width direction of the rectangular containing box, and the push plates 1 29 and 2 33 cannot push them to a flat state, the flip block 21 can be used to flip and adjust the metal bars leaning against the length edge of the rectangular containing box, so that they can be parallel to the length direction of the rectangular containing box and lie flat inside the rectangular containing box, further ensuring the smooth progress of subsequent stacking work.

[0050] Working principle: The mechanical arm 2 is used to drive the frame 6 to move to the rectangular containing box to be clamped. The mechanical arm 2 is a prior art and will not be described in detail. Then, the motor 2 16 is started to drive the two-way threaded rod 3 31 to rotate, so that the adjustment rods 15 on both sides slide at the same time, close to or away from each other, and the spacing between the clamping blocks 23 on the left and right sides can be adjusted. Then, the motors 7 32 on both sides are used to drive the two-way threaded rod 2 30 to rotate, so that the clamping blocks 23 on the front and rear sides slide in different directions at the same time, and the spacing between the clamping blocks 23 on the front and rear sides can be adjusted. The inner angles of the four clamping blocks 23 are all fitted with the four corners of the rectangular container, so that the container can be fixed. At the same time, when the clamping block 23 drives the container to rise, the motor 5 24 can be used to drive the threaded rod 25 to rotate according to the height of the container, so that the threaded column 26 slides up and down, and the motor 6 27 is used to drive the support rod 28 to rotate until the end of the support rod 28 contacts the bottom of the container, so as to provide support for the bottom of the container, and then the robot arm 2 is used to move in a translational and lifting manner to place the container at a specified position. After the clamping block 23 clamps the containing box, the support rod 28 can be used to provide a support effect on the bottom to prevent the containing box from slipping during the movement, further ensuring the stability during the stacking process. The rectangular containing box is clamped by the clamping block 23, and the upper end surface of the clamping block 23 is flush with the upper end surface of the rectangular containing box. When the metal bar leans against the upper edge of the rectangular containing box, the electric push rod 11 or the electric push rod 22 is started according to the position of the metal bar leaning against the upper edge of the rectangular containing box. Three 13, make the push plate 2 33 or the push plate 1 29 move. When the push plate 1 29 and the push plate 2 33 move, since the bottom of the push plate 1 29 and the push plate 2 33 is flush with the upper end surface of the clamping block 23, the metal bars that are higher than and leaning against the upper edge of the rectangular containing box can be pushed back into the rectangular containing box and turned into a flat state, thereby avoiding the situation that the end of the metal bar passes over and leans against the edge of the rectangular containing box, causing the remaining rectangular containing boxes to be unable to be placed on top of it, thereby affecting the normal stacking work;When a rectangular containing box is used to contain metal bars, if the length of the metal bar is close to that of the rectangular containing box and is greater than the width of the rectangular containing box, the metal bar can only be laid flat if it is parallel to the length direction of the rectangular containing box. If the metal bar leans against the edge of the rectangular containing box and is parallel to the width direction of the rectangular containing box, then the push plate 1 29 and the push plate 2 33 cannot push it to a flat state because one end of the metal bar will abut against the inner wall of the rectangular containing box or the other metal bars. Therefore, at this time, the motor 1 4 can be started to drive the threaded rod 1 7 to rotate so that the adjustment plate 5 is horizontally adjusted. The metal bar is moved so that the leaning metal bar is between the two flip blocks 21, and then the electric push rod 19 is used to drive the flip block 21 to descend, and the motor 4 20 is used to drive the bidirectional threaded rod 1 22 to rotate until the two flip blocks 21 clamp the metal bar, and then the electric push rod 1 9 drives the flip block 21 to rise, so that the metal bar can be raised, and then the motor 3 18 is used to drive the rotating plate 19 to rotate, so that the metal bar rotates until it is parallel to the length direction of the rectangular container, and then the metal bar is driven to move horizontally until the metal bar is within the length range of the rectangular container, and then the two flip blocks 21 are driven away from each other to move the metal bar. The bars can be put down; thus, when the metal bars lean against the edge of the rectangular container and are parallel to the width direction of the rectangular container, and the push plate 1 29 and the push plate 2 33 cannot push them to a flat state, the flip block 21 is used to flip and adjust the metal bars leaning against the length edge of the rectangular container, so that they can be parallel to the length direction of the rectangular container and lie flat inside the rectangular container, further ensuring the smooth progress of subsequent stacking work; thus, the multi-directional adjustment mechanism can be used to push the metal bars that are higher than and leaning against the upper edge of the rectangular container, so that they can be moved back into the rectangular container and become flat. , avoiding the situation that the other rectangular boxes cannot be placed on top of the rectangular box due to the end of the metal bar passing over and leaning against the edge of the rectangular box, thereby affecting the normal palletizing work. In addition, when the metal bar leans against the edge of the rectangular box and is parallel to the width direction of the rectangular box, and the push plate 1 29 and the push plate 2 33 cannot push it to a flat state, the flip block 21 can be used to flip and adjust the metal bar leaning against the length edge of the rectangular box, so that it can be parallel to the length direction of the rectangular box and flat inside the rectangular box, further ensuring the smooth progress of the subsequent palletizing work. ;

[0051] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A translational lifting and stacking robot platform, comprising a base (1), characterized in that: A mechanical arm (2) is disposed at the upper end of the base (1), a frame (3) is disposed at the end of the mechanical arm (2), both ends of the lower side of the frame (3) are fixedly connected to a frame (6), the left and right sides of the frame (6) are slidably connected to adjustment rods (15), the front and rear sides of the adjustment rod (15) are slidably connected to clamping blocks (23), and the frame (3) is provided with a multi-directional adjustment mechanism for allowing the metal bar leaning against the upper edge of the storage box to be placed flat; The multi-directional adjustment mechanism comprises a plurality of sliding rods four (14) slidably connected to the front and rear sides of the frame (6), one end of the sliding rod four (14) is fixedly connected to a push plate one (29), the lower ends of the left and right sides of the frame (3) are slidably connected to two sliding rods three (12), one end of the sliding rod three (12) is fixedly connected to a push plate two (33), a middle part of one side of the clamping block (23) is threadedly connected to a bidirectional threaded rod two (30), the front and rear ends of the bidirectional threaded rod two (30) are rotatably arranged on the adjustment rod (15), the A motor seven (32) is fixedly connected to one side of the rear end of the adjusting rod (15), and an output end of the motor seven (32) is fixedly connected to the rear end of the bidirectional threaded rod two (30). The front end of the adjusting rod (15) is threadedly connected to the bidirectional threaded rod three (31), and both left and right ends of the bidirectional threaded rod three (31) are rotatably arranged on the frame (6). The front side of the left end of the frame (6) is fixedly connected to the motor two (16), and the output end of the motor two (16) is fixedly connected to the left end of the bidirectional threaded rod three (31). The clamping block (23) One side is slidably connected to a threaded column (26), a support rod (28) is rotatably arranged on one side of the lower end of the threaded column (26), a motor (27) is fixedly connected to one side of the lower end of the threaded column (26), an output end of the motor (27) is fixedly connected to one end of the support rod (28), the threaded column (26) is threadedly connected to a threaded rod (25), the upper end of the threaded rod (25) is rotatably arranged on a clamping block (23), the upper end of the clamping block (23) is fixedly connected to a motor (24), the motor (25) The output end (24) is fixedly connected to the upper end of the second threaded rod (25); the left and right ends of the upper side of the frame (3) are fixedly connected to the first slide bar (8); the first slide bar (8) is slidably connected to the adjustment plate (5); the left and right ends of the lower side of the adjustment plate (5) are slidably connected to the second slide bar (10); the lower end of the second slide bar (10) is fixedly connected to the lifting plate (17); a rotating plate (19) is rotatably provided in the middle of the lower end surface of the lifting plate (17); and the left and right sides of the rotating plate (19) are slidably connected to the flip blocks (21).

2. The translational lifting and stacking robot platform according to claim 1, characterized in that: The middle parts of the front and rear end surfaces of the frame (6) are fixedly connected to electric push rod three (13), and the piston end of the electric push rod three (13) is fixedly connected to the middle part of one side of push plate one (29).

3. The translational lifting and stacking robot platform according to claim 1, characterized in that: The lower middle parts of the left and right end surfaces of the frame (3) are both fixedly connected with electric push rods (11), and the piston end of the electric push rods (11) is fixedly connected to the middle part of one side of the push plate (33).

4. The translational lifting and stacking robot platform according to claim 1, characterized in that: A threaded rod (7) is threadedly connected to one side of the upper end of the adjustment plate (5); both ends of the threaded rod (7) are rotatably arranged on the frame (3); a motor (4) is fixedly connected to the upper side of the right end surface of the frame (3); and the output end of the motor (4) is fixedly connected to the right end of the threaded rod (7).

5. The translational lifting and stacking robot platform according to claim 1, characterized in that: An electric push rod 1 (9) is fixedly connected to the middle of one side of the adjustment plate (5), and a piston end of the electric push rod 1 (9) is fixedly connected to the middle of the upper end surface of the lifting plate (17).

6. The translational lifting and stacking robot platform according to claim 1, characterized in that: A motor three (18) is fixedly connected to the middle of one side of the lifting plate (17), and the output end of the motor three (18) is fixedly connected to the rotating plate (19). A bidirectional threaded rod one (22) is threadedly connected to the upper end of the flip block (21), and both ends of the bidirectional threaded rod one (22) are rotatably arranged on the rotating plate (19). A motor four (20) is fixedly connected to the right end surface of the rotating plate (19), and the output end of the motor four (20) is fixedly connected to one end of the bidirectional threaded rod one (22).

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