Stacking robot

Abstract

The invention discloses a palletizing robot, and belongs to the technical field of palletizing, the palletizing robot comprises a mounting seat, a robot main body is fixedly connected to the mounting seat, a connecting shaft is connected to the robot main body in a penetrating manner, a positioning seat is fixedly connected to the bottom end of the connecting shaft, and a guide sliding strip is slidably connected in the positioning seat. According to the device, the positioning seat, the middle seat, the piston cylinder, the piston plate, the contact clamping plate, the guide sliding strip and the electric hydraulic rod are adopted, along with the action of the contact clamping plate, the middle position of the middle seat is accurately adjusted and moved to the position under a corresponding article, and the article is stably located in the center of the lower portion of the middle seat; compared with the prior art, the goods carrying stability is improved, meanwhile, any collision or inclined contact between the contact clamping plates and the goods is avoided, possible damage to the goods in the carrying process is greatly reduced, high efficiency and safety of stacking operation are guaranteed, and the situation that the goods slide and are abraded on the ground when clamped is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing, and in particular relates to a palletizing robot. Background Art

[0002] The prior art discloses some invention patents in the field of palletizing technology, among which the invention patent with application number CN114229466B discloses an intelligent palletizing robot for aluminum veneers, including a base, a support frame, a conveying mechanism, a sorting mechanism, an adsorption mechanism and a palletizing limiting mechanism. The invention adopts the method of cooperating between the adsorption mechanism and the palletizing limiting mechanism to locate the position of the aluminum veneer when placing the pallet, so that the placement position of the aluminum veneer is more accurate, and at the same time, the palletizing limiting mechanism is used to limit the top angle of the palletized aluminum veneer, so as to avoid the problem of the aluminum veneer being tilted due to the lack of position limit when the aluminum veneer is placed and palletized. Before the aluminum veneer is adsorbed and palletized, the conveyed aluminum veneer is first sorted by the sorting mechanism, so that the adsorption mechanism can be adsorbed at the same position of the aluminum veneer each time, so as to facilitate the neat palletizing of the aluminum veneer, and avoid the problem that the position of the aluminum veneer adsorbed by the adsorption mechanism each time is biased, resulting in the inability to neatly palletize the aluminum veneer.

[0003] In the existing stacking robot technology, the clamping process of objects before transfer often faces a problem: the objects may not be exactly located at the center of the clamping component. Traditional clamping components mostly use two synchronously moving clamping plates to clamp and limit the objects by approaching each other. However, when the clamping component deviates from the center of the object, a series of problems will arise.

[0004] Specifically, the clamping plate on one side of the clamping component may first contact the object in an inclined posture. This inclined contact may not only cause a collision between the clamping plate and the object, but may also generate a thrust on the object, causing it to slide on the ground or even cause wear. In addition, the inclined contact and collision between the clamping plate and the object undoubtedly increase the risk of clamping damage to the object.

[0005] These problems are common in existing palletizing robot technologies, posing challenges to the efficiency and safety of object handling;

[0006] Based on this, the present invention designs a palletizing robot to solve the above problems. Summary of the invention

[0007] The purpose of the present invention is to propose a palletizing robot in order to solve the problem that the clamping process may cause inclined contact between the clamping plate and the object or push the object to slide and wear on the ground.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A palletizing robot comprises a mounting seat, wherein the mounting seat is fixedly connected to a robot body, the robot body is penetrated with a connecting shaft, the bottom end of the connecting shaft is fixedly connected to a positioning seat, the positioning seat is slidably connected with a guide slide bar, the guide slide bar is fixedly connected to an intermediate seat below, the intermediate seat is provided with two sliding holes, a movable adjustment device arranged on the intermediate seat is slidably connected in the sliding hole, two push plates are connected below the movable adjustment device, the side of the push plate is penetrated with an active clamping device, the active clamping device is connected to two contact clamping plates outside, the side of the contact clamping plate is provided with a connecting hole, the contact clamping plate is provided with a limiting groove, a sliding connection device is fixedly connected in the connecting hole, the sliding connection device is arranged outside the contact clamping plate, the sliding connection device is fixedly connected with an active limiting device, a blocking device connected to the outside of the push plate is slidably provided in the active limiting device, a pressure relief valve is connected to the side of the blocking device corresponding to the position of the active limiting device, two elastic telescopic rods are connected to the guide slide bar, and the other end of the elastic telescopic rod is fixedly connected to the positioning seat.

[0010] As a further description of the above technical solution:

[0011] The intermediate seat is connected with an electric hydraulic rod, the telescopic end position of the electric hydraulic rod corresponds to the moving track of the positioning seat on the guide slide bar, and the cross-sectional shape of the guide slide bar is set to be T-shaped.

[0012] As a further description of the above technical solution:

[0013] The movable adjustment device includes a driving assembly connected to the middle seat, the output shaft of the driving assembly is connected to a bidirectional screw rod, the bidirectional screw rod is externally threaded with two threaded caps, a movable seat is provided outside the threaded cap, and the width of the movable seat located on the upper side of the middle seat is greater than the width of the sliding hole.

[0014] As a further description of the above technical solution:

[0015] The outer sleeve of the bidirectional screw rod is provided with a support shaft seat, the support shaft seat is fixedly connected to the middle seat, the moving seat is slidably connected in the sliding hole, and the moving seat is fixedly connected to the push plate.

[0016] As a further description of the above technical solution:

[0017] The movable clamping device includes four piston connecting assemblies connected through the side of the push plate, the piston connecting assemblies are connected by an intermediate pipe, the pressure relief valve is connected to the piston connecting assembly located on the right rear side, and the piston connecting assembly is fixedly connected to the contact clamping plate.

[0018] As a further description of the above technical solution:

[0019] The piston connecting assembly includes a piston cylinder connected to the side of the push plate, a piston plate is slidably connected in the piston cylinder, a piston rod is fixedly connected to the side of the piston plate, one end of the piston rod outside the piston cylinder is fixedly connected to the contact clamping plate, the side of the piston plate is fixedly connected to the first elastic component arranged in the piston cylinder, the piston rod outer sleeve is provided with a connecting sleeve, the connecting sleeve is connected to the side of the piston cylinder, the piston cylinder is connected to the intermediate pipe, and the piston cylinder on the right rear side is connected to the pressure relief valve.

[0020] As a further description of the above technical solution:

[0021] The sliding connection device includes a sliding rod set to be rectangular, and two sliding sleeves fixedly connected in the connecting hole are slidably connected to the outside of the sliding rod. Extension parts are provided at both ends of the sliding rod, and the side surfaces of the extension parts are fixedly connected to a second elastic component, which is connected to the outside of the contact splint. The movable limiting device is fixedly connected to the sliding rod.

[0022] As a further description of the above technical solution:

[0023] The movable limiting device includes two guide rods connected to the sliding rod, a guide sleeve is slidably connected to the outside of the guide rod, a movable plate is provided outside the guide sleeve, a limiting protrusion is connected under the movable plate, the position and size of the limiting protrusion correspond to the position and size of the limiting groove, a connecting frame is fixedly connected to the right side of the movable plate, a first circular plate is fixedly connected to the top of the guide rod, a third elastic component is provided outside the guide rod, and both ends of the third elastic component are respectively fixedly connected to the sliding rod and the guide sleeve, and the blocking device is located in the connecting frame.

[0024] As a further description of the above technical solution:

[0025] The blocking device includes a bearing block located at the rear side of the pressure relief valve, a middle rod is fixedly connected to the side of the bearing block, the other end of the middle rod is fixedly connected to a blocking block located in a connecting frame, the length of the connecting frame is greater than the blocking block, and the connecting frame will not be separated from the blocking block when sliding in the left and right directions outside the blocking block, a cross bar is fixedly connected to the back side of the bearing block, and a second circular plate is fixedly connected to the back side of the cross bar.

[0026] As a further description of the above technical solution:

[0027] A linear bearing is slidably connected outside the cross bar, a support plate is provided outside the linear bearing, the support plate is fixedly connected to the side of the push plate, and a fourth elastic component is provided outside the cross bar, and both ends of the fourth elastic component are fixedly connected to the linear bearing and the bearing block respectively.

[0028] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0029] 1. In the present invention, a positioning seat, an intermediate seat, a piston cylinder, a piston plate, a contact splint, a guide slide, and an electric hydraulic rod are used. When the contact splint contacts an object, especially when the left contact splint touches an object for the first time, it is pushed by the reaction force of the object, and then drives the piston plate to move through the piston rod; the gas in the left piston cylinder is effectively compressed and flows smoothly into the right piston cylinder through the intermediate pipeline, and the right piston rod and its contact splint respond quickly and extend synchronously, ensuring the continuity and stability of the action; at the same time, the intermediate seat and the guide slide work together to slide accurately to the left in the positioning seat. This The design ensures that the contact plate is in full and uniform contact with the side of the object, effectively avoiding the risk of injury caused by oblique contact; as the contact plate moves, the middle position of the middle seat is precisely adjusted and moved to directly below the corresponding object, so that the object is securely located in the center below the middle seat; the stability of object handling is improved, while also avoiding any collision or oblique contact between the contact plate and the object, greatly reducing the damage that the object may suffer during handling, ensuring the efficiency and safety of palletizing operations, and avoiding sliding and wear on the ground when the object is clamped.

[0030] 2. In the present invention, a limiting protrusion, a limiting groove, a movable plate, a pressure relief valve, a bearing block, a stopper and a connecting frame are used. The length of the connecting frame exceeds the stopper, and when the contact splint slides left and right, the connecting frame can always maintain contact with the stopper; the stopper effectively blocks the connection frame from sliding left and right, thereby improving the stability and accuracy of the operation; the threshold setting of the pressure relief valve is flexible and can be finely adjusted according to the force required for clamping the object; when the air pressure in the piston cylinder reaches the preset threshold, any further increase in air pressure will be safely discharged through the pressure relief valve, so that the high-pressure gas can effectively act on the bearing block, thereby controlling the bearing block and the stopper moves backward; as the bearing block and the stopper move backward, the connecting frame, the movable plate and the limiting protrusion move downward synchronously, and the limiting protrusion smoothly enters the limiting groove, ensuring that the two contact clamps remain relatively still and stably maintain the clamping state of the objects. This design effectively avoids the risk of objects being damaged due to excessive clamping or falling off due to insufficient clamping force. In addition, after the object is clamped with a specified clamping force by the contact clamp, the system can automatically limit the contact clamp to ensure precise control of the clamping force. This automated limiting function not only improves the operating efficiency of the palletizing robot, but also significantly improves the safety and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the three-dimensional structure of a palletizing robot proposed by the present invention;

[0032] Figure 2A schematic diagram of the three-dimensional structure of a positioning seat of a palletizing robot proposed by the present invention;

[0033] Figure 3 This is a schematic diagram of the three-dimensional structure of a push plate of a palletizing robot proposed by the present invention when viewed from above;

[0034] Figure 4 This is a schematic diagram of the three-dimensional structure of the middle seat of a palletizing robot proposed by the present invention;

[0035] Figure 5 A schematic diagram of the three-dimensional structure of a mobile adjustment device of a palletizing robot proposed by the present invention;

[0036] Figure 6 A schematic diagram of the three-dimensional structure of a contact clamping plate of a palletizing robot proposed by the present invention;

[0037] Figure 7 This is a schematic diagram of a three-dimensional cross-sectional structure of a piston connection assembly of a palletizing robot proposed by the present invention;

[0038] Figure 8 A schematic diagram of the three-dimensional structure of a sliding connection device of a palletizing robot proposed by the present invention;

[0039] Fig. 9 A palletizing robot proposed by the present invention Figure 8 The enlarged structural diagram of part A in the middle;

[0040] Fig.10 This is a schematic diagram of the three-dimensional structure of a blocking device of a palletizing robot proposed by the present invention.

[0041] Legend:

[0042] 1. Mounting seat; 2. Robot body; 3. Connecting shaft; 4. Positioning seat; 5. Guide slide; 6. Intermediate seat; 7. Sliding hole; 8. Moving adjustment device; 81. Driving assembly; 82. Bidirectional screw rod; 83. Threaded cap; 84. Moving seat; 85. Support shaft seat; 9. Push plate; 10. Movable clamping device; 101. Piston connecting assembly; 1011. Piston cylinder; 1012. Piston plate; 1013. Piston rod; 1014. Connecting sleeve; 1015. First elastic assembly; 102. Intermediate tube; 11. Contact clamp; 12. Connecting hole; 13. Limiting groove; 14. Sliding connecting device ; 141. Slide rod; 142. Slide sleeve; 143. Extension portion; 144. Second elastic component; 15. Movable limiting device; 151. Movable plate; 152. Limiting protrusion; 153. Guide sleeve; 154. Guide rod; 155. Third elastic component; 156. First circular plate; 157. Connecting frame; 16. Blocking device; 161. Load-bearing block; 162. Block; 163. Intermediate rod; 164. Cross bar; 165. Second circular plate; 166. Linear bearing; 167. Fourth elastic component; 168. Support plate; 17. Pressure relief valve; 18. Elastic telescopic rod; 19. Electric hydraulic rod. DETAILED DESCRIPTION

[0043] 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.

[0044] Please see attached Figure 1 - Attachment Fig.10The present invention provides a technical solution: a palletizing robot comprises a mounting seat 1, a robot body 2 is fixedly connected to the mounting seat 1, a connecting shaft 3 is penetrated and connected to the robot body 2, a positioning seat 4 is fixedly connected to the bottom end of the connecting shaft 3, a guide slide bar 5 is slidably connected to the positioning seat 4, an intermediate seat 6 is fixedly connected under the guide slide bar 5, two sliding holes 7 are provided on the intermediate seat 6, a moving adjustment device 8 arranged on the intermediate seat 6 is slidably connected in the sliding hole 7, two push plates 9 are connected under the moving adjustment device 8, a movable clamping device 10 is penetrated and connected to the side of the push plate 9, and two movable clamping devices 10 are externally connected to the movable clamping device 10 A contact splint 11 is provided with a connecting hole 12 on the side of the contact splint 11, and a limiting groove 13 is provided on the contact splint 11. A sliding connecting device 14 is fixedly connected in the connecting hole 12, and the sliding connecting device 14 is arranged outside the contact splint 11. A movable limiting device 15 is fixedly connected to the sliding connecting device 14. A blocking device 16 connected to the outside of the push plate 9 is slidingly provided in the movable limiting device 15. A pressure relief valve 17 is connected to the side of the blocking device 16 corresponding to the position of the movable limiting device 15. Two elastic telescopic rods 18 are connected to the guide slide 5, and the other end of the elastic telescopic rod 18 is fixedly connected to the positioning seat 4.

[0045] An elastic telescopic rod 18 is used to connect the positioning seat 4 and the middle seat 6, and the elastic force ensures that the positioning seat 4 is located in the middle of the middle seat 6 when the middle seat 6 is not subjected to external force;

[0046] Specifically, Figure 2 and Figure 4 As shown, the intermediate seat 6 is connected to an electric hydraulic rod 19, the telescopic end position of the electric hydraulic rod 19 corresponds to the moving track of the positioning seat 4 on the guide slide 5, and the cross-sectional shape of the guide slide 5 is set to be T-shaped.

[0047] The electric hydraulic rod 19 is used to push the positioning seat 4 to slide outside the guide slide bar 5, so that the positioning seat 4 is located at the center of the middle seat 6, and ensures that the positioning seat 4 is stably located on the middle seat 6;

[0048] Specifically, Figure 2-3 and Figure 5 As shown, the movable adjustment device 8 includes a driving component 81 connected to the intermediate seat 6, the output shaft of the driving component 81 is connected to a bidirectional screw rod 82, the bidirectional screw rod 82 is externally threaded with two threaded caps 83, a movable seat 84 is provided outside the threaded caps 83, and the width of the movable seat 84 located on the upper side of the intermediate seat 6 is greater than the width of the sliding hole 7.

[0049] The bidirectional screw rod 82 is provided with a support shaft seat 85 on its outer sleeve, the support shaft seat 85 is fixedly connected to the intermediate seat 6 , the moving seat 84 is slidably connected in the sliding hole 7 , and the moving seat 84 is fixedly connected to the push plate 9 .

[0050] The bidirectional screw 82 is composed of two screws with opposite thread directions. When the driving assembly 81 is running, the bidirectional screw 82 can be controlled to rotate. Since the moving seat 84 is guided and supported by the sliding hole 7, the moving seat 84 can stably perform linear motion. The bidirectional screw 82 can control the two threaded caps 83 on its surface to move toward each other, which is convenient for controlling the two push plates 9 to move closer to or away from each other.

[0051] Specifically, Figure 5-7 As shown, the movable clamping device 10 includes four piston connecting assemblies 101 that are connected through the side of the push plate 9, and an intermediate pipe 102 is connected between the piston connecting assemblies 101. The pressure relief valve 17 is connected to the piston connecting assembly 101 located on the right rear side, and the piston connecting assembly 101 is fixedly connected to the contact clamp 11.

[0052] The piston connecting assembly 101 includes a piston cylinder 1011 which is connected to the side of the push plate 9, a piston plate 1012 is slidably connected inside the piston cylinder 1011, a piston rod 1013 is fixedly connected to the side of the piston plate 1012, one end of the piston rod 1013 located outside the piston cylinder 1011 is fixedly connected to the contact clamp 11, the side of the piston plate 1012 is fixedly connected to a first elastic assembly 1015 arranged in the piston cylinder 1011, a connecting sleeve 1014 is provided on the outer sleeve of the piston rod 1013, the connecting sleeve 1014 is connected to the side of the piston cylinder 1011, the piston cylinder 1011 is connected to the intermediate pipe 102, and the piston cylinder 1011 on the right rear side is connected to the pressure relief valve 17.

[0053] When the left contact splint 11 touches the object, the contact splint 11 is pushed by the object and drives the piston plate 1012 to move through the piston rod 1013. At this time, the gas in the left piston cylinder 1011 is compressed and flows into the right piston cylinder 1011 through the middle tube 102; the right piston rod 1013 and the contact splint 11 are quickly extended to control the middle seat 6 and the guide slide bar 5 to slide leftward in the positioning seat 4, ensuring that the contact splint 11 is in full contact with the side of the object; the right contact splint 11 is quickly extended and contacts the right side of the object, and the whole process is carried out smoothly, avoiding the collision between the contact splint 11 and the object, and not causing the object to slide on the ground; because the air pressure in the left and right piston cylinders 1011 is balanced, it is ensured that the contact splint 11 has a consistent clamping force on both sides of the object;

[0054] Specifically, Figure 5 Figure 8 As shown, the sliding connection device 14 includes a sliding rod 141 set to be rectangular, and two sliding sleeves 142 fixedly connected to the connecting hole 12 are slidably connected to the outside of the sliding rod 141. Extension parts 143 are provided at both ends of the sliding rod 141. The side of the extension part 143 is fixedly connected to the second elastic component 144. The second elastic component 144 is connected to the outside of the contact splint 11, and the movable limiting device 15 is fixedly connected to the sliding rod 141.

[0055] The sliding sleeve 142 and the sliding rod 141 cooperate with each other to enable the two contact clamps 11 to stably move toward and away from each other, and the second elastic component 144 prevents the sliding rod 141 from sliding in the sliding sleeve 142 at will;

[0056] Specifically, Figure 8-9 As shown, the movable limiting device 15 includes two guide rods 154 connected to the sliding rod 141, and a guide sleeve 153 is slidably connected to the outside of the guide rod 154. A movable plate 151 is arranged outside the guide sleeve 153, and a limiting protrusion 152 is connected to the bottom of the movable plate 151. The position and size of the limiting protrusion 152 correspond to the position and size of the limiting groove 13. A connecting frame 157 is fixedly connected to the right side of the movable plate 151, and a first circular plate 156 is fixedly connected to the top of the guide rod 154. A third elastic component 155 is arranged on the outer sleeve of the guide rod 154. The two ends of the third elastic component 155 are respectively fixedly connected to the sliding rod 141 and the guide sleeve 153, and the blocking device 16 is located in the connecting frame 157.

[0057] The guide rod 154 and the guide sleeve 153 guide the movable plate 151, so that the movable plate 151 and the limiting protrusion 152 can stably move closer to or away from the limiting groove 13, and the third elastic component 155 automatically moves downward after the movable plate 151 loses its obstruction, and the limiting protrusion 152 cooperates with the limiting groove 13 to keep the two contact clamping plates 11 stable, thereby stabilizing the clamping state of the two contact clamping plates 11 on the object;

[0058] Specifically, Figure 5 and Figure 9-10 As shown, the blocking device 16 includes a supporting block 161 located at the rear side of the pressure relief valve 17, and an intermediate rod 163 is fixedly connected to the side of the supporting block 161, and the other end of the intermediate rod 163 is fixedly connected to a blocking block 162 located in a connecting frame 157. The length of the connecting frame 157 is greater than the blocking block 162. When the connecting frame 157 slides in the left and right directions outside the blocking block 162, it will not be separated from the blocking block 162. A cross bar 164 is fixedly connected to the back side of the supporting block 161, and a second circular plate 165 is fixedly connected to the back side of the cross bar 164.

[0059] A linear bearing 166 is slidably connected to the outside of the cross bar 164, and a support plate 168 is provided outside the linear bearing 166. The support plate 168 is fixedly connected to the side of the push plate 9. A fourth elastic component 167 is provided outside the cross bar 164, and the two ends of the fourth elastic component 167 are respectively fixedly connected to the linear bearing 166 and the supporting block 161.

[0060] A connecting frame 157 and a stopper 162 are used. When the stopper 162 is located in the connecting frame 157, the connecting frame 157 and the limiting protrusion 152 are blocked. At this time, the two contact clamps 11 can move freely. The linear bearing 166 guides the movement of the cross bar 164 and the stopper 162, so that the stopper 162 can move back and forth stably and smoothly. The pressure relief valve 17 and the bearing block 161 are used. When the contact clamp 11 reaches the preset clamping force, the air pressure in the piston cylinder 1011 continues to increase, and the pressure relief valve 17 is immediately started to discharge the excess gas. The high-pressure gas acts on the bearing block 161 to move backward, driving the cross bar 164, the middle rod 163 and the stopper 162 to move backward together, and automatically releasing the blocking and limiting of the connecting frame 157 by the stopper 162.

[0061] Working principle, when using:

[0062] The robot body 2 is controlled to move the middle seat 6 smoothly to the top of the object to be transported, ensuring that the contact clamps 11 on both sides are exactly located on the left and right sides of the object; since the object may not be exactly located in the center of the two contact clamps 11, but on the left side, the driving component 81 is started to operate; the component uses the bidirectional screw 82 mechanism to make the two threaded caps 83 approach each other, thereby pushing the push plate 9 to move toward the object; in this process, the contact clamps 11 also move accordingly, and the left contact clamp 11 is the first to contact the object;

[0063] When the left contact clamp 11 touches the object, the object pushes the contact clamp 11 to drive the piston plate 1012 to move through the piston rod 1013. At this time, the gas in the left piston cylinder 1011 is compressed and flows into the right piston cylinder 1011 through the middle tube 102. The right piston rod 1013 and the contact clamp 11 extend rapidly. At the same time, the middle seat 6 and the guide slide 5 are controlled to slide to the left in the positioning seat 4 to ensure that the contact clamp 11 is in full contact with the side of the object to avoid tilted contact.

[0064] The right contact clamp 11 quickly extends and contacts the right side of the object. The whole process is smooth, avoiding collision between the contact clamp 11 and the object and preventing the object from sliding on the ground. Since the air pressure in the piston cylinders 1011 on the left and right sides is balanced, the clamping force of the contact clamp 11 on both sides of the object is consistent.

[0065] When the contact clamping plate 11 reaches the preset clamping force, the air pressure in the piston cylinder 1011 continues to increase, and the pressure relief valve 17 is immediately activated to discharge excess gas; the high-pressure gas acts on the supporting block 161 to move it backward, driving the cross bar 164, the middle rod 163 and the stopper 162 to move backward together; after the stopper 162 is separated from the connecting frame 157, the third elastic component 155 plays a role, causing the movable plate 151 and the limiting protrusion 152 to move downward, and the limiting protrusion 152 smoothly enters the limiting groove 13, thereby stabilizing the clamping state of the two contact clamping plates 11 on the object; then, the robot body 2 lifts the object smoothly and separates it from the ground; at this time, the electric hydraulic rod 19 is started to push the positioning seat 4 to slide to the middle position of the middle seat 6, ensuring that the object is accurately positioned in the middle of the middle seat 6 and the positioning seat 4, avoiding tilting or wear problems caused by the object deviating from the center position.

[0066] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A palletizing robot, comprising a mounting base (1), characterized in that: The mounting seat (1) is fixedly connected to a robot body (2), a connecting shaft (3) is connected through the robot body (2), a positioning seat (4) is fixedly connected to the bottom end of the connecting shaft (3), a guide slide bar (5) is slidably connected inside the positioning seat (4), an intermediate seat (6) is fixedly connected below the guide slide bar (5), two sliding holes (7) are provided on the intermediate seat (6), a movable adjustment device (8) provided on the intermediate seat (6) is slidably connected inside the sliding holes (7), two push plates (9) are connected below the movable adjustment device (8), a movable clamping device (10) is connected through the side of the push plate (9), and two contact clamping plates (11) are connected to the outside of the movable clamping device (10), and the contact A connecting hole (12) is provided on the side of the splint (11), a limiting groove (13) is provided on the contact splint (11), a sliding connecting device (14) is fixedly connected in the connecting hole (12), the sliding connecting device (14) is arranged outside the contact splint (11), a movable limiting device (15) is fixedly connected to the sliding connecting device (14), a blocking device (16) connected to the outside of the push plate (9) is slidably provided in the movable limiting device (15), a pressure relief valve (17) is connected to the side of the blocking device (16) corresponding to the position of the movable limiting device (15), and two elastic telescopic rods (18) are connected to the guide slide (5), and the other end of the elastic telescopic rod (18) is fixedly connected to the positioning seat (4).

2. A palletizing robot according to claim 1, characterized in that: The intermediate seat (6) is connected to an electric hydraulic rod (19), the telescopic end position of the electric hydraulic rod (19) corresponds to the moving track of the positioning seat (4) on the guide slide (5), and the cross-sectional shape of the guide slide (5) is set to be T-shaped.

3. A palletizing robot according to claim 1, characterized in that: The movable adjustment device (8) comprises a driving assembly (81) connected to the intermediate seat (6); the output shaft of the driving assembly (81) is connected to a bidirectional screw rod (82); the bidirectional screw rod (82) is externally threadedly connected to two threaded caps (83); a movable seat (84) is externally provided on the threaded caps (83); the width of the movable seat (84) located on the upper side of the intermediate seat (6) is greater than the width of the sliding hole (7).

4. A palletizing robot according to claim 3, characterized in that: The bidirectional screw rod (82) is provided with a support shaft seat (85) on its outer sleeve. The support shaft seat (85) is fixedly connected to the intermediate seat (6). The movable seat (84) is slidably connected in the sliding hole (7). The movable seat (84) is fixedly connected to the push plate (9).

5. The palletizing robot according to claim 1, characterized in that: The movable clamping device (10) comprises four piston connecting assemblies (101) penetratingly connected to the side of the push plate (9), the piston connecting assemblies (101) are connected by an intermediate pipe (102), the pressure relief valve (17) is connected to the piston connecting assembly (101) located on the right rear side, and the piston connecting assembly (101) is fixedly connected to the contact clamping plate (11).

6. A palletizing robot according to claim 5, characterized in that: The piston connection assembly (101) comprises a piston cylinder (1011) connected to the side of the push plate (9) through the piston cylinder (1011), a piston plate (1012) is slidably connected inside the piston cylinder (1011), a piston rod (1013) is fixedly connected to the side of the piston plate (1012), one end of the piston rod (1013) located outside the piston cylinder (1011) is fixedly connected to the contact clamping plate (11), the side of the piston plate (1012) is fixedly connected to a first elastic assembly (1015) arranged in the piston cylinder (1011), a connecting sleeve (1014) is provided on the outer sleeve of the piston rod (1013), and the connecting sleeve (1014) is connected to the side of the piston cylinder (1011), the piston cylinder (1011) is connected to the intermediate pipe (102), and the piston cylinder (1011) on the right rear side is connected to the pressure relief valve (17).

7. The palletizing robot according to claim 1, characterized in that: The sliding connection device (14) comprises a sliding rod (141) which is arranged in a rectangular shape. Two sliding sleeves (142) which are fixedly connected to the connection hole (12) are slidably connected to the outside of the sliding rod (141). Extensions (143) are provided at both ends of the sliding rod (141). The side surfaces of the extensions (143) are fixedly connected to a second elastic component (144). The second elastic component (144) is connected to the outside of the contact clamp (11). The movable limiting device (15) is fixedly connected to the sliding rod (141).

8. The palletizing robot according to claim 7, characterized in that: The movable limiting device (15) comprises two guide rods (154) connected to the sliding rod (141); the guide rod (154) is slidably connected to a guide sleeve (153); a movable plate (151) is arranged outside the guide sleeve (153); a limiting protrusion (152) is connected below the movable plate (151); the position and size of the limiting protrusion (152) correspond to the position and size of the limiting groove (13); a connecting frame (157) is fixedly connected to the right side of the movable plate (151); the top of the guide rod (154) is fixedly connected to a first circular plate (156); a third elastic component (155) is arranged on the outer sleeve of the guide rod (154); the two ends of the third elastic component (155) are respectively fixedly connected to the sliding rod (141) and the guide sleeve (153); and the blocking device (16) is located in the connecting frame (157).

9. The palletizing robot according to claim 1, characterized in that: The blocking device (16) comprises a bearing block (161) located at the rear side of the pressure relief valve (17); a middle rod (163) is fixedly connected to the side of the bearing block (161); the other end of the middle rod (163) is fixedly connected to a blocking block (162) located in a connecting frame (157); the length of the connecting frame (157) is greater than the blocking block (162); the connecting frame (157) will not separate from the blocking block (162) when sliding in the left and right directions outside the blocking block (162); a cross bar (164) is fixedly connected to the back of the bearing block (161); and a second circular plate (165) is fixedly connected to the back of the cross bar (164).

10. The palletizing robot according to claim 9, characterized in that: The cross bar (164) is slidably connected to a linear bearing (166) outside, and a support plate (168) is provided outside the linear bearing (166). The support plate (168) is fixedly connected to the side of the push plate (9). The cross bar (164) is outer-mounted with a fourth elastic component (167), and the two ends of the fourth elastic component (167) are respectively fixedly connected to the linear bearing (166) and the bearing block (161).

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