A palletizing robot

Abstract

The present invention discloses a palletizing robot, belonging to the technical field of palletizing. It includes a mounting base, on which a robot body is fixedly connected. A connecting shaft penetrates through the robot body, and a positioning seat is fixedly connected to the bottom end of the connecting shaft. A guiding slide bar is slidably connected within the positioning seat. In the present invention, by using the positioning seat, the intermediate seat, the piston cylinder, the piston plate, the contact clamping plate, the guiding slide bar, and the electro-hydraulic rod, as the contact clamping plate moves, the middle position of the intermediate seat is accurately adjusted accordingly and moves to directly below the corresponding item, so that the item is steadily located at the central position below the intermediate seat; the stability of item handling is improved, and at the same time, any collision or inclined contact between the contact clamping plate and the item is avoided, greatly reducing the possible damage that the item may suffer during handling, ensuring the efficiency and safety of the palletizing operation, and avoiding the situation of sliding and wearing on the ground when the item is clamped.

Description

Technical Field

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

[0002] Some invention patents in the technical field of palletizing are disclosed in the prior art. Among them, the invention patent with the application number CN114229466B discloses an intelligent palletizing robot for aluminum single plates, including a base, a support frame, a conveying mechanism, a sorting mechanism, an adsorption mechanism, and a palletizing limiting mechanism. This invention uses the cooperation of the adsorption mechanism and the palletizing limiting mechanism to position the position of the aluminum single plate during palletizing, so that the placement position of the aluminum single plate is more accurate. At the same time, the palletizing limiting mechanism limits the top corners of the palletized aluminum single plates, thus avoiding the problem of the palletized aluminum single plates tilting due to lack of limitation during placement. Before the aluminum single plates are adsorbed and palletized, the conveying aluminum single plates are sorted by the sorting mechanism first, so that each time the adsorption mechanism can adsorb at the same position of the aluminum single plate, facilitating the neat palletizing of the aluminum single plates and avoiding the problem that the positions of the aluminum single plates adsorbed by the adsorption mechanism each time are deviated, resulting in the inability to neatly palletize the aluminum single plates.

[0003] In the existing palletizing robot technology, there is often a problem during the clamping process before the item is transferred: the item may not be exactly at the center position of the clamping component. Most traditional clamping components use two synchronously moving clamping plates, which achieve clamping and limiting of the item by approaching each other. However, when there is a deviation between the clamping component and the center position of the item, a series of problems will arise;

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

[0005] These problems are common in the existing palletizing robot technology and pose challenges to the handling efficiency and safety of items;

[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 to solve the problem that the inclined contact between the clamping plate and the item or the pushing of the item to slide and wear on the ground may occur during the clamping process.

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

[0009] A palletizing robot includes a mounting base, on which a robot main body is fixedly connected. A connecting shaft penetrates through the robot main body. A positioning seat is fixedly connected to the bottom end of the connecting shaft. A guiding slide bar is slidably connected in the positioning seat. An intermediate seat is fixedly connected under the guiding slide bar. Two sliding holes are formed in the intermediate seat. A moving and adjusting device arranged on the intermediate seat is slidably connected in the sliding holes. Two push plates are connected under the moving and adjusting device. An active clamping device penetrates through the side surface of the push plate. Two contact clamping plates are connected outside the active clamping device. A connecting hole is formed in the side surface of the contact clamping plate. A limiting groove is formed in the contact clamping plate. A sliding connection device is fixedly connected in the connecting hole. The sliding connection device is arranged outside the contact clamping plate. An active limiting device is fixedly connected to the sliding connection device. A blocking device connected outside the push plate is slidably arranged in the active limiting device. A pressure relief valve is communicated with the side surface of the blocking device corresponding to the position of the active limiting device. Two elastic telescopic rods are connected to the guiding slide bar. The other ends of the elastic telescopic rods are fixedly connected to the positioning seat.

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

[0011] An electric hydraulic rod is connected to the intermediate seat. The position of the telescopic end of the electric hydraulic rod corresponds to the moving track of the positioning seat on the guiding slide bar. The cross-sectional shape of the guiding slide bar is set as a T shape.

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

[0013] The moving and adjusting device includes a driving component connected to the intermediate seat. The output shaft of the driving component is connected with a bidirectional lead screw. Two threaded nuts are threadedly connected to the outside of the bidirectional lead screw. A moving seat is arranged outside the threaded nut. The width of the part of the moving seat located above the intermediate seat is greater than the width of the sliding hole.

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

[0015] A support shaft seat is sleeved outside the bidirectional lead screw. The support shaft seat is fixedly connected to the intermediate seat. The moving seat is slidably connected in the sliding hole. The moving seat is fixedly connected to the push plate.

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

[0017] The active clamping device includes four piston connection components penetrating through the side surface of the push plate. An intermediate pipe is communicated between the piston connection components. The pressure relief valve is communicated with the piston connection component located at the right rear side. The piston connection component is fixedly connected to the contact clamping plate.

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

[0019] The piston connection assembly includes a piston cylinder penetrating and connected to the side of the push plate. A piston plate is slidably connected inside 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. A first elastic component arranged inside the piston cylinder is fixedly connected to the side of the piston plate. A connecting sleeve is sleeved outside the piston rod. The connecting sleeve penetrates and is connected to the side of the piston cylinder. The piston cylinder communicates with the intermediate pipe, and the piston cylinder at the right rear communicates with the pressure relief valve.

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

[0021] The sliding connection device includes a slide bar shaped like a rectangle. Two sliding sleeves fixedly connected inside the connection holes are slidably connected outside the slide bar. Extension parts are provided at both ends of the slide bar. A second elastic component is fixedly connected to the side of the extension part. The second elastic component is connected outside the contact clamping plate. The movable limit device is fixedly connected to the slide bar.

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

[0023] The movable limit device includes two guide rods connected to the slide bar. A guide sleeve is slidably connected outside the guide rod. A movable plate is provided outside the guide sleeve. A limit protrusion is connected under the movable plate. The position and size of the limit protrusion correspond to the position and size of the limit groove. A connection frame is fixedly connected to the right side surface of the movable plate. A first circular plate is fixedly connected to the top end of the guide rod. A third elastic component is sleeved outside the guide rod. Both ends of the third elastic component are fixedly connected to the slide bar and the guide sleeve respectively. The blocking device is located inside the connection frame.

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

[0025] The blocking device includes a bearing block located behind the pressure relief valve. An intermediate rod is fixedly connected to the side of the bearing block. The other end of the intermediate rod is fixedly connected to a blocking block located inside the connection frame. The length of the connection frame is greater than that of the blocking block. When the connection frame slides left and right outside the blocking block, it will not separate from the blocking block. A cross bar is fixedly connected to the back surface of the bearing block. A second circular plate is fixedly connected to the back surface 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. A fourth elastic component is sleeved outside the cross bar. 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 clamping plate, a guiding slide bar, and an electro-hydraulic rod are adopted. When the contact clamping plate contacts an article, especially when the left contact clamping plate first touches the article, it is pushed by the reaction force of the article, and then drives the piston plate to move through the piston rod; the gas in the left piston cylinder is effectively compressed and smoothly flows into the right piston cylinder through the intermediate pipeline, and the right piston rod and its contact clamping plate quickly respond and extend synchronously, ensuring the coherence and smoothness of the action; at the same time, the intermediate seat and the guiding slide bar cooperate to accurately slide leftward in the positioning seat. This design ensures that the contact clamping plate makes full and uniform contact with the side of the article, effectively avoiding the risk of damage that may be caused by inclined contact; as the contact clamping plate moves, the middle position of the intermediate seat is also accurately adjusted and moves to directly below the corresponding article, making the article stably located at the central position below the intermediate seat; it improves the stability of article handling, and at the same time avoids any collision or inclined contact between the contact clamping plate and the article, greatly reducing the damage that the article may suffer during handling, ensuring the efficiency and safety of the palletizing operation, and avoiding the situation of sliding and wearing on the ground when the article 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 stop block, and a connecting frame are adopted. The length of the connecting frame exceeds that of the stop block. When the contact clamping plate slides left and right, the connecting frame can always maintain contact with the stop block; the stop block effectively plays a role in blocking the left and right sliding of the connecting frame, 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 article; when the air pressure in the piston cylinder reaches the preset threshold, any continuously increasing air pressure will be safely discharged through the pressure relief valve, so that the high-pressure gas can effectively act on the bearing block, and then control the backward movement of the bearing block and the stop block; as the bearing block and the stop block 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 clamping plates remain relatively stationary and stably maintaining the clamping state of the article. This design effectively avoids the risk of damage to the article due to excessive clamping or falling off due to insufficient clamping force. In addition, after the article is applied with the specified clamping force by the contact clamping plate, the system can automatically limit the contact clamping plate, ensuring the precise control of the clamping force; this automatic limiting function not only improves the operation efficiency of the palletizing robot, but also significantly improves the safety and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0033] Figure 3 Schematic bottom-up three-dimensional structure diagram of the push plate of a palletizing robot proposed by the present invention;

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

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

[0036] Figure 6 Schematic three-dimensional structure diagram of the contact splint of a palletizing robot proposed by the present invention;

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

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

[0039] Figure 9 For a palletizing robot proposed by the present invention Figure 8 Schematic enlarged structure diagram of part A;

[0040] Figure 10 Schematic three-dimensional structure diagram of the blocking device of a palletizing robot proposed by the present invention.

[0041] Legend:

[0042] 1. Mounting base; 2. Robot main body; 3. Connecting shaft; 4. Positioning seat; 5. Guide slide bar; 6. Intermediate seat; 7. Sliding hole; 8. Moving adjustment device; 81. Driving assembly; 82. Bi-directional lead screw; 83. Threaded nut; 84. Moving seat; 85. Support shaft seat; 9. Pushing plate; 10. Movable clamping device; 101. Piston connection assembly; 1011. Piston cylinder; 1012. Piston plate; 1013. Piston rod; 1014. Connecting sleeve; 1015. First elastic component; 102. Intermediate pipe; 11. Contact clamping plate; 12. Connecting hole; 13. Limiting groove; 14. Sliding connection device; 141. Slide bar; 142. Slide sleeve; 143. Extension part; 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. 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 implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] Please refer to the attached Figure 1 - attached Figure 10, the present invention provides a technical solution: a palletizing robot, including a mounting base 1, a robot main body 2 is fixedly connected to the mounting base 1, a connecting shaft 3 penetrates through the robot main body 2, a positioning seat 4 is fixedly connected to the bottom end of the connecting shaft 3, a guiding slide bar 5 is slidably connected in the positioning seat 4, an intermediate seat 6 is fixedly connected to the lower part of the guiding slide bar 5, two sliding holes 7 are opened in the intermediate seat 6, a moving and adjusting device 8 arranged on the intermediate seat 6 is slidably connected in the sliding holes 7, two push plates 9 are connected to the lower part of the moving and adjusting device 8, a movable clamping device 10 penetrates through the side surface of the push plate 9, two contact clamping plates 11 are connected to the outside of the movable clamping device 10, a connecting hole 12 is opened in the side surface of the contact clamping plate 11, a limiting groove 13 is opened in the contact clamping plate 11, a sliding connection device 14 is fixedly connected in the connecting hole 12, the sliding connection device 14 is arranged outside the contact clamping plate 11, a movable limiting device 15 is fixedly connected to the sliding connection device 14, a blocking device 16 connected to the outside of the push plate 9 is slidably arranged in the movable limiting device 15, a pressure relief valve 17 is communicated with the side surface of the blocking device 16 corresponding to the position of the movable limiting device 15, two elastic telescopic rods 18 are connected to the guiding slide bar 5, and the other ends of the elastic telescopic rods 18 are fixedly connected to the positioning seat 4.

[0045] The elastic telescopic rod 18 is used to connect the positioning seat 4 and the intermediate seat 6, and the elastic force ensures that when the intermediate seat 6 is not affected by external forces, the positioning seat 4 is located at the middle position of the intermediate seat 6;

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

[0047] The electric hydraulic rod 19 is adopted to push the positioning seat 4 to slide outside the guiding slide bar 5, so that the positioning seat 4 is located at the central position on the intermediate seat 6, and it is ensured that the positioning seat 4 is stably located on the intermediate seat 6;

[0048] Specifically, as Figure 2-3 and Figure 5 shown, the moving and adjusting device 8 includes a driving component 81 connected to the intermediate seat 6, an output shaft of the driving component 81 is connected with a bidirectional lead screw 82, two threaded nuts 83 are externally threaded on the bidirectional lead screw 82, a moving seat 84 is arranged outside the threaded nut 83, and the width of the upper part of the moving seat 84 located on the intermediate seat 6 is greater than the width of the sliding hole 7.

[0049] A support shaft seat 85 is sleeved outside the bidirectional lead screw 82, 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 lead screw 82 is composed of two screws with opposite thread directions. When the driving assembly 81 operates, it can control the rotation of the bidirectional lead screw 82. Since the moving seat 84 is guided and supported by the sliding hole 7, the moving seat 84 can perform a stable linear motion. The bidirectional lead screw 82 can control the two threaded nuts 83 on its surface to move towards each other, facilitating the control of the two push plates 9 to move closer to and away from each other;

[0051] Specifically, as Figure 5-7 shown, the movable clamping device 10 includes four piston connection components 101 penetrating and connected to the side of the push plate 9. An intermediate pipe 102 is communicated between the piston connection components 101. The pressure relief valve 17 is communicated with the piston connection component 101 located at the right rear side, and the piston connection component 101 is fixedly connected to the contact splint 11.

[0052] The piston connection component 101 includes a piston cylinder 1011 penetrating and connected to the side of the push plate 9. A piston plate 1012 is slidably connected in 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 splint 11. A first elastic component 1015 provided in the piston cylinder 1011 is fixedly connected to the side of the piston plate 1012. A connecting sleeve 1014 is sleeved outside the piston rod 1013. The connecting sleeve 1014 penetrates and is connected to the side of the piston cylinder 1011. The piston cylinder 1011 is communicated with the intermediate pipe 102, and the piston cylinder 1011 at the right rear side is communicated with the pressure relief valve 17.

[0053] When the left contact splint 11 touches an item, driven by the item, the contact splint 11 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 intermediate pipe 102; the piston rods 1013 and contact splints 11 on the right side quickly extend, controlling the intermediate seat 6 and the guiding slide bar 5 to slide leftward in the positioning seat 4 to ensure full contact between the contact splint 11 and the side of the item; the right contact splint 11 quickly extends and contacts the right side of the item, and the whole process proceeds smoothly, avoiding the collision between the contact splint 11 and the item and not causing the item to slide on the ground; due to the equal air pressure in the left and right piston cylinders 1011, it ensures that the clamping forces on both sides of the item by the contact splint 11 are consistent;

[0054] Specifically, as Figure 5 Figure 8 shown, the sliding connection device 14 includes a slide bar 141 in the shape of a rectangle. Two slide sleeves 142 fixedly connected in the connection hole 12 are slidably connected outside the slide bar 141. Extension parts 143 are provided at both ends of the slide bar 141. A second elastic component 144 is fixedly connected to the side of the extension part 143. The second elastic component 144 is connected outside the contact splint 11, and the movable limit device 15 is fixedly connected to the slide bar 141.

[0055] The sliding sleeve 142 and the sliding rod 141 cooperate to enable the two contact clamping plates 11 to stably approach and move away from each other, and the second elastic component 144 prevents the sliding rod 141 from sliding randomly within the sliding sleeve 142;

[0056] Specifically, as Figure 8-9 shown, the movable limiting device 15 includes two guide rods 154 connected to the sliding rod 141. A guide sleeve 153 is slidably connected to the outside of the guide rod 154. An activity plate 151 is provided outside the guide sleeve 153. A limiting protrusion 152 is connected under the activity plate 151. The position and size of the limiting protrusion 152 correspond to the position and size of the limiting groove 13. A connection frame 157 is fixedly connected to the right side surface of the activity plate 151. A first circular plate 156 is fixedly connected to the top end of the guide rod 154. A third elastic component 155 is sleeved outside 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. The blocking device 16 is located within the connection frame 157.

[0057] The guide rod 154 and the guide sleeve 153 guide the activity plate 151, enabling the activity plate 151 and the limiting protrusion 152 to stably move closer to or away from the limiting groove 13. And after the activity plate 151 loses the block, the third elastic component 155 automatically moves downward. The cooperation between the limiting protrusion 152 and the limiting groove 13 keeps the two contact clamping plates 11 stable and stabilizes the clamping state of the two contact clamping plates 11 on the article;

[0058] Specifically, as Figure 5 and Figure 9-10 shown, the blocking device 16 includes a bearing block 161 located behind the pressure relief valve 17. An intermediate rod 163 is fixedly connected to the side surface of the bearing block 161. The other end of the intermediate rod 163 is fixedly connected to a stop block 162 located within the connection frame 157. The length of the connection frame 157 is greater than that of the stop block 162. The connection frame 157 will not separate from the stop block 162 when sliding in the left - right direction outside the stop block 162. A cross bar 164 is fixedly connected to the back surface of the bearing block 161. A second circular plate 165 is fixedly connected to the back surface of the cross bar 164.

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

[0060] The connecting frame 157 and the stopper 162 are adopted. When the stopper 162 is located inside the connecting frame 157, it blocks the connecting frame 157 and the limiting protrusion 152. At this time, the two contact splints 11 can move freely. The linear bearing 166 guides the movement of the cross bar 164 and the stopper 162, enabling the stopper 162 to move back and forth stably and smoothly. The pressure relief valve 17 and the bearing block 161 are adopted. When the contact splints 11 reach 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 the excess gas. The high-pressure gas acts on the bearing block 161, causing it to move backward, driving the cross bar 164, the intermediate rod 163 and the stopper 162 to move backward together, automatically releasing the blocking and limiting of the stopper 162 on the connecting frame 157.

[0061] Working principle, when in use:

[0062] Control the movement of the robot main body 2 to smoothly move the intermediate seat 6 directly above the item to be carried, ensuring that the contact splints 11 on both sides are exactly located on the left and right sides of the item; considering that the item may not be exactly centered between the two contact splints 11 but biased to the left, start the driving component 81 to operate; this component, through the mechanism of the bidirectional lead screw 82, causes the two threaded nuts 83 to approach each other, thereby pushing the push plate 9 towards the item; during this process, the contact splints 11 also move accordingly, and the left contact splint 11 first comes into contact with the item.

[0063] When the left contact splint 11 touches the item, driven by the item, the contact splint 11 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 intermediate pipe 102; the piston rod 1013 and the contact splint 11 on the right quickly extend. At the same time, control the intermediate seat 6 and the guide slide 5 to slide leftward in the positioning seat 4 to ensure full contact between the contact splint 11 and the side of the item, avoiding the occurrence of inclined contact.

[0064] The right contact splint 11 quickly extends and comes into contact with the right side of the item. The whole process proceeds smoothly, avoiding the collision between the contact splint 11 and the item and not causing the item to slide on the ground; due to the balanced air pressure in the left and right piston cylinders 1011, it ensures that the clamping forces of the contact splints 11 on both sides of the item are consistent.

[0065] When the contact splints 11 reach 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 the excess gas; the high-pressure gas acts on the bearing block 161, causing it to move backward, driving the cross bar 164, the intermediate rod 163 and the stop block 162 to move backward together; after the stop block 162 separates from the connection frame 157, the third elastic component 155 comes into play, causing the movable plate 151 and the limit protrusion 152 to move downward, and the limit protrusion 152 smoothly enters the limit groove 13, thereby stabilizing the clamping state of the two contact splints 11 on the article; subsequently, the robot main body 2 smoothly lifts the article to separate it from the ground; at this time, the electric hydraulic rod 19 is activated to push the positioning seat 4 to slide to the middle position of the middle seat 6, ensuring that the article is accurately positioned in the middle of the middle seat 6 and the positioning seat 4, avoiding the problems of tilt or wear caused by the deviation of the article from the central position.

[0066] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A palletizing robot, comprising a mounting base, characterized in that, A robot main body is fixedly connected to the mounting base. A connecting shaft penetrates through the robot main body. A positioning seat is fixedly connected to the bottom end of the connecting shaft. A guiding slide bar is slidably connected in the positioning seat. An intermediate seat is fixedly connected under the guiding slide bar. Two sliding holes are formed in the intermediate seat. A moving and adjusting device arranged on the intermediate seat is slidably connected in the sliding holes. Two push plates are connected under the moving and adjusting device. An active clamping device penetrates through the side surface of the push plate. Two contact clamping plates are connected outside the active clamping device. A connecting hole is formed in the side surface of the contact clamping plate. A limiting groove is formed in the contact clamping plate. A sliding connection device is fixedly connected in the connecting hole. The sliding connection device is arranged outside the contact clamping plate. An active limiting device is fixedly connected to the sliding connection device. A blocking device connected outside the push plate is slidably arranged in the active limiting device. A pressure relief valve communicates with the position of the active limiting device corresponding to the side surface of the blocking device. Two elastic telescopic rods are connected to the guiding slide bar. The other ends of the elastic telescopic rods are fixedly connected to the positioning seat. The sliding connection device includes a slide bar in a rectangular shape. The active limiting device includes two guiding rods connected to the slide bar. A guiding sleeve is slidably connected outside the guiding rods. An active plate is arranged outside the guiding sleeve. A limiting protrusion is connected under the active 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 surface of the active plate. A first circular plate is fixedly connected to the top end of the guiding rod. A third elastic component is sleeved outside the guiding rod. Two ends of the third elastic component are respectively fixedly connected to the slide bar and the guiding sleeve. The blocking device is located in the connecting frame. The blocking device includes a bearing block behind the pressure relief valve. An intermediate rod is fixedly connected to the side surface of the bearing block. The other end of the intermediate rod is fixedly connected to a blocking block located in the connecting frame. The high-pressure gas discharged by the pressure relief valve can act on the pressure-bearing block, thereby controlling the backward movement of the bearing block and the blocking block.

2. A palletizing robot according to claim 1, characterized in that, An electro-hydraulic rod is connected to the intermediate seat. The position of the telescopic end of the electro-hydraulic rod corresponds to the moving track of the positioning seat on the guiding slide bar. The cross-sectional shape of the guiding slide bar is set as a T shape.

3. A palletizing robot according to claim 1, characterized in that, The moving and adjusting device includes a driving component connected to the intermediate seat. The output shaft of the driving component is connected with a bidirectional lead screw. Two threaded nuts are threadedly connected outside the bidirectional lead screw. A moving seat is arranged outside the threaded nuts. The width of the part of the moving seat located above the intermediate seat is greater than the width of the sliding hole.

4. A palletizing robot according to claim 3, characterized in that, A support shaft seat is sleeved outside the bidirectional lead screw. The support shaft seat is fixedly connected to the intermediate seat. The moving seat is slidably connected in the sliding hole. The moving seat is fixedly connected to the push plate.

5. A palletizing robot according to claim 1, characterized in that, The active clamping device includes four piston connection components penetrating through the side surface of the push plate. An intermediate pipe communicates between the piston connection components. The pressure relief valve communicates with the piston connection component located at the right rear side. The piston connection component is fixedly connected to the contact clamping plate.

6. A palletizing robot according to claim 5, wherein The piston connection assembly includes a piston cylinder penetrating and connected to the side of the push plate. A piston plate is slidably connected inside 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 a contact clamping plate. A first elastic component arranged inside the piston cylinder is fixedly connected to the side of the piston plate. A connecting sleeve is sleeved outside the piston rod. The connecting sleeve penetrates and is connected to the side of the piston cylinder. The piston cylinder communicates with the intermediate pipe, and the piston cylinder at the right rear communicates with a pressure relief valve.

7. A palletizing robot according to claim 1, characterized in that, Two sliding sleeves fixedly connected in the connecting holes are slidably connected outside the sliding rod. Extension parts are arranged at both ends of the sliding rod. A second elastic component is fixedly connected to the side of the extension part. The second elastic component is connected outside the contact clamping plate. The movable limiting device is fixedly connected to the sliding rod.

8. A palletizing robot according to claim 1, wherein, The length of the connecting frame is greater than that of the stop block. The connecting frame will not separate from the stop block when sliding left and right outside the stop block. A cross bar is fixedly connected to the back of the bearing block. A second circular plate is fixedly connected to the back of the cross bar.

9. A palletizing robot according to claim 8, wherein, A linear bearing is slidably connected outside the cross bar. A support plate is arranged outside the linear bearing. The support plate is fixedly connected to the side of the push plate. A fourth elastic component is sleeved outside the cross bar. Both ends of the fourth elastic component are fixedly connected to the linear bearing and the bearing block respectively.

Images