A palletizing robot

Abstract

The present invention relates to the technical field of palletizers, and proposes a palletizer robot, comprising a frame; a manipulator, which is rotatably arranged on the frame and is used for palletizing materials after the manipulator rotates; a protective net, which is arranged on the frame and is used to protect the safety of workers; a lifting frame, which is lifted and arranged on the protective net; a first telescopic rod, which is arranged on the lifting frame; a pad, which is arranged on the first telescopic rod, and after the first telescopic rod is extended, it drives the pad to be erected on the material, and the pad is used for stacking materials, and after the first telescopic rod is retracted, it is used to extract the pad. Through the above technical scheme, the problem of bags falling due to unstable placement when the palletizer in the prior art is stacking bagged powder is solved.

Description

Technical Field

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

[0002] As an automated device that can neatly stack products on pallets in a specific arrangement, palletizers play a vital role in industrial production. With the development of industry, enterprises have increasing requirements for production efficiency, product quality and cost control. In the field of logistics and warehousing, the stacking and handling of goods is both important and arduous. The traditional manual stacking mode is not only inefficient, but also extremely labor-intensive, and prone to incorrect operations and safety accidents. However, when stacking bagged powder materials, the palletizers in the prior art often cause bags to fall due to unstable placement. Summary of the invention

[0003] The present invention provides a palletizing robot, which solves the problem that bags often fall off due to unstable placement when the palletizer in the related art palletizes bagged powder.

[0004] The technical solution of the present invention is as follows:

[0005] A palletizing robot, comprising:

[0006] frame;

[0007] A manipulator, the manipulator is rotatably arranged on the frame, and the manipulator is used for stacking materials after rotation;

[0008] A protective net, which is arranged on the frame and is used to protect the safety of workers;

[0009] A lifting frame, the lifting frame is lifted and arranged on the protective net;

[0010] a first telescopic rod, wherein the first telescopic rod is arranged on the lifting frame;

[0011] A pad, wherein the pad is arranged on the first telescopic rod. When the first telescopic rod is extended, the pad is driven to be placed on the material. The pad is used for stacking the material. When the first telescopic rod is retracted, the pad is used to pull out the pad.

[0012] Optionally, it also includes:

[0013] a second telescopic rod, the second telescopic rod being arranged on the lifting frame;

[0014] The baffle is arranged on the second telescopic rod. After the second telescopic rod is extended and retracted, the baffle is driven to approach or move away from the material. After the pad is pulled out, the baffle abuts against the material.

[0015] Optionally, it also includes:

[0016] The side plates have two side plates, which are slidably arranged on the pad. After the pad is pulled out, the two side plates are close to each other to squeeze the material.

[0017] Optionally, the two side plates are reciprocatingly slidably arranged on the pad, and move closer to or away from each other after sliding, and the side plates have a first sliding groove, and further include:

[0018] Gears, the gears are provided with two gears, the two gears are rotatably arranged on both sides of the pad, the gears have an eccentrically arranged protrusion, the protrusion is slidably arranged in the first sliding groove, and after the gears rotate, the two side plates are driven to approach or move away from each other;

[0019] There are two racks, which are respectively arranged on both sides of the lifting frame. The racks are meshed with the gears. After the first telescopic rod is retracted, the gears are driven to rotate through the racks.

[0020] Optionally, the gear is rotatably and slidably arranged on the pad, and the rack is slidably arranged on the lifting frame. After the rack and the gear slide synchronously, the two side plates are driven to move closer to or away from each other.

[0021] Optionally, the rack has a second slide groove, the second slide groove has a horizontal portion and a vertical portion, the horizontal portion and the vertical portion are smoothly connected, and further includes:

[0022] an abutment block, the abutment block being slidably disposed in the horizontal portion and the vertical portion;

[0023] An elastic member, one end of which is arranged on the horizontal part, and the other end is arranged on the abutment block, and the elastic member is used to provide a force for the abutment block to slide into the horizontal part, and after the abutment block slides, it avoids the pad.

[0024] Optionally, the abutment block has a first guide slope and a second guide slope, the first guide slope is connected to the second guide slope, and after the pad drives the side plate to move, the side plate abuts against the first guide slope and the second guide slope, and the abutment block is driven to slide along the second slide groove through the first guide slope and the second guide slope.

[0025] Optionally, the lifting frame has an avoidance groove, and the rack is vertically swingably arranged on the lifting frame;

[0026] The first telescopic rod and the second telescopic rod are vertically swingably arranged on the lifting frame.

[0027] Optionally, it also includes:

[0028] A threaded rod, wherein the threaded rod has two, and the threaded rod has a first end, a threaded section, and a second end which are arranged in sequence, the threaded section being threadedly disposed on the lifting frame, the first end being rotatably disposed on the threaded rod, the threaded rod swings vertically along the first end, the second end being a driving end, and being used to drive the threaded rod to rotate, and after the two threaded rods rotate, the two racks are driven to approach or move away from each other.

[0029] Optionally, the protective net is a folding net.

[0030] The working principle and beneficial effects of the present invention are:

[0031] In the present invention, the manipulator is composed of multiple joints and connecting rods, and can realize multi-degree-of-freedom rotation. The manipulator is driven by a motor or a hydraulic system, and can quickly and accurately grab and place materials. The materials in this embodiment are bagged materials, that is, powder materials contained in sacks, which are replaced by materials later. During the stacking process, the manipulator automatically adjusts the grabbing position and force according to the preset program and the information fed back by the sensor to ensure the safe stacking of the materials. In order to improve the working efficiency and accuracy of the manipulator, visual sensors or laser rangefinders and other equipment can be installed on the manipulator to monitor the position and shape of the material in real time and realize precise grabbing. The protective net is installed around the frame to form a closed protective area. The height and density of the protective net are designed according to safety standards to effectively prevent the occurrence of accidents.

[0032] A door or passage is provided on the protective net so that workers can load, unload and maintain materials. A safety interlock device is installed on the door or passage, which can only be opened when the manipulator stops running, further improving the safety of work. The lifting frame is installed on the protective net and can achieve lifting and lowering movement through a motor, hydraulic system or screw. The lifting range of the lifting frame is adjusted according to the height of the material and the stacking requirements to adapt to materials of different specifications. During the stacking process, the lifting frame automatically adjusts its height according to the work progress of the manipulator to ensure that the material can be accurately placed on the pad. The first telescopic rod is installed on the lifting frame and can achieve telescopic movement through a motor, hydraulic system or pneumatic device. The length and telescopic speed of the first telescopic rod are adjusted according to the size of the material and the stacking requirements to ensure that the pad can be accurately placed on the material or pulled out from under the material. During the stacking process, the first telescopic rod is extended to place the pad above a layer of materials that have been stacked. A new layer of bagged materials is placed on the pad. Since the pad support surface is relatively flat, the risk of the new layer of materials sliding down and falling is prevented. Due to the support of the material below, the pad does not bear weight. At the same time, after the new layer of material above is stacked, the material below is squeezed to prevent the center of the material below from being too high and the surroundings from being too low, thereby increasing the stability of stacking. When the material is stacked, the first telescopic rod retracts and the pad is pulled out from under the material for the next stacking operation. During the stacking process, the pad serves as a bearing platform for the material, protecting the material and improving the stability of stacking. When the first telescopic rod is extended, the pad is placed on the material, providing a stable working platform for the manipulator. When the first telescopic rod is retracted, the pad is pulled out from under the material for the next stacking operation.

[0033] Palletizing robots can realize automated palletizing operations, greatly improving production efficiency. Compared with manual palletizing, robots can work continuously, are not affected by factors such as fatigue and emotions, and can complete palletizing tasks quickly and accurately. The robot's multi-degree-of-freedom manipulator and control system can achieve efficient material grabbing and placement, reducing time waste during the palletizing process. At the same time, the automatic adjustment function of the lifting frame and the first telescopic rod can improve the accuracy of palletizing, further improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0035] Figure 1 It is a schematic diagram of the structure of the present invention;

[0036] Figure 2 It is a bottom view structural schematic diagram of the present invention;

[0037] Figure 3 for Figure 2 A magnified schematic diagram of point A;

[0038] Figure 4 This is a schematic diagram of the abutment block structure of the present invention;

[0039] Figure 5 It is a schematic diagram of the structure of the elastic member of the present invention;

[0040] Figure 6 for Figure 1 An enlarged schematic diagram of point B.

[0041] In the figure: 1, frame, 2, manipulator, 3, protection net, 4, lifting frame, 5, first telescopic rod, 6, pad, 7, second telescopic rod, 8, baffle, 9, side plate, 91, first slide groove, 11, gear, 111, protrusion, 12, rack, 121, second slide groove, 122, horizontal part, 123, vertical part, 13, elastic member, 14, abutment block, 141, first guide slope, 142, second guide slope, 15, threaded rod, 151, first end, 152, threaded section, 153, second end. DETAILED DESCRIPTION

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, they can also be understood as further technical solutions without creative work. In some figures, components with the same structure or function are only schematically illustrated, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

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

[0044] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0045] Reference Figure 1 to Figure 6 , which is the first embodiment of the present invention, proposes

[0046] A palletizing robot comprises: a frame 1; a manipulator 2 rotatably arranged on the frame 1, and used for palletizing materials after the manipulator 2 rotates; a protective net 3 arranged on the frame 1, and used for protecting the safety of workers; a lifting frame 4 is lifted and arranged on the protective net 3; a first telescopic rod 5 is arranged on the lifting frame 4; a pad 6 is arranged on the first telescopic rod 5, and after the first telescopic rod 5 is extended, the pad 6 is driven to be erected on the materials, and the pad 6 is used for stacking materials, and after the first telescopic rod 5 is retracted, the pad 6 is used for extracting.

[0047] In this embodiment, the manipulator 2 is composed of multiple joints and connecting rods, and can realize multi-degree-of-freedom rotation. The manipulator 2 is driven by a motor or a hydraulic system, and can quickly and accurately grasp and place materials. The materials in this embodiment are bagged materials, that is, powder materials contained in sacks, which are subsequently replaced by materials. During the stacking process, the manipulator 2 automatically adjusts the grasping position and strength according to the preset program and the information fed back by the sensor to ensure the safe stacking of the materials. In order to improve the working efficiency and accuracy of the manipulator 2, visual sensors or laser rangefinders and other equipment can be installed on the manipulator 2 to monitor the position and shape of the material in real time and realize precise grasping. The protective net 3 is installed around the frame 1 to form a closed protective area. The height and density of the protective net 3 are designed according to safety standards to effectively prevent the occurrence of accidents.

[0048] The protective net 3 is provided with a door or passage to facilitate workers to load, unload and maintain materials. A safety interlock device is installed on the door or passage, which can only be opened when the manipulator 2 stops running, further improving the safety of work. The lifting frame 4 is installed on the protective net 3, and the lifting and lowering movement can be realized by means of a motor, a hydraulic system or a screw. The lifting range of the lifting frame 4 is adjusted according to the height of the material and the stacking requirements to adapt to materials of different specifications. During the stacking process, the lifting frame 4 automatically adjusts the height according to the working progress of the manipulator 2 to ensure that the material can be accurately placed on the pad 6. The first telescopic rod 5 is installed on the lifting frame 4, and the telescopic movement can be realized by means of a motor, a hydraulic system or a pneumatic device. The length and telescopic speed of the first telescopic rod 5 are adjusted according to the size of the material and the stacking requirements to ensure that the pad 6 can be accurately placed on the material or pulled out from under the material. During the stacking process, the first telescopic rod 5 is extended dynamically to place the pad 6 above a layer of materials that have been stacked. A new layer of bagged materials is placed on the pad 6. Since the supporting surface of the pad 6 is relatively flat, the risk of the new layer of materials sliding down and falling is prevented. Due to the support of the material below, the pad 6 does not bear weight. At the same time, after the new layer of materials above is stacked, the lower layer of materials is squeezed to prevent the center of the lower layer of materials from being too high and the surroundings from being too low, thereby increasing the stability of stacking. When the materials are stacked, the first telescopic rod 5 contracts and the pad 6 is pulled out from under the materials for the next stacking operation. During the stacking process, the pad 6 serves as a bearing platform for the materials, protecting the materials and improving the stability of stacking. When the first telescopic rod 5 is extended, the pad 6 is placed on the materials, providing a stable working platform for the manipulator 2. When the first telescopic rod 5 contracts, the pad 6 is pulled out from under the materials for the next stacking operation.

[0049] The palletizing robot can realize automatic palletizing operation, greatly improving production efficiency. Compared with manual palletizing, the robot can work continuously, is not affected by factors such as fatigue and emotions, and can complete the palletizing task quickly and accurately. The robot's multi-degree-of-freedom manipulator 2 and control system can realize efficient material grabbing and placement, reducing time waste during the palletizing process. At the same time, the automatic adjustment function of the lifting frame 4 and the first telescopic rod 5 can improve the accuracy of palletizing, further improving production efficiency.

[0050] Furthermore, the second telescopic rod 7 is arranged on the lifting frame 4; the baffle 8 is arranged on the second telescopic rod 7. After the second telescopic rod 7 is extended and retracted, the baffle 8 is driven to approach or move away from the material. After the pad 6 is pulled out, the baffle 8 abuts against the material.

[0051] In this embodiment, the second telescopic rod 7 is also installed on the lifting frame 4, and can adopt a driving method similar to that of the first telescopic rod 5, such as a motor, a hydraulic system or a pneumatic device. It can perform telescopic movement in the horizontal direction to control the position of the baffle 8. During the stacking process, when the first telescopic rod 5 contracts to prepare to pull out the pad 6, the second telescopic rod 7 does not contract, and always drives the baffle 8 to abut the material. The size and shape of the baffle 8 are designed according to the specifications of the material to ensure that it can effectively abut the material. When the second telescopic rod 7 is extended, the baffle 8 is tightly abutted against one side of the material. During the process of pulling out the pad 6, due to the friction between the material and the pad 6, the function of the baffle 8 is to prevent the material from moving with the pad 6, thereby preventing the material from falling or unstable stacking.

[0052] The setting of the baffle 8 effectively solves the problem that the material may move with the backing plate 6 when it is pulled out, greatly improving the stability of the stacking. The material can remain in place and will not be displaced or dropped due to the withdrawal of the backing plate 6, ensuring the neatness and firmness of the stacking.

[0053] Stable stacking can reduce the risk in the subsequent handling and storage process, and improve the reliability and safety of production. For materials of different sizes and weights, by adjusting the length and telescopic speed of the second telescopic rod 7, the baffle 8 can be better adapted to various situations and can effectively prevent it from moving when the pad 6 is withdrawn.

[0054] Furthermore, there are two side plates 9 which are slidably arranged on the backing plate 6. After the backing plate 6 is pulled out, the two side plates 9 are close to each other for squeezing materials.

[0055] In this embodiment, the side plate 9 is mounted on the pad 6 by a sliding device. When the pad 6 is ready to be pulled out, the control system sends a signal to start the sliding mechanism of the side plate 9, driving the side plates 9 to move closer to each other. The side plates 9 can squeeze the material just right and gather the material in the middle. The movement of the side plate 9 needs to be coordinated with the movement of the first telescopic rod 5, the second telescopic rod 7 and the baffle 8. Before the pad 6 is pulled out, first ensure that the baffle 8 abuts against the material, then start the side plates 9 to move closer to each other, and finally retract the first telescopic rod 5 to pull out the pad 6.

[0056] The two side plates 9 prevent the materials from sliding to the sides or being misplaced. This is crucial to ensure the stability and neatness of the stacking, especially for materials with irregular shapes or smooth surfaces. The squeezing effect of the side plates 9 can make the materials more closely arranged during the stacking process, improving the accuracy of the stacking. The gaps between the materials are reduced, and the stacking is more neat, which is conducive to saving storage space and improving transportation efficiency. Accurate stacking can also facilitate subsequent packaging and loading and unloading operations, improving the efficiency of the entire production process.

[0057] Furthermore, the two side plates 9 are reciprocatingly slidably arranged on the pad 6, and move closer to or away from each other after sliding. The side plate 9 has a first slide groove 91, and there are two gears 11, which are rotatably arranged on both sides of the pad 6 respectively. The gear 11 has an eccentrically arranged protrusion 111, and the protrusion 111 is slidably arranged in the first slide groove 91. After the gear 11 rotates, it drives the two side plates 9 to move closer to or away from each other; there are two racks 12, which are respectively arranged on both sides of the lifting frame 4, and the racks 12 are meshed with the gears 11. After the first telescopic rod 5 is contracted, the gear 11 is driven to rotate by the racks 12.

[0058] In this embodiment, two gears 11 are respectively installed on both sides of the pad 6, and are connected in rotation by bearings and other devices. The gear 11 has an eccentrically arranged protrusion 111, which cooperates with the first slide groove 91 on the side plate 9. The protrusion 111 can slide in the first slide groove 91, and at the same time ensure that the side plate 9 can be effectively driven to move during the rotation process. Two racks 12 are respectively installed on both sides of the lifting frame 4, and the length and position of the rack 12 are designed according to the installation position and movement requirements of the gear 11. The rack 12 meshes with the gear 11 to ensure that the gear 11 is driven to rotate after the pad 6 moves. When the first telescopic rod 5 is retracted, it drives the gear 11 to move, and the gear 11 and the rack 12 cooperate to make the gear 11 start to rotate. When the gear 11 rotates, the eccentrically arranged protrusion 111 slides in the first slide groove 91 of the side plate 9, thereby driving the two side plates 9 to move back and forth. After the side plates 9 approach each other, they repeatedly squeeze the materials, and in the process of repeated squeezing, the centering of the materials is achieved.

[0059] The movement of the side plate 9 can be controlled by the transmission mechanism of the gear 11 and the rack 12. There is a definite relationship between the moving angle of the protrusion 111 of the gear 11 and the moving distance of the side plate 9. The transmission method of the gear 11 and the rack 12 is efficient and reliable. The linear motion of the pad 6 can be directly converted into the rotation of the gear 11, thereby driving the side plate 9 to move, improving the working efficiency of the palletizing robot. At the same time, the transmission of the gear 11 and the rack 12 is relatively stable, and it is not easy to slip or jam, which ensures the continuity and reliability of the palletizing process.

[0060] Furthermore, the gear 11 is rotatably and slidably disposed on the pad 6, and the rack 12 is slidably disposed on the lifting frame 4. After the rack 12 and the gear 11 slide synchronously, the two side plates 9 are driven to move closer to or away from each other.

[0061] In this embodiment, the gear 11 can not only rotate on the pad 6, but also slide within a certain range. For example, a guide rail or a groove can be provided on the pad 6 so that the shaft of the gear 11 is mounted on a slidable component, thereby realizing the sliding function of the gear 11. The rotation of the gear 11 is driven by the meshing with the rack 12, while the sliding is adjusted according to the requirements of materials of different stacking sizes. When it is necessary to adapt to materials of different sizes, the gear 11 and the rack 12 can slide to a suitable position on the pad 6, the gear 11 is always meshed with the rack 12, and the rack 12 can slide smoothly on the lifting frame 4. When it is necessary to adjust the position of the side plate 9 to adapt to materials of different sizes, the rack 12 is driven to slide on the lifting frame 4. The sliding of the rack 12 drives the gear 11 to slide synchronously, so that the two side plates 9 are moved closer to or away from each other.

[0062] Through the sliding setting of the gear 11 and the rack 12, the palletizing robot can adapt to materials of different stacking sizes, greatly improving the practicality of the equipment. Whether it is small or large materials, the side plate 9 can be accurately squeezed by adjusting the position of the gear 11 and the rack 12 to ensure the stability and quality of the palletizing. This flexibility enables the palletizing robot to be widely used in different production scenarios to meet the diversified production needs of enterprises. The sliding function of the gear 11 and the rack 12 enables the equipment to quickly adapt to materials of different sizes without complex mechanical adjustments or replacement of parts. This not only improves the adaptability of the equipment, but also reduces the downtime and maintenance costs of the equipment.

[0063] Furthermore, the rack 12 has a second slide groove 121, and the second slide groove 121 has a horizontal portion 122 and a vertical portion 123. The horizontal portion 122 and the vertical portion 123 are smoothly connected, and the abutment block 14 is slidably arranged in the horizontal portion 122 and the vertical portion 123; one end of the elastic member 13 is arranged on the horizontal portion 122, and the other end is arranged on the abutment block 14. The elastic member 13 is used to provide a force for the abutment block 14 to slide into the horizontal portion 122. After the abutment block 14 slides, it avoids the pad 6.

[0064] In this embodiment, the elastic member 13 can be a spring with good elasticity and durability. The spring is installed on the rack 12 and can be fixed by welding, bolt connection or clamping. The abutment block 14 can move on the rack 12.

[0065] When the side panels 9 move away from each other, they contact the abutment block 14. The abutment block 14 cannot drop directly. The abutment block 14 needs to support the pad 6 to provide a certain support force for the pad 6 to enhance the stability of the stacking. When the side panels 9 need to move away from each other, the side panels 9 will push the abutment block 14 to slide along the horizontal portion 122, stretch the spring, and the side panels 9 continue to squeeze the abutment block 14, so that the abutment block 14 drops along the vertical portion 123. Under the push of the side panels 9, the abutment block 14 avoids the movement of the side panels 9, so that the side panels 9 can smoothly move away from each other. When the side panels 9 approach each other again, the elastic force of the spring will reset the abutment block 14 and abut the supporting pad 6 again.

[0066] This movable abutment block 14 can effectively reduce the floor space of the equipment and improve the utilization rate of the production site. For a production workshop with limited space, reducing the floor space of the equipment can better carry out layout planning and improve production efficiency.

[0067] Furthermore, the abutment block 14 has a first guide bevel 141 and a second guide bevel 142, and the first guide bevel 141 is connected to the second guide bevel 142. After the pad 6 drives the side plate 9 to move, the side plate 9 abuts against the first guide bevel 141 and the second guide bevel 142, and the abutment block 14 is driven to slide along the second slide groove 121 through the first guide bevel 141 and the second guide bevel 142.

[0068] In this embodiment, the abutment block 14 has a first guide slope 141 and a second guide slope 142. The two slopes are connected to each other. The first guide slope 141 is relatively gentle, and is used to contact the backing plate 6 when the first telescopic rod 5 drives the backing plate 6 and the side plate 9 to move. The second guide slope 142 is relatively steep, so that it can effectively contact the side plate 9 and drive the abutment block 14 to descend after the two side plates 9 move away from each other. When the backing plate 6 moves during the stacking operation, it will drive the side plate 9 to move together. At this time, the backing plate 6 will gradually approach the abutment block 14 and finally abut on the first guide slope 141. As the backing plate 6 continues to move, under the guidance of the first guide slope 141, the backing plate 6 can smoothly pass through the abutment block 14 without being too much obstruction. When the two side plates 9 need to move away from each other, the side plate 9 will move outward. In the process of the movement of the side plate 9, it will gradually contact the second guide slope 142 of the abutment block 14. Due to the angle design of the second guide slope 142, the movement of the side plate 9 will generate downward pressure on the abutment block 14, causing the abutment block 14 to drop obliquely downward under the action of the second guide slope 142. After the two abutment blocks 14 are reset, they are subjected to a vertical downward extrusion force, which will not cause the abutment block 14 to move.

[0069] The design of the first guide slope 141 and the second guide slope 142 on the abutment block 14 enables automatic coordination during the palletizing operation. The position of the abutment block 14 can be automatically adjusted according to the movement of the backing plate 6 and the side plate 9 without additional manual intervention or a complex control system, thereby improving the automation and operational convenience of the equipment.

[0070] Furthermore, the lifting frame 4 has an avoidance groove, and the rack 12 is vertically swingably arranged on the lifting frame 4; the first telescopic rod 5 and the second telescopic rod 7 are vertically swingably arranged on the lifting frame 4.

[0071] In this embodiment, a specific shape of avoidance groove is provided on the lifting frame 4 to ensure that the rack 12 does not interfere with the lifting frame 4 when swinging. The rack 12 is folded after use. In order to enable the rack 12 to swing vertically smoothly, a chamfer can be designed on the lifting frame 4. The edge of the avoidance groove can be rounded to reduce the wear and collision of the components during the swinging process. The rack 12 is installed on the lifting frame 4 so that the rack 12 can swing vertically. The first telescopic rod 5 and the second telescopic rod 7 are installed on the lifting frame 4 to achieve vertical swing. In order to ensure the stability of the position of the telescopic rod after swinging, the first telescopic rod 5 and the second telescopic rod 7 are staggered in the horizontal direction.

[0072] When the device needs to be folded after use, the first telescopic rod 5 and the second telescopic rod 7 are first retracted to the shortest length. Then, the rack 12, the first telescopic rod 5 and the second telescopic rod 7 are vertically swung by manual or automatic control to achieve a compact folded state. The folded device occupies a small space and is convenient for storage and transportation. When the device needs to be used again, the operation is performed in the reverse order to unfold and adjust the components to the working position.

[0073] Furthermore, the threaded rod 15 has two, and the threaded rod 15 has a first end 151, a threaded section 152 and a second end 153 which are arranged in sequence. The threaded section 152 is threadedly set on the lifting frame 4, and the first end 151 is rotatably set on the threaded rod 15. The threaded rod 15 swings vertically along the first end 151. The second end 153 is a driving end, which is used to drive the threaded rod 15 to rotate. After the two threaded rods 15 rotate, the two racks 12 are driven to approach or move away from each other.

[0074] In this embodiment, since the rack 12 is rotatably arranged on the first end 151, the rotating structure can not only not affect the vertical swinging and folding of the rack 12, but also realize that after the threaded rod 15 rotates, the two racks 12 approach each other or move away from each other, thereby achieving the effect of the side panel 9 beating stacks of different sizes.

[0075] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A palletizing robot, characterized in that: include: Rack(1); A manipulator (2), the manipulator (2) being rotatably disposed on the frame (1), and the manipulator (2) being used for stacking materials after rotation; A protective net (3), the protective net (3) being arranged on the frame (1), and the protective net (3) being used to protect the safety of workers; A lifting frame (4), the lifting frame (4) being lifted and arranged on the protective net (3); A first telescopic rod (5), wherein the first telescopic rod (5) is arranged on the lifting frame (4); a pad (6), the pad (6) being arranged on the first telescopic rod (5); when the first telescopic rod (5) is extended, the pad (6) is driven to be placed on the material; the pad (6) is used to stack the material; and when the first telescopic rod (5) is retracted, the pad (6) is used to be pulled out; Also includes: After the pad (6) is pulled out, the two side plates (9) are moved closer to each other to squeeze the material; The two side plates (9) are arranged on the pad (6) to slide back and forth, and move closer to or farther from each other after sliding. The side plates (9) have a first sliding groove (91) and further include: Gears (11), the gears (11) having two gears (11), the two gears (11) being rotatably disposed on both sides of the backing plate (6), the gears (11) having an eccentrically disposed protrusion (111), the protrusion (111) being slidably disposed in the first sliding groove (91), and when the gears (11) rotate, the two side plates (9) are driven to move closer to or farther from each other; Racks (12), there are two racks (12), the two racks (12) are respectively arranged on both sides of the lifting frame (4), the racks (12) are meshed with the gears (11), and after the first telescopic rod (5) is retracted, the gears (11) are driven to rotate through the racks (12).

2. A palletizing robot according to claim 1, characterized in that: Also includes: a second telescopic rod (7), the second telescopic rod (7) being arranged on the lifting frame (4); A baffle (8), wherein the baffle (8) is arranged on the second telescopic rod (7); after the second telescopic rod (7) is extended or retracted, the baffle (8) is driven to move closer to or away from the material; after the pad (6) is pulled out, the baffle (8) abuts against the material.

3. A palletizing robot according to claim 1, characterized in that: The gear (11) is rotatably and slidably arranged on the pad (6), and the rack (12) is slidably arranged on the lifting frame (4). After the rack (12) and the gear (11) slide synchronously, the two side plates (9) are driven to move closer to or farther away from each other.

4. A palletizing robot according to claim 1, characterized in that: The rack (12) has a second slide groove (121), the second slide groove (121) has a horizontal portion (122) and a vertical portion (123), the horizontal portion (122) and the vertical portion (123) are smoothly connected, and further comprises: an abutment block (14), the abutment block (14) being slidably disposed in the horizontal portion (122) and the vertical portion (123); An elastic member (13), one end of the elastic member (13) being arranged on the horizontal portion (122) and the other end being arranged on the abutment block (14), the elastic member (13) being used to provide a force for the abutment block (14) to slide into the horizontal portion (122), and the abutment block (14) avoiding the pad (6) after sliding.

5. A palletizing robot according to claim 4, characterized in that: The abutment block (14) has a first guiding inclined surface (141) and a second guiding inclined surface (142), the first guiding inclined surface (141) being connected to the second guiding inclined surface (142), and after the pad (6) drives the side plate (9) to move, the side plate (9) abuts against the first guiding inclined surface (141) and the second guiding inclined surface (142), and the abutment block (14) is driven to slide along the second slide groove (121) via the first guiding inclined surface (141) and the second guiding inclined surface (142).

6. A palletizing robot according to claim 2, characterized in that: The lifting frame (4) has an avoidance groove, and the rack (12) is vertically swingably arranged on the lifting frame (4); The first telescopic rod (5) and the second telescopic rod (7) are vertically swingably arranged on the lifting frame (4).

7. The palletizing robot according to claim 1, characterized in that: Also includes: A threaded rod (15), wherein the threaded rod (15) has two ends, the threaded rod (15) having a first end (151), a threaded section (152) and a second end (153) which are arranged in sequence, the threaded section (152) being threadedly disposed on the lifting frame (4), the first end (151) being rotatably disposed on the threaded rod (15), the threaded rod (15) swinging vertically along the first end (151), the second end (153) being a driving end, and being used to drive the threaded rod (15) to rotate, and after the two threaded rods (15) rotate, the two racks (12) are driven to move closer to or farther away from each other.

8. The palletizing robot according to claim 1, characterized in that: The protective net (3) is a folding net.

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