Material carrying palletizing robot

Abstract

The invention relates to the field of robots, and particularly discloses a material carrying and stacking robot which comprises a bearing plate, supporting frames are symmetrically arranged on the bearing plate, a material conveying opening for containing materials and a stacking opening for stacking the materials are formed in the bearing plate, and a rotating assembly is arranged on the bearing plate; a plurality of pre-stacking assemblies are arranged on the rotating assembly; the supporting frame is provided with a transversely-adjusted moving assembly, the output end of the moving assembly is provided with a longitudinally-adjusted adjusting assembly, and the adjusting assembly is provided with a vertically-adjusted lifting mechanism. Continuous stacking of the materials can be achieved, the materials can be aligned and stacked in advance, the stacking stability is improved, the material stacking frequency is reduced, when the precision of the robot is insufficient or the fault-tolerant capability is low, the phenomenon that the robot inclines or even turns over due to improper position is reduced, the stacking efficiency is improved, the precision requirement for the robot is reduced, and the labor intensity of workers is reduced. The fault-tolerant capability is improved, and the maintenance cost of enterprises is reduced.

Description

Technical Field

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

[0002] A robot is a machine device that can automatically perform work according to a predetermined program. Its task is to assist or replace human work. Material handling and palletizing robots are widely used in manufacturing, warehousing and logistics industries. They are mainly used for material handling, stacking and unloading operations. They usually have a high degree of automation and intelligence, which can significantly improve work efficiency and reduce labor costs. There are many types of robots, including truss robots, which are called gantry robots or rectangular coordinate robots.

[0003] In the existing patent CN117342280A, a truss robot for palletizing is disclosed, including a truss, wherein two trusses are provided, the two trusses are arranged in parallel, and columns are provided on both sides of the bottom surface of the two trusses, and also includes: a grasping mechanism, wherein the grasping mechanism is provided between the two trusses, and the grasping mechanism is used to grasp the material steadily; an adjustment mechanism, wherein the adjustment mechanism is provided on the top surface of the grasping mechanism, and the two ends of the adjustment mechanism are respectively connected to the top ends of the two trusses, and the adjustment mechanism is used to adjust the position of the grasping mechanism to realize palletizing of the grasped material; and a touch all-in-one machine. The present invention can not only palletize the grasped materials steadily and quickly, but also facilitate the staff to quickly and conveniently replace and maintain the grasping claws according to needs, thereby improving the convenience of equipment use.

[0004] In the above structure, materials can be stacked smoothly and quickly, but it is difficult to achieve continuous stacking of materials when stacking materials, and it is impossible to pre-grade and stack materials. The robot stacks individual materials, and the robot needs to have high precision and high fault tolerance to ensure the stability of the stacking of individual materials. When the precision is insufficient or the fault tolerance is low, in the subsequent material stacking process, the material may tilt or even fall due to improper position, which is not conducive to the stacking of the robot, reduces the stacking efficiency, places high requirements on the robot, reduces the fault tolerance, and increases the maintenance cost of the enterprise.

[0005] Therefore, how to provide a material handling and palletizing robot is a problem that those skilled in the art need to solve urgently. Summary of the invention

[0006] One object of the present invention is to provide a material handling and palletizing robot. The material handling and palletizing robot described in the present invention comprises a load-bearing plate, on which a support frame is symmetrically arranged, on which a material feeding port for placing materials and a palletizing port for stacking materials are opened, on which a rotating assembly is arranged, on which a plurality of pre-palletizing assemblies are arranged;

[0007] The support frame is provided with a moving component for lateral adjustment, the output end of the moving component is provided with an adjusting component for longitudinal adjustment, the adjusting component is provided with a lifting mechanism for vertical adjustment, the output end of the lifting mechanism is provided with a distance adjusting component, the distance adjusting component is provided with a clamping component for a robot to clamp materials, the clamping component is used to pre-palletize the materials clamped from the feeding port on the pre-palletizing component, and then transport the palletized materials to the palletizing port to complete the overall palletizing;

[0008] A driving mechanism is arranged on the supporting plate, a connecting component connected to the driving mechanism is arranged on the supporting plate, and a transmission component connected to the moving component is arranged on the supporting plate; wherein, when the connecting component is connected to the rotating component, the driving mechanism forces the rotating component to rotate, and when the connecting component is connected to the transmission component, the driving mechanism forces the transmission component to rotate.

[0009] Preferably, the rotating assembly comprises a load-bearing block arranged on the bearing plate, a bearing on the load-bearing block is connected to a rotating column, a rotating disk is arranged on the rotating column, and a rotating gear is fixedly sleeved on the rotating column.

[0010] Preferably, the pre-palletizing assembly comprises a plurality of electronic scales arranged on the rotating disk, the electronic scales are provided with a palletizing plate, the palletizing plate is provided with an alignment groove adapted to the clamping assembly, and the palletizing plate is provided with a signal receiver.

[0011] Preferably, the moving assembly includes a threaded rod one connected to the support frame by a bearing, a guide rod is provided on the other support frame, a moving block is slidably provided on the support frame, the threaded rod one thread passes through the moving block, and the guide rod passes through the moving block.

[0012] Preferably, the adjustment component includes an adjustment block slidably arranged on the moving block, the moving block is provided with an adjustment spur rack, the adjustment block is installed with a motor 1, and the output shaft of the motor 1 is connected to an adjustment gear meshing with the adjustment spur rack.

[0013] Preferably, the lifting mechanism comprises a hydraulic lifting rod 1 installed on the adjusting block, an output end of the hydraulic lifting rod 1 is provided with a mounting plate, and the distance adjustment component is arranged on the mounting plate.

[0014] Preferably, the pitch-adjusting assembly comprises a second motor arranged on the mounting plate, and the mounting plate is connected to a bearing with two symmetrically arranged threaded rods, one of which is connected to the output shaft of the second motor, and the thread structures at both ends of the second threaded rod are opposite, and two groups of symmetrical pitch-adjusting plates are slidably arranged on the mounting plate, and the two ends of the second threaded rod respectively pass through the two groups of the pitch-adjusting plates by threads, and the end fixing sleeves of the two second threaded rods are provided with synchronous wheels, and the two synchronous wheels are connected by synchronous belt transmission;

[0015] The clamping assembly is arranged on the distance adjusting plate, and the clamping assembly includes an alignment plate arranged on the distance adjusting plate, and hydraulic lifting rods 2 are symmetrically installed on the alignment plate. A clamping block is arranged at the output end of the hydraulic lifting rods 2, and a signal transmitter adapted to the signal receiver is arranged on the clamping block.

[0016] Preferably, the driving mechanism comprises a supporting plate arranged on the carrying plate, a motor three is mounted on the supporting plate, and an output shaft of the motor three is connected to a driving gear.

[0017] Preferably, the connecting assembly comprises an electric push rod mounted on the support plate, and an output end bearing of the electric push rod is connected to a connecting gear meshing with the driving gear and the rotating gear.

[0018] Preferably, the transmission assembly includes a fixed plate arranged on the bearing plate, a transmission rod 1 is fixedly sleeved on the fixed plate, a transmission rod 1 is fixedly sleeved on the transmission rod 1 and a transmission gear meshing with the connecting gear is fixedly sleeved, a transmission rod 2 is connected to the bearing on the support frame, a driving bevel gear is fixedly sleeved on the transmission rod 1 and a driven bevel gear meshing with the driving bevel gear is fixedly sleeved on the transmission rod 2, pulleys are fixedly sleeved on both the transmission rod 2 and the threaded rod 1, and the two pulleys are connected by belt transmission.

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

[0020] The present invention places the device between the place to be stacked and the material conveying point. During stacking, the conveying device is used to convey the material to the feeding port, the driving mechanism is connected to the transmission component by the connecting component, the driving mechanism is started, the transmission component is forced to rotate to drive the rotating component to rotate, so as to adjust the position of the moving component laterally, so that the adjusting component, the lifting mechanism, the distance adjusting component and the clamping component move to the top of the feeding port; the material is pre-stacking first, the driving mechanism is stopped, the adjusting component is started, the lifting mechanism, the distance adjusting component and the clamping component are forced to move to the middle position of the two support frames and to the front end of the pre-stacking component, the material is grabbed, and the lifting mechanism and the clamping component are used to move to the middle position of the two support frames and to the front end of the pre-stacking component. The distance adjusting component adjusts the position of the clamping component so that the clamping component is separated first, and after matching with the material, the distance adjusting component and the clamping component are started, the clamping component clamps the material, and the driving mechanism is started in reverse to force the adjusting component, the lifting mechanism, the distance adjusting component and the clamping component to move to the top of the pre-stacking component, and the lifting mechanism, the distance adjusting component and the clamping component are used to release the material to the pre-stacking component; the driving mechanism is started again to force the clamping component to be located at the front end of the pre-stacking component, and the driving mechanism is connected to the rotating component by the connecting component, and the driving mechanism is started to drive the rotating component to rotate and drive the pre-stacking component to rotate a process, so that the next pre-stacking component Corresponding to the clamping component, the above steps are repeated to complete the pre-palletizing of multiple materials until the corresponding number of materials is completed on each pre-palletizing component; the pre-palletized materials are placed on the palletizing port for overall palletizing, and the driving mechanism is connected to the transmission component by the connecting component again, forcing the driving mechanism to drive the transmission component and the moving component to rotate, so that the adjusting component, the lifting mechanism, the distance adjusting component and the clamping component move to the top of the pre-palletizing component on one side of the palletizing port, and the lifting mechanism, the distance adjusting component and the clamping component are used to clamp the materials on the pre-palletizing component and transport them as a whole to the palletizing port for release, and the multiple pre-palletized materials are palletized at the palletizing port, and the connecting component is used to connect the driving mechanism and the transmission component. The driving mechanism is connected to the rotating component, and the rotating component rotates to drive the pre-stacking component to rotate a process, so that the next pre-stacking component corresponds to the clamping component, and the handling steps are repeated to complete the overall palletizing of multiple materials. In summary, a material handling and palletizing robot of the present application can realize continuous palletizing of materials, realize pre-alignment palletizing of materials, improve the stability of palletizing, reduce the number of times of material palletizing, and when the robot's accuracy is insufficient or its fault tolerance is low, it can reduce the phenomenon of tilting or even tilting due to improper position, improve the efficiency of palletizing, reduce the accuracy requirements for the robot, improve the fault tolerance, and reduce the maintenance cost of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1It is a three-dimensional structure entity diagram of the present invention;

[0023] Figure 2 It is a partial structural entity diagram of the present invention;

[0024] Figure 3 It is a front view of the rotating assembly of the present invention;

[0025] Figure 4 A front view of a pre-palletizing assembly of the present invention;

[0026] Figure 5 A structural entity diagram of the regulating assembly of the present invention;

[0027] Figure 6 It is a structural entity diagram of the distance adjustment assembly of the present invention;

[0028] Figure 7 It is a structural entity diagram of the clamping assembly of the present invention;

[0029] Figure 8 It is a structural entity diagram of the driving mechanism of the present invention;

[0030] Fig. 9 It is a structural entity diagram of the transmission assembly of the present invention;

[0031] Fig.10 It is a schematic diagram of the meshing of the connecting gear and the rotating gear of the present invention.

[0032] In the figure: 1. Loading plate; 2. Support frame; 3. Feeding port; 4. Palletizing port; 5. Rotating assembly; 501. Load-bearing block; 502. Rotating column; 503. Rotating disk; 504. Rotating gear; 6. Pre-palletizing assembly; 601. Electronic scale; 602. Palletizing plate; 603. Alignment slot; 604. Signal receiver; 7. Moving assembly; 701. Threaded rod 1; 702. Guide rod; 703. Moving block; 8. Adjusting assembly; 801. Adjusting block; 802. Adjusting spur rack; 803. Motor 1; 804. Adjusting gear; 9. Lifting mechanism; 901. Hydraulic lifting rod 1; 902. Mounting plate; 10. Distance adjustment assembly; 1001. Motor 2; 1002 , threaded rod two; 1003, spacing plate; 1004, synchronous wheel; 1005, synchronous belt; 11, clamping assembly; 1101, alignment plate; 1102, hydraulic lifting rod two; 1103, clamping block; 1104, signal transmitter; 12, driving mechanism; 1201, support plate; 1202, motor three; 1203, driving gear; 13, connecting assembly; 1301, electric push rod; 1302, connecting gear; 14, transmission assembly; 1401, fixing plate; 1402, transmission rod one; 1403, transmission gear; 1404, transmission rod two; 1405, driving bevel gear; 1406, driven bevel gear; 1407, pulley; 1408, belt. DETAILED DESCRIPTION

[0033] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0034] Embodiment 1:

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, a material handling and palletizing robot of the present invention comprises a carrying plate 1, a supporting frame 2 is symmetrically arranged on the carrying plate 1, a feeding port 3 for placing materials and a palletizing port 4 for stacking materials are opened on the carrying plate 1, a rotating component 5 is arranged on the carrying plate 1, and a plurality of pre-palletizing components 6 are arranged on the rotating component 5;

[0036] The support frame 2 is provided with a moving component 7 for lateral adjustment, an adjusting component 8 for longitudinal adjustment is provided at the output end of the moving component 7, a lifting mechanism 9 for vertical adjustment is provided on the adjusting component 8, a distance adjusting component 10 is provided at the output end of the lifting mechanism 9, a clamping component 11 for clamping materials by a robot is provided on the distance adjusting component 10, and the clamping component 11 is used to pre-stack the materials clamped from the feeding port 3 on the pre-stacking component 6, and then transport the stacked materials to the stacking port 4 to complete the overall stacking;

[0037] A driving mechanism 12 is provided on the supporting plate 1, a connecting component 13 connected to the driving mechanism 12 is provided on the supporting plate 1, and a transmission component 14 connected to the moving component 7 is provided on the supporting plate 1; wherein, when the connecting component 13 is connected to the rotating component 5, the driving mechanism 12 forces the rotating component 5 to rotate, and when the connecting component 13 is connected to the transmission component 14, the driving mechanism 12 forces the transmission component 14 to rotate.

[0038] Working principle: by placing the device between the place to be stacked and the material conveying point, during stacking, the conveying device is used to convey the material to the feeding port 3, and the driving mechanism 12 is connected to the transmission component 14 by the connecting component 13, and the driving mechanism 12 is started, and the transmission component 14 is forced to rotate to drive the rotating component 5 to rotate, so as to adjust the position of the moving component 7 laterally, so that the adjusting component 8, the lifting mechanism 9, the distance adjusting component 10 and the clamping component 11 move to the top of the feeding port 3; firstly, the material is pre-stacking, the driving mechanism 12 is stopped, and the adjusting component 8 is started, so as to force the lifting mechanism 9, the distance adjusting component 10 and the clamping component 11 to move to the middle position of the two support frames 2, and to be located at the front end of the pre-stacking component 6, and the material is grabbed, and the lifting mechanism 12 is used to stop the driving mechanism 12 ... lifting mechanism 12 is used to stop the driving mechanism 12, and the lifting mechanism 12 is used to stop the driving mechanism 12, and the lifting mechanism 12 is used to stop the driving mechanism 12, and the lifting mechanism 12 is used to stop the driving mechanism 12, and the lifting mechanism 12 is used to stop the driving mechanism 12, and the lifting mechanism 12 is used to stop the driving mechanism 12, and the lifting mechanism 12 is used to stop the driving mechanism 12, and the lifting mechanism 12 is used to stop the driving mechanism 12, and the lifting mechanism 12 is used to stop the driving mechanism The mechanism 9 and the distance adjustment component 10 adjust the position of the clamping component 11, so that the clamping component 11 is separated first, and after matching with the material, the distance adjustment component 10 and the clamping component 11 are started, and the clamping component 11 clamps the material, and the driving mechanism 12 is reversely started to force the adjusting component 8, the lifting mechanism 9, the distance adjustment component 10 and the clamping component 11 to move to the top of the pre-stacking component 6, and the lifting mechanism 9, the distance adjustment component 10 and the clamping component 11 are used to release the material to the pre-stacking component 6; the driving mechanism 12 is started again to force the clamping component 11 to be located at the front end of the pre-stacking component 6, and the driving mechanism 12 is connected to the rotating component 5 by the connecting component 13, and the driving mechanism 12 is started to drive the rotating component 5 to rotate and drive the pre-stacking component 6 to rotate The process is started, so that the next pre-stacking component 6 corresponds to the clamping component 11, and the above steps are repeated to complete the pre-stacking of multiple materials until the corresponding number of materials is completed on each pre-stacking component 6; the pre-stacking materials are placed on the stacking port 4 for overall stacking, and the driving mechanism 12 is connected to the transmission component 14 by the connecting component 13 again, forcing the driving mechanism 12 to drive the transmission component 14 and the moving component 7 to rotate, so that the adjusting component 8, the lifting mechanism 9, the distance adjusting component 10 and the clamping component 11 move to the top of the pre-stacking component 6 on one side of the stacking port 4, and the lifting mechanism 9, the distance adjusting component 10 and the clamping component 11 are used to clamp the materials on the pre-stacking component 6 and transport them as a whole to the stacking port 4 for release, and multiple pre-stacking The stacking of materials is completed at the stacking opening 4, and the driving mechanism 12 is connected to the rotating component 5 by using the connecting component 13. The rotating component 5 rotates to drive the pre-stacking component 6 to rotate a process, so that the next pre-stacking component 6 corresponds to the clamping component 11, and the handling steps are repeated to complete the overall stacking of multiple materials. In summary, a material handling and stacking robot of the present application can realize continuous stacking of materials, realize pre-alignment stacking of materials, improve the stability of stacking, and reduce the number of times of material stacking. When the robot's accuracy is not enough or its fault tolerance is low, it can reduce the phenomenon of tilting or even tilting due to improper position, improve the efficiency of stacking, reduce the accuracy requirements for the robot, improve the fault tolerance, and reduce the maintenance cost of the enterprise.

[0039] Embodiment 2:

[0040] like Figure 2 , Figure 3 and Fig.10 As shown, a material handling and palletizing robot of the present invention, the rotating component 5 includes a load-bearing block 501 arranged on a supporting plate 1, a rotating column 502 is connected to a bearing on the load-bearing block 501, a rotating disk 503 is arranged on the rotating column 502, and a rotating gear 504 is fixedly sleeved on the rotating column 502.

[0041] like Figure 2 and Figure 4 As shown, a material handling and palletizing robot of the present invention, the pre-palletizing component 6 includes a plurality of electronic scales 601 arranged on a rotating disk 503, a palletizing plate 602 is arranged on the electronic scale 601, an alignment groove 603 adapted to the clamping component 11 is opened on the palletizing plate 602, and a signal receiver 604 is arranged on the palletizing plate 602.

[0042] like Figure 1 and Figure 2 As shown, a material handling and palletizing robot of the present invention, the moving component 7 includes a threaded rod 701 connected to a support frame 2 by a bearing, a guide rod 702 is arranged on another support frame 2, a moving block 703 is slidably arranged on the support frame 2, the threaded rod 701 threadably penetrates the moving block 703, and the guide rod 702 penetrates the moving block 703.

[0043] like Figure 1 , Figure 2 and Figure 5 As shown, a material handling and palletizing robot of the present invention, the adjustment component 8 includes an adjustment block 801 slidably set on a moving block 703, the moving block 703 is provided with an adjustment spur rack 802, a motor 803 is installed on the adjustment block 801, and the output shaft of the motor 803 is connected to an adjustment gear 804 meshing with the adjustment spur rack 802.

[0044] like Figure 2 , Figure 5 and Figure 6 As shown, a material handling and palletizing robot of the present invention, the lifting mechanism 9 includes a hydraulic lifting rod 901 installed on an adjusting block 801, an output end of the hydraulic lifting rod 901 is provided with a mounting plate 902, and a distance adjustment component 10 is arranged on the mounting plate 902.

[0045] like Figure 6 and Figure 7As shown, a material handling and stacking robot of the present invention, the distance adjustment component 10 includes a motor 1001 arranged on a mounting plate 902, and two symmetrically arranged threaded rods 1002 are connected to the bearing on the mounting plate 902, one of the threaded rods 1002 is connected to the output shaft of the motor 1001, and the thread structures at both ends of the threaded rod 1002 are opposite, and two groups of symmetrical distance adjustment plates 1003 are slidably arranged on the mounting plate 902, and the two ends of the threaded rod 1002 are respectively threaded to penetrate the two groups of distance adjustment plates 1003, and the ends of the two threaded rods 1002 are fixedly sleeved with synchronous wheels 1004, and the two synchronous wheels 1004 are connected through a synchronous belt 1005 for transmission;

[0046] The clamping assembly 11 is arranged on the distance adjusting plate 1003, and the clamping assembly 11 includes an alignment plate 1101 arranged on the distance adjusting plate 1003, and a hydraulic lifting rod 1102 is symmetrically installed on the alignment plate 1101. A clamping block 1103 is arranged at the output end of the hydraulic lifting rod 1102, and a signal transmitter 1104 adapted to the signal receiver 604 is arranged on the clamping block 1103.

[0047] like Figure 2 , Figure 8 and Fig.10 As shown, a material handling and palletizing robot of the present invention, the driving mechanism 12 includes a supporting plate 1201 arranged on the supporting plate 1, a motor three 1202 is installed on the supporting plate 1201, and the output shaft of the motor three 1202 is connected to the driving gear 1203.

[0048] like Figure 2 , Figure 8 and Fig.10 As shown, a material handling and palletizing robot of the present invention, the connection component 13 includes an electric push rod 1301 installed on a support plate 1201, and the output end bearing of the electric push rod 1301 is connected to a connecting gear 1302 meshing with a driving gear 1203 and a rotating gear 504.

[0049] like Figure 1 , Figure 2 , Fig. 9 and Fig.10As shown, a material handling and palletizing robot of the present invention, the transmission assembly 14 includes a fixed plate 1401 arranged on the supporting plate 1, a transmission rod 1402 is fixedly sleeved on the fixed plate 1401, a transmission rod 1403 meshing with the connecting gear 1302 is fixedly sleeved on the transmission rod 1402, a transmission rod 2 1404 is connected to the bearing on the support frame 2, a driving bevel gear 1405 is fixedly sleeved on the transmission rod 1402, a driven bevel gear 1406 meshing with the driving bevel gear 1405 is fixedly sleeved on the transmission rod 2 1404, and a pulley 1407 is fixedly sleeved on the transmission rod 2 1404 and the threaded rod 1 701, and the two pulleys 1407 are connected by a belt 1408 for transmission.

[0050] Working principle: by placing the device between the place to be stacked and the material delivery point, during stacking, the material at the material delivery point is delivered to the material delivery port 3 by the delivery device, the electric push rod 1301 is started, and the output end of the electric push rod 1301 drives the connecting gear 1302 to move, so that the connecting gear 1302 is meshed with the transmission gear 1403. Since the connecting gear 1302 is always meshed with the driving gear 1203, the connecting gear 1302 is separated from the rotating gear 504, the motor 3 1202 is started, and the output shaft of the motor 3 1202 rotates to drive the driving gear 1203 to rotate, and the driving gear 1203 drives the The dynamic connecting gear 1302 rotates, forcing the transmission gear 1403 to rotate, the transmission gear 1403 drives the transmission rod 1402 to rotate, the transmission rod 1402 drives the active bevel gear 1405 to rotate, forcing the driven bevel gear 1406 to rotate, so that the transmission rod 2 1404 rotates, and under the action of the belt 1408 and the pulley 1407, the threaded rod 1 701 is forced to rotate, and under the action of the guide rod 702, the moving block 703 moves to a reasonable position until the movement of the moving block 703 drives the adjusting assembly 8, the lifting mechanism 9, the distance adjusting assembly 10 and the clamping assembly 11 to move to the top of the feeding port 3;

[0051] To pre-palletize the materials, stop the motor 3 1202, start the motor 1 803, and the output shaft of the motor 1 803 rotates to drive the adjusting gear 804 to rotate. Under the action of the adjusting spur rack 802, the motor 1 803 and the adjusting block 801 move to a reasonable intermediate position, and the adjusting block 801 drives the lifting mechanism 9, the distance adjustment component 10 and the clamping component 11 to move to a reasonable position;

[0052] When grabbing materials, start the hydraulic lifting rod 1 901, and the output end of the hydraulic lifting rod 1 901 drives the mounting plate 902 to move to a reasonable position, and start the motor 2 1001. The output shaft of the motor 2 1001 rotates to drive the threaded rod 2 1002 to rotate. Under the transmission action of the synchronous belt 1005 and the synchronous wheel 1004, the two threaded rods 1002 rotate synchronously. Under the action of the mounting plate 902, the distance-adjusting plates 1003 move away from each other. Start the hydraulic lifting rod 2 1102, so that the hydraulic lifting rod 2 1102 drives the clamping block 1103 to move downward until the clamping block 1103 is located around the material clamping point, and start the motor 2 1001 in the reverse direction to force the distance-adjusting plates 1003 to move closer to each other until the clamping block 1103 contacts and clamps the material;

[0053] When pre-palletizing materials, the hydraulic lifting rod 1 901 is started in reverse to make the hydraulic lifting rod 1 901 retreat, and the motor 3 1202 is started in reverse at the same time. The output shaft of the motor 3 1202 rotates to drive the driving gear 1203 to rotate. Under the action of the transmission component 14, the moving block 703 retreats to a reasonable position, that is, the adjustment component 8, the lifting mechanism 9, the distance adjustment component 10 and the clamping component 11 move to the top of the stacking plate 602 until the signal receiver 604 can receive the signal of the signal transmitter 1104, and the hydraulic lifting rod 1 901 and the hydraulic lifting rod 2 1102 are started to make the material drop to contact with the stacking plate 602. At this time, the clamping block 1103 corresponds to the alignment groove 603, and the motor 2 1001 is started to make the distance adjustment plates 1003 move away from each other, forcing the hydraulic lifting rod 2 1102 and the clamping block 1103 to move away from each other, completing the release action of the material, and realizing the pre-palletizing of a single material;

[0054] The stacking plate 602 is converted, and the motor 3 1202 is started again. Under the action of the transmission component 14, the moving block 703 moves to a reasonable position until the movement of the moving block 703 drives the adjustment component 8, the lifting mechanism 9, the distance adjustment component 10 and the clamping component 11 to move above the feeding port 3. The electric push rod 1301 is started, and the output end of the electric push rod 1301 drives the connecting gear 1302 to move, so that the connecting gear 1302 is meshed with the rotating gear 504. Since the connecting gear 1302 is always meshed with the driving gear 1203, the connecting gear 1302 is separated from the transmission gear 1403, and the motor 3 120 is started. 2. The output shaft of the motor 3 1202 rotates one process to drive the driving gear 1203 to rotate, the driving gear 1203 drives the connecting gear 1302 to rotate, the connecting gear 1302 drives the rotating gear 504 to rotate, the rotating gear 504 forces the rotating column 502 to rotate, the rotating column 502 drives the rotating disk 503 to rotate, the rotating disk 503 drives the electronic scale 601 and the stacking plate 602 to rotate, so that the next stacking plate 602 rotates to the position of the previous stacking plate 602, completing the conversion of the stacking plate 602, repeating the above steps to complete the pre-stacking of multiple materials until the corresponding number of materials is completed on each stacking plate 602;

[0055] The materials on the stacking plate 602 are transported to the stacking port 4 for overall stacking. The electric push rod 1301 is started. The output end of the electric push rod 1301 drives the connecting gear 1302 to move, so that the connecting gear 1302 is meshed with the transmission gear 1403. Since the connecting gear 1302 is always meshed with the driving gear 1203, the connecting gear 1302 is separated from the rotating gear 504. The motor 3 1202 is started. The output shaft of the motor 3 1202 rotates to drive the driving gear 1203 to rotate. The driving gear 1203 drives the connecting gear 1302 to rotate, forcing the transmission gear 1403 to rotate. 403 rotates, the transmission gear 1403 drives the transmission rod 1402 to rotate, the transmission rod 1402 drives the active bevel gear 1405 to rotate, forcing the driven bevel gear 1406 to rotate, so that the transmission rod 1404 rotates, and under the action of the belt 1408 and the pulley 1407, the threaded rod 1 701 is forced to rotate, and under the action of the guide rod 702, the moving block 703 moves to a reasonable position, until the movement of the moving block 703 drives the adjustment component 8, the lifting mechanism 9, the distance adjustment component 10 and the clamping component 11 to move to the top of the stacking plate 602 at the stacking port 4;

[0056] The pre-palletized materials on the palletizing plate 602 are transported as a whole, and the hydraulic lifting rod 1 901 and the hydraulic lifting rod 2 1102 are started, so that the mounting plate 902 and the clamping block 1103 move to a reasonable height, until the clamping block 1103 corresponds to the alignment slot 603, and the signal receiver 604 can receive the signal of the signal transmitter 1104, and the motor 2 1001 is started in reverse to force the distance adjustment plate 1003 and the alignment plate 1101 to move closer to each other, until the clamping block 1103 contacts and clamps the materials, and the motor 3 1202 is started again, and under the action of the transmission assembly 14, the moving block 703 The movement drives the adjusting component 8, the lifting mechanism 9, the distance adjusting component 10 and the clamping component 11 to move to the top of the stacking opening 4, and the hydraulic lifting rod 1 901 and the hydraulic lifting rod 2 1102 are started in reverse, so that the mounting plate 902 and the clamping block 1103 move down to a reasonable height until the entire material moves down to the stacking opening 4 position, and the motor 2 1001 is started to make the distance adjusting plate 1003 move away from each other, forcing the hydraulic lifting rod 2 1102 and the clamping block 1103 to move away from each other, completing the release action of the material, realizing the pre-stacking of a single material, and completing the effect of handling and overall stacking of the entire material;

[0057] The electric push rod 1301 is started, and the output end of the electric push rod 1301 drives the connecting gear 1302 to move, so that the connecting gear 1302 is meshed with the rotating gear 504. Since the connecting gear 1302 is always meshed with the driving gear 1203, the connecting gear 1302 is separated from the transmission gear 1403 at this time, and the motor 3 1202 is started. The output shaft of the motor 3 1202 rotates a process to drive the driving gear 1203 to rotate, and the driving gear 1203 drives the connecting gear 1302 to rotate, and the connecting gear 1302 drives the rotating gear 504 to rotate, and the rotating gear 504 forces the rotating column 502 to rotate, and the rotating column 502 drives the rotating disk 503 to rotate, and the rotating disk 503 drives the electronic scale 601 and the stacking plate 602 to rotate, so that the next stacking plate 602 rotates to the position of the previous stacking plate 602, and the above-mentioned handling steps are repeated to complete the overall stacking of multiple integral materials, and at the same time, the adjustment component 8 is used to adjust the stacking points of different stacking ports 4;

[0058] The setting of the rotating component 5 can realize the rotation effect of the pre-palletizing component 6, so that the pre-palletizing component 6 rotates and changes its position. During pre-palletizing, the pre-palletizing of multiple palletizing plates 602 is realized, and the effect of continuous palletizing is achieved. At the same time, the pre-palletized materials can be transported to achieve the effect of overall palletizing; the setting of the pre-palletizing component 6 can realize the detection effect of the materials, and a rejection device can be added to reject unqualified materials, and it can match the signal on the clamping component 11 to achieve an alignment effect, improve the stability during pre-palletizing, and improve the overall palletizing effect of the device; the setting of the moving component 7 can realize the lateral movement of the moving block 703, thereby adjusting the lateral position of the device, which can The material can be transported from the feed port 3 to the stacking port 4, and the lateral position adjustment of the robot can be achieved; the setting of the adjustment component 8 can achieve longitudinal adjustment during material transportation, and can adjust the longitudinal position, so that the material is aligned with the feed port 3 and the stacking plate 602, and at the same time, the stacking point of the stacking port 4 can be adjusted, so that the whole material is stacked at different positions, thereby improving the rationality of the robot; the setting of the lifting mechanism 9 can adjust the height of the transported material, realize the height position adjustment of the clamping component 11, realize the precise grasping of the material, and at the same time facilitate the transportation of the whole material to the stacking point, and realize the overall transportation and stacking effect; the setting of the distance adjustment component 10 can realize the clamping component 11 The position of the material can be adjusted to achieve the clamping and releasing effect of the clamping component 11 on the material. At the same time, the setting of the threaded rod 1002 improves the clamping ability of the device, so that the clamping components 11 are separated from or close to each other, thereby improving the flexibility and clamping effect of the robot; the setting of the clamping component 11 can achieve the clamping and releasing effect of the material, and can send a signal to achieve the alignment effect, improve the pre-alignment ability of the robot, reduce the phenomenon of tilting or even tilting due to improper position, improve the efficiency of stacking, reduce the accuracy requirements of the robot, and improve the fault tolerance; the setting of the driving mechanism 12 can provide the power of the device, and at the same time can provide an auxiliary effect, reduce the robot The carrying range is improved, the carrying capacity of the robot is improved, and the working efficiency of the robot is improved; the setting of the connecting component 13 can make the device selective, so that the driving mechanism 12 provides multi-directional power, improves the flexibility of the device, can achieve the lateral adjustment effect of the device, and can realize the conversion function of the stacking plate 602, thereby realizing the effects of continuous stacking and pre-stacking; the setting of the transmission component 14 can make the power of the driving mechanism 12 transmitted to the threaded rod 701, thereby realizing the lateral movement effect of the moving component 7, reducing the setting of the driving source of the device, and performing step-by-step processing with the conversion of the stacking plate 602, realizing the coordination ability of the robot, and improving the transmission capacity of the device.

[0059] 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 material handling and palletizing robot, characterized in that: The invention comprises a carrying plate (1), a supporting frame (2) is symmetrically arranged on the carrying plate (1), a material feeding port (3) for placing materials and a stacking port (4) for stacking materials are opened on the carrying plate (1), a rotating component (5) is arranged on the carrying plate (1), and a plurality of pre-stacking components (6) are arranged on the rotating component (5); The support frame (2) is provided with a transversely adjustable moving component (7), the output end of the moving component (7) is provided with a longitudinally adjustable adjusting component (8), the adjusting component (8) is provided with a vertically adjustable lifting mechanism (9), the output end of the lifting mechanism (9) is provided with a distance adjusting component (10), the distance adjusting component (10) is provided with a clamping component (11) for clamping materials by a robot, the clamping component (11) is used to pre-stack the materials clamped from the feeding port (3) on the pre-stacking component (6), and then transport the stacked materials to the stacking port (4) to complete the overall stacking; The carrier plate (1) is provided with a driving mechanism (12), the carrier plate (1) is provided with a connecting component (13) connected to the driving mechanism (12), and the carrier plate (1) is provided with a transmission component (14) connected to the moving component (7); wherein, when the connecting component (13) is connected to the rotating component (5), the driving mechanism (12) forces the rotating component (5) to rotate, and when the connecting component (13) is connected to the transmission component (14), the driving mechanism (12) forces the transmission component (14) to rotate.

2. A material handling and palletizing robot according to claim 1, characterized in that: The rotating assembly (5) comprises a load-bearing block (501) arranged on the bearing plate (1); a rotating column (502) is connected to the load-bearing block (501) by a bearing; a rotating disk (503) is arranged on the rotating column (502); and a rotating gear (504) is fixedly sleeved on the rotating column (502).

3. A material handling and palletizing robot according to claim 2, characterized in that: The pre-palletizing assembly (6) comprises a plurality of electronic scales (601) arranged on the rotating disk (503), a palletizing plate (602) being arranged on the electronic scale (601), an alignment groove (603) matching the clamping assembly (11) being provided on the palletizing plate (602), and a signal receiver (604) being arranged on the palletizing plate (602).

4. A material handling and palletizing robot according to claim 3, characterized in that: The moving assembly (7) comprises a threaded rod (701) connected to the support frame (2) by a bearing, a guide rod (702) is arranged on the other support frame (2), a moving block (703) is slidably arranged on the support frame (2), the threaded rod (701) is threadedly penetrated through the moving block (703), and the guide rod (702) penetrates the moving block (703).

5. The material handling and palletizing robot according to claim 4, characterized in that: The adjustment assembly (8) comprises an adjustment block (801) slidably arranged on the moving block (703), an adjustment spur rack (802) being arranged on the moving block (703), a motor 1 (803) being mounted on the adjustment block (801), and an output shaft of the motor 1 (803) being connected to an adjustment gear (804) meshing with the adjustment spur rack (802).

6. The material handling and palletizing robot according to claim 5, characterized in that: The lifting mechanism (9) comprises a hydraulic lifting rod (901) mounted on the adjusting block (801), a mounting plate (902) being provided at the output end of the hydraulic lifting rod (901), and the distance adjustment component (10) being provided on the mounting plate (902).

7. The material handling and palletizing robot according to claim 6, characterized in that: The pitch adjustment component (10) comprises a second motor (1001) arranged on the mounting plate (902); two symmetrically arranged threaded rods (1002) are connected to the bearing on the mounting plate (902); one of the second threaded rods (1002) is connected to the output shaft of the second motor (1001); the thread structures at both ends of the second threaded rod (1002) are opposite; two groups of symmetrical pitch adjustment plates (1003) are slidably arranged on the mounting plate (902); the two ends of the second threaded rod (1002) are respectively threaded to penetrate the two groups of pitch adjustment plates (1003); the ends of the two second threaded rods (1002) are fixedly sleeved with synchronous wheels (1004); the two synchronous wheels (1004) are connected by a synchronous belt (1005); The clamping assembly (11) is arranged on the distance adjusting plate (1003), and the clamping assembly (11) comprises an alignment plate (1101) arranged on the distance adjusting plate (1003), a hydraulic lifting rod 2 (1102) is symmetrically mounted on the alignment plate (1101), a clamping block (1103) is arranged at the output end of the hydraulic lifting rod 2 (1102), and a signal transmitter (1104) adapted to the signal receiver (604) is arranged on the clamping block (1103).

8. The material handling and palletizing robot according to claim 7, characterized in that: The driving mechanism (12) comprises a support plate (1201) arranged on the supporting plate (1), a motor three (1202) is mounted on the support plate (1201), and an output shaft of the motor three (1202) is connected to a driving gear (1203).

9. The material handling and palletizing robot according to claim 8, characterized in that: The connecting assembly (13) comprises an electric push rod (1301) mounted on the supporting plate (1201), and the output end bearing of the electric push rod (1301) is connected to a connecting gear (1302) meshing with the driving gear (1203) and the rotating gear (504).

10. The material handling and palletizing robot according to claim 9, characterized in that: The transmission assembly (14) comprises a fixed plate (1401) arranged on the bearing plate (1); a transmission rod 1 (1402) is fixedly sleeved on the fixed plate (1401); a transmission gear (1403) meshing with the connecting gear (1302) is fixedly sleeved on the transmission rod 1 (1402); a transmission rod 2 (1404) is connected to the bearing on the support frame (2); a driving bevel gear (1405) is fixedly sleeved on the transmission rod 1 (1402); a driven bevel gear (1406) meshing with the driving bevel gear (1405) is fixedly sleeved on the transmission rod 2 (1404); pulleys (1407) are fixedly sleeved on both the transmission rod 2 (1404) and the threaded rod 1 (701); and the two pulleys (1407) are connected by a belt (1408).

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