A material handling and palletizing robot

Abstract

The present invention relates to the field of robots, and specifically discloses a material handling and palletizing robot, which includes a bearing plate. Support frames are symmetrically arranged on the bearing plate. A material feeding port for placing materials and a palletizing port for stacking materials are formed on the bearing plate. A rotating assembly is arranged on the bearing plate, and a plurality of pre-palletizing assemblies are arranged on the rotating assembly; A moving assembly for horizontal adjustment is arranged on the support frame, an adjustment assembly for vertical adjustment is arranged at the output end of the moving assembly, and a lifting mechanism for vertical adjustment is arranged on the adjustment assembly. The present invention can achieve continuous palletizing of materials, pre-align and palletize the materials, improve the stability of palletizing, reduce the number of times of material palletizing, when the accuracy of the robot is insufficient or the fault tolerance ability is low, reduce the phenomenon of tilting or even falling due to improper position, improve the efficiency of palletizing, reduce the accuracy requirements for the robot, improve the fault tolerance ability, and reduce the maintenance cost of the enterprise.

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 execute work according to a pre-established program. Its task is to assist or replace human work. A material handling and palletizing robot is an automated device widely used in the manufacturing industry, warehousing industry, and logistics industry. It is mainly used for material handling, stacking, and unstacking operations. It usually has high automation and intelligence characteristics, which can significantly improve work efficiency and reduce labor costs. There are many classifications of robots, including gantry robots, also known as gantry robots or Cartesian coordinate robots.

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

[0004] In the above structure, stable and rapid palletizing of materials can be achieved. However, when palletizing materials, it is difficult to achieve continuous palletizing of materials, and pre-classification palletizing of materials cannot be performed. The robot palletizes a single material. At this time, the robot needs to have high precision and high fault tolerance to ensure the stability of single-material palletizing. When the precision is insufficient or the fault tolerance is low, during the subsequent material palletizing process, the materials will tilt or even fall due to improper positions, which is not conducive to the robot's palletizing, reduces the palletizing efficiency, has high requirements for the robot, reduces the fault tolerance, and increases the enterprise's maintenance cost.

[0005] Therefore, how to provide a material handling and palletizing robot is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] An object of the present invention is to provide a material handling and palletizing robot. The material handling and palletizing robot of the present invention includes a bearing plate, on which support frames are symmetrically arranged. A material feeding port for placing materials and a palletizing port for stacking materials are provided on the bearing plate. A rotating assembly is arranged on the bearing plate, and a plurality of pre-palletizing assemblies are arranged on the rotating assembly;

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

[0008] A driving mechanism is arranged on the bearing plate. A connecting assembly connected to the driving mechanism is arranged on the bearing plate. A transmission assembly connected to the moving assembly is arranged on the bearing plate. Among them, when the connecting assembly is connected to the rotating assembly, the driving mechanism forces the rotating assembly to rotate. When the connecting assembly is connected to the transmission assembly, the driving mechanism forces the transmission assembly to rotate.

[0009] Preferably, the rotating assembly includes a load-bearing block arranged on the bearing plate. A rotating column is connected to the load-bearing block through a bearing. A rotating disc is arranged on the rotating column. A rotating gear is fixedly sleeved on the rotating column.

[0010] Preferably, the pre-palletizing assembly includes a plurality of electronic scales arranged on the rotating disc. A palletizing plate is arranged on the electronic scale. Alignment grooves adapted to the clamping assembly are provided on the palletizing plate. A signal receiver is arranged on the palletizing plate.

[0011] Preferably, the moving assembly includes a first threaded rod connected to the support frame through a bearing. A guide rod is arranged on the other support frame. A moving block is slidably arranged on the support frame. The first threaded rod penetrates through the moving block in a threaded manner. The guide rod penetrates through the moving block.

[0012] Preferably, the adjusting assembly includes an adjusting block slidably arranged on the moving block. An adjusting straight rack is arranged on the moving block. A first motor is installed on the adjusting block. The output shaft of the first motor is connected to an adjusting gear meshing with the adjusting straight rack.

[0013] Preferably, the lifting mechanism includes a first hydraulic lifting rod installed on the adjusting block. The output end of the first hydraulic lifting rod is provided with a mounting plate. The distance adjusting assembly is arranged on the mounting plate.

[0014] Preferably, the distance adjustment component includes a second motor disposed on the mounting plate. Two symmetrically arranged second threaded rods are connected to the mounting plate by bearings. One of the second threaded rods is connected to the output shaft of the second motor. The thread structures at both ends of the second threaded rod are opposite. Two sets of symmetrically arranged distance adjustment plates are slidably disposed on the mounting plate. The two ends of the second threaded rod respectively thread through the two sets of distance adjustment plates. Synchronous wheels are fixedly sleeved on the ends of the two second threaded rods. The two synchronous wheels are connected by a synchronous belt.

[0015] The clamping component is disposed on the distance adjustment plate. The clamping component includes an alignment plate disposed on the distance adjustment plate. Hydraulic lifting rods II are symmetrically mounted on the alignment plate. The output ends of the hydraulic lifting rods II are provided with clamping blocks. Signal transmitters adapted to the signal receivers are disposed on the clamping blocks.

[0016] Preferably, the driving mechanism includes a support plate disposed on the bearing plate. A third motor is mounted on the support plate. The output shaft of the third motor is connected to a driving gear.

[0017] Preferably, the connecting component includes an electric push rod mounted on the support plate. The output end of the electric push rod is connected to a connecting gear that meshes with the driving gear and the rotating gear.

[0018] Preferably, the transmission component includes a fixing plate disposed on the bearing plate. A first transmission rod is fixedly sleeved on the fixing plate. A transmission gear that meshes with the connecting gear is fixedly sleeved on the first transmission rod. A second transmission rod is connected to the support frame by a bearing. A driving bevel gear is fixedly sleeved on the first transmission rod. A driven bevel gear that meshes with the driving bevel gear is fixedly sleeved on the second transmission rod. Belt wheels are fixedly sleeved on both the second transmission rod and the first threaded rod. The two belt wheels are connected by a belt.

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

[0020] In the present invention, the device is placed between the stacking position and the material conveying point. During stacking, the conveying device is used to convey the material to the feeding port. The connecting component is used to connect the driving mechanism and the transmission component. The driving mechanism is started, forcing the transmission component to rotate and drive the rotating component to rotate, thereby horizontally adjusting the position of the moving component, so that the adjusting component, the lifting mechanism, the distance adjusting component and the clamping component move above the feeding port; first, pre-stack the material, stop the driving mechanism, start the adjusting component, force the lifting mechanism, the distance adjusting component and the clamping component to move to the middle position between the two support frames and at the front end of the pre-stacking component, grab the material, use the lifting mechanism and the distance adjusting component to adjust the position of the clamping component, so that the clamping component first separates, after matching with the material, start the distance adjusting component and the clamping component, the clamping component clamps the material, reverse-start the driving mechanism, force the adjusting component, the lifting mechanism, the distance adjusting component and the clamping component to move above the pre-stacking component, and use the lifting mechanism, the distance adjusting component and the clamping component to release the material onto the pre-stacking component; start the driving mechanism again, force the clamping component to be at the front end of the pre-stacking component, use the connecting component to connect the driving mechanism and the rotating component, start the driving mechanism, drive the rotating component to rotate and drive the pre-stacking component to rotate one process, so that the next pre-stacking component corresponds to the clamping component, repeat the above steps to complete the pre-stacking of multiple materials until the corresponding number of materials is completed on each pre-stacking component; place the pre-stacked materials at the stacking port for overall stacking. Again, use the connecting component to connect the driving mechanism and the transmission component, force 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 above the pre-stacking component on one side of the stacking port, use the lifting mechanism, the distance adjusting component and the clamping component to clamp the material on the pre-stacking component and carry it as a whole to the stacking port for release, complete the stacking of multiple pre-stacked materials at the stacking port, use the connecting component to connect the driving mechanism and the rotating component, the rotating component rotates and drives the pre-stacking component to rotate one process, so that the next pre-stacking component corresponds to the clamping component, repeat the handling steps to complete the overall stacking of multiple materials; in summary, a material handling and stacking robot of the present application can achieve continuous stacking of materials, achieve pre-aligning and stacking of materials, improve the stability of stacking, reduce the number of times of material stacking, when the accuracy of the robot is insufficient or the fault tolerance ability is low, reduce the phenomenon of tilting or even toppling due to improper position, improve the stacking efficiency, reduce the accuracy requirements for the robot, improve the fault tolerance ability, and reduce the maintenance cost of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings are used to provide 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 to the present invention. In the drawings:

[0022] Figure 1Stereoscopic structure entity diagram of the present invention;

[0023] Figure 2 Partial structure entity diagram of the present invention;

[0024] Figure 3 Front view of the rotating assembly of the present invention;

[0025] Figure 4 Front view of the pre-palletizing assembly of the present invention;

[0026] Figure 5 Structure entity diagram of the adjustment assembly of the present invention;

[0027] Figure 6 Structure entity diagram of the distance adjustment assembly of the present invention;

[0028] Figure 7 Structure entity diagram of the clamping assembly of the present invention;

[0029] Figure 8 Structure entity diagram of the drive mechanism of the present invention;

[0030] Figure 9 Structure entity diagram of the transmission assembly of the present invention;

[0031] Figure 10 Schematic diagram of the engagement between the connecting gear and the rotating gear of the present invention.

[0032] In the figure: 1, bearing plate; 2, support frame; 3, material feeding port; 4, palletizing port; 5, rotating assembly; 501, load-bearing block; 502, rotating column; 503, rotating disc; 504, rotating gear; 6, pre-palletizing assembly; 601, electronic scale; 602, palletizing plate; 603, alignment groove; 604, signal receiver; 7, moving assembly; 701, first threaded rod; 702, guide rod; 703, moving block; 8, adjustment assembly; 801, adjustment block; 802, adjustment straight rack; 803, first motor; 804, adjustment gear; 9, lifting mechanism; 901, first hydraulic lifting rod; 902, mounting plate; 10, distance adjustment assembly; 1001, second motor; 1002, second threaded rod; 1003, distance adjustment plate; 1004, synchronous pulley; 1005, synchronous belt; 11, clamping assembly; 1101, alignment plate; 1102, second hydraulic lifting rod; 1103, clamping block; 1104, signal transmitter; 12, drive mechanism; 1201, support plate; 1202, third motor; 1203, drive gear; 13, connection assembly; 1301, electric push rod; 1302, connecting gear; 14, transmission assembly; 1401, fixing plate; 1402, first transmission rod; 1403, transmission gear; 1404, second transmission rod; 1405, driving bevel gear; 1406, driven bevel gear; 1407, belt pulley; 1408, belt. Detailed implementation mode

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

[0034] Embodiment 1:

[0035] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 and Figure 10 shown, a material handling and palletizing robot of the present invention includes a carrier plate 1, support frames 2 are symmetrically arranged on the carrier plate 1, a material feeding port 3 for placing materials and a palletizing port 4 for stacking materials are opened on the carrier plate 1, a rotating assembly 5 is arranged on the carrier plate 1, and a plurality of pre-palletizing assemblies 6 are arranged on the rotating assembly 5;

[0036] A moving assembly 7 for horizontal adjustment is arranged on the support frame 2, an adjusting assembly 8 for vertical adjustment is arranged at the output end of the moving assembly 7, a lifting mechanism 9 for vertical adjustment is arranged on the adjusting assembly 8, a distance adjusting assembly 10 is arranged at the output end of the lifting mechanism 9, and a clamping assembly 11 for the robot to clamp materials is arranged on the distance adjusting assembly 10. The clamping assembly 11 is used to pre-palletize the materials clamped from the material feeding port 3 on the pre-palletizing assembly 6, and then transport the palletized materials to the palletizing port 4 to complete the overall palletizing;

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

[0038] Working principle: Place the device between the stacking location and the material conveying point. During stacking, use the conveying device to convey the material to the material feeding port 3. Connect the driving mechanism 12 to the transmission component 14 using the connecting component 13. Start the driving mechanism 12, forcing the transmission component 14 to rotate and drive the rotating component 5 to rotate, thereby horizontally adjusting the position of the moving component 7, causing the adjusting component 8, the lifting mechanism 9, the distance adjusting component 10, and the clamping component 11 to move above the material feeding port 3. First, pre-stack the materials. Stop the driving mechanism 12, start the adjusting component 8, forcing the lifting mechanism 9, the distance adjusting component 10, and the clamping component 11 to move to the middle position between the two support frames 2 and at the front end of the pre-stacking component 6, grasp the materials, and use the lifting mechanism 9 and the distance adjusting component 10 to adjust the position of the clamping component 11, causing the clamping component 11 to separate first. After matching with the materials, start the distance adjusting component 10 and the clamping component 11, and the clamping component 11 clamps the materials. Reverse-start the driving mechanism 12, forcing the adjusting component 8, the lifting mechanism 9, the distance adjusting component 10, and the clamping component 11 to move above the pre-stacking component 6, and use the lifting mechanism 9, the distance adjusting component 10, and the clamping component 11 to release the materials onto the pre-stacking component 6. Start the driving mechanism 12 again, forcing the clamping component 11 to be at the front end of the pre-stacking component 6. Connect the driving mechanism 12 to the rotating component 5 using the connecting component 13. Start the driving mechanism 12, driving the rotating component 5 to rotate and drive the pre-stacking component 6 to rotate one process, so that the next pre-stacking component 6 corresponds to the clamping component 11. Repeat the above steps to complete the pre-stacking of multiple materials until the corresponding number of materials is completed on each pre-stacking component 6. Place the pre-stacked materials at the stacking port 4 for overall stacking. Connect the driving mechanism 12 to the transmission component 14 again using the connecting component 13, forcing the driving mechanism 12 to drive the transmission component 14 and the moving component 7 to rotate, causing the adjusting component 8, the lifting mechanism 9, the distance adjusting component 10, and the clamping component 11 to move above the pre-stacking component 6 on one side of the stacking port 4. Use the lifting mechanism 9, the distance adjusting component 10, and the clamping component 11 to clamp the materials on the pre-stacking component 6 and transport them as a whole to the stacking port 4 for release, completing the stacking of multiple pre-stacked materials at the stacking port 4. Connect the driving mechanism 12 to the rotating component 5 using the connecting component 13, and the rotating component 5 rotates to drive the pre-stacking component 6 to rotate one process, so that the next pre-stacking component 6 corresponds to the clamping component 11. Repeat the handling steps to complete the overall stacking of multiple materials. In summary, a material handling and stacking robot of the present application can achieve continuous stacking of materials, achieve pre-alignment and stacking of materials, improve the stability of stacking, reduce the number of times of material stacking, and when the accuracy of the robot is insufficient or the fault tolerance ability is low, reduce the phenomenon of tilting or even toppling due to improper position, improve the stacking efficiency, reduce the accuracy requirements for the robot, improve the fault tolerance ability, and reduce the maintenance cost of the enterprise.

[0039] Embodiment 2:

[0040] As Figure 2 、 Figure 3 and Figure 10 shown, a material handling and palletizing robot of the present invention, the rotating assembly 5 includes a load-bearing block 501 arranged on the bearing plate 1, a rotating column 502 is connected to the load-bearing block 501 through 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.

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

[0042] As Figure 1 and Figure 2 shown, a material handling and palletizing robot of the present invention, the moving assembly 7 includes a first threaded rod 701 connected to the support frame 2 through 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 first threaded rod 701 passes through the moving block 703 in a threaded manner, and the guide rod 702 passes through the moving block 703.

[0043] As Figure 1 、 Figure 2 and Figure 5 shown, a material handling and palletizing robot of the present invention, the adjusting assembly 8 includes an adjusting block 801 slidably arranged on the moving block 703, an adjusting straight rack 802 is arranged on the moving block 703, a first motor 803 is installed on the adjusting block 801, and an output shaft of the first motor 803 is connected to an adjusting gear 804 meshing with the adjusting straight rack 802.

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

[0045] As 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 Figure 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 Figure 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 , Figure 9 and Figure 10As shown in the figure, a material handling and palletizing robot of the present invention, the transmission assembly 14 includes a fixed plate 1401 provided on the bearing plate 1. A transmission rod 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 1402. A transmission rod 1404 is connected to the support frame 2 by bearings. 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 1404. Belt pulleys 1407 are fixedly sleeved on both the transmission rod 1404 and the threaded rod 701. The two belt pulleys 1407 are drivingly connected by a belt 1408.

[0050] Working principle: By placing the device between the location to be palletized and the material conveying point. During palletizing, the material at the material conveying point is conveyed to the feeding port 3 by the conveying device. 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 meshes with the transmission gear 1403. Since the connecting gear 1302 and the driving gear 1203 are always meshed, at this time the connecting gear 1302 is separated from the rotating gear 504. The motor three 1202 is started. The output shaft of the motor three 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. The transmission gear 1403 drives the transmission rod 1402 to rotate. The transmission rod 1402 drives the driving bevel gear 1405 to rotate, forcing the driven bevel gear 1406 to rotate, so that the transmission rod 1404 rotates. Under the action of the belt 1408 and the belt pulleys 1407, the threaded rod 701 is forced to rotate. 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 above the feeding port 3;

[0051] Pre-palletize the material. Stop the motor three 1202. Start the motor one 803. The output shaft of the motor one 803 rotates to drive the adjusting gear 804 to rotate. Under the action of the adjusting straight rack 802, the motor one 803 and the adjusting block 801 move to a reasonable intermediate position. The adjusting block 801 drives the lifting mechanism 9, the distance adjusting assembly 10 and the clamping assembly 11 to move to a reasonable position;

[0052] When grasping the material, start the hydraulic lifting rod 901. The output end of the hydraulic lifting rod 901 drives the mounting plate 902 to move to a reasonable position. Start the second motor 1001. The output shaft of the second motor 1001 rotates to drive the second threaded rod 1002 to rotate. Under the driving action of the synchronous belt 1005 and the synchronous pulley 1004, the two second 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 second hydraulic lifting rod 1102, so that the second hydraulic lifting rod 1102 drives the clamping block 1103 to move downward until the clamping block 1103 is located around the material clamping point. Reverse-start the second motor 1001, forcing the distance-adjusting plates 1003 to approach each other until the clamping block 1103 contacts and clamps the material;

[0053] When pre-palletizing the material, reverse-start the first hydraulic lifting rod 901, so that the first hydraulic lifting rod 901 retracts. At the same time, reverse-start the third motor 1202. The output shaft of the third motor 1202 rotates to drive the driving gear 1203 to rotate. Under the action of the transmission component 14, the moving block 703 retracts to a reasonable position, that is, the adjusting component 8, the lifting mechanism 9, the distance-adjusting component 10 and the clamping component 11 move above the pallet 602 until the signal receiver 604 can receive the signal of the signal transmitter 1104. Start the first hydraulic lifting rod 901 and the second hydraulic lifting rod 1102, so that the material descends to contact the pallet 602. At this time, the clamping block 1103 corresponds to the alignment groove 603. Start the second motor 1001, so that the distance-adjusting plates 1003 move away from each other, forcing the second hydraulic lifting rod 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] Convert the pallet 602, and restart the third motor 1202. Under the action of the transmission assembly 14, the moving block 703 moves to a reasonable position until the moving block 703 drives the adjustment assembly 8, the lifting mechanism 9, the distance adjustment assembly 10 and the clamping assembly 11 to move above the feeding port 3. Start the electric push rod 1301, and the output end of the electric push rod 1301 drives the connecting gear 1302 to move, so that the connecting gear 1302 meshes with the rotating gear 504. Since the connecting gear 1302 and the driving gear 1203 are always meshed, at this time the connecting gear 1302 is separated from the transmission gear 1403. Start the third motor 1202, and the output shaft of the third motor 1202 rotates a 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, and the rotating disk 503 drives the electronic scale 601 and the pallet 602 to rotate, so that the next pallet 602 rotates to the position of the previous pallet 602, completing the conversion of the pallet 602. Repeat the above steps to complete the pre-palletizing of multiple materials until the corresponding quantity of materials is completed on each pallet 602;

[0055] Carry the materials on the pallet 602 to the palletizing port 4 for overall palletizing. Start the electric push rod 1301, and the output end of the electric push rod 1301 drives the connecting gear 1302 to move, so that the connecting gear 1302 meshes with the transmission gear 1403. Since the connecting gear 1302 and the driving gear 1203 are always meshed, at this time the connecting gear 1302 is separated from the rotating gear 504. Start the third motor 1202, and the output shaft of the third motor 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. The transmission gear 1403 drives the first transmission rod 1402 to rotate, the first transmission rod 1402 drives the driving bevel gear 1405 to rotate, forcing the driven bevel gear 1406 to rotate, so that the second transmission rod 1404 rotates. Under the action of the belt 1408 and the belt pulley 1407, the first threaded rod 701 is forced to rotate. Under the action of the guide rod 702, the moving block 703 moves to a reasonable position until the moving block 703 drives the adjustment assembly 8, the lifting mechanism 9, the distance adjustment assembly 10 and the clamping assembly 11 to move above the pallet 602 at the palletizing port 4;

[0056] The pre-palletized materials on the palletizing board 602 are carried as a whole. The hydraulic lifting rod one 901 and the hydraulic lifting rod two 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 groove 603 and the signal receiver 604 can receive the signal from the signal transmitter 1104. The motor two 1001 is started in reverse, forcing the distance-adjusting plate 1003 and the alignment plate 1101 to approach each other until the clamping block 1103 contacts and clamps the materials. The motor three 1202 is started again. Under the action of the transmission assembly 14, the moving block 703 moves to drive the adjusting assembly 8, the lifting mechanism 9, the distance-adjusting assembly 10 and the clamping assembly 11 to move above the palletizing opening 4. The hydraulic lifting rod one 901 and the hydraulic lifting rod two 1102 are started in reverse, so that the mounting plate 902 and the clamping block 1103 move down to a reasonable height until the whole materials move down to the position of the palletizing opening 4. The motor two 1001 is started, so that the distance-adjusting plates 1003 move away from each other, forcing the hydraulic lifting rod two 1102 and the clamping block 1103 to move away from each other, completing the release action of the materials and realizing the pre-palletizing of a single material and the effect of carrying and palletizing the whole materials;

[0057] 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 meshes with the rotating gear 504. Since the connecting gear 1302 and the driving gear 1203 are always meshed, at this time the connecting gear 1302 is separated from the transmission gear 1403. The motor three 1202 is started. The output shaft of the motor three 1202 rotates a 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 disc 503 to rotate. The rotating disc 503 drives the electronic scale 601 and the palletizing board 602 to rotate, so that the next palletizing board 602 rotates to the position of the previous palletizing board 602. The above-mentioned carrying steps are repeated to complete the overall palletizing of multiple whole materials. At the same time, the adjusting assembly 8 is used to adjust the palletizing points of different palletizing openings 4;

[0058] The setting of the rotating assembly 5 can achieve the rotating effect on the pre-palletizing assembly 6, causing the pre-palletizing assembly 6 to rotate and change positions. During pre-palletizing, it can achieve the pre-palletizing of multiple pallet boards 602, realizing the effect of continuous palletizing. At the same time, it can handle the pre-palletized materials to achieve the overall palletizing effect; the setting of the pre-palletizing assembly 6 can achieve the detection effect of the materials. An ejection device can be added to eject unqualified materials, and it can match the signals on the clamping assembly 11 to achieve the alignment effect, improving the stability during pre-palletizing and the overall palletizing effect of the device; the setting of the moving assembly 7 can achieve the lateral movement of the moving block 703, thereby adjusting the lateral position of the device. It can move the materials from the feeding port 3 to the palletizing port 4, realizing the adjustment of the lateral position of the robot; the setting of the adjustment assembly 8 can achieve the longitudinal adjustment during material handling and can adjust the longitudinal position. It can align the materials with the feeding port 3 and the pallet board 602. At the same time, it can adjust the palletizing points of the palletizing port 4, enabling the overall palletizing of the materials at different positions and improving the rationality of the robot; the setting of the lifting mechanism 9 can adjust the height of the handled materials, realizing the adjustment of the height position of the clamping assembly 11, achieving the precise grasping of the materials. At the same time, it is conducive to moving the overall materials to the palletizing points, realizing the overall handling and palletizing effect; the setting of the distance adjustment assembly 10 can achieve the adjustment of the position of the clamping assembly 11, thereby realizing the clamping and releasing effects of the clamping assembly 11 on the materials. At the same time, the setting of the second threaded rod 1002 improves the clamping ability of the device, causing the clamping assemblies 11 to move away from or close to each other, improving the flexibility and clamping effect of the robot; the setting of the clamping assembly 11 can achieve the clamping and releasing effects of the materials and can send out signals to achieve the alignment effect, improving the pre-alignment ability of the robot, reducing the phenomenon of tilting or even falling due to improper positions, improving the palletizing efficiency, reducing the precision requirements for the robot, and improving the fault tolerance ability; the setting of the driving mechanism 12 can provide the power function of the device and can also provide an auxiliary function, reducing the handling range of the robot, improving the handling ability of the robot, and improving the working efficiency of the robot; the setting of the connecting assembly 13 can make the device selective, enabling the driving mechanism 12 to provide power in multiple directions, improving the flexibility of the device. It can achieve the lateral adjustment effect of the device and can also achieve the conversion function of the pallet board 602, thereby realizing the effects of continuous palletizing and pre-palletizing; the setting of the transmission assembly 14 can transfer the power of the driving mechanism 12 to the first threaded rod 701, thereby achieving the lateral movement effect of the moving assembly 7, reducing the setting of the driving source of the device, and performing step-by-step processing with the conversion of the pallet board 602, realizing the coordination ability of the robot and improving the transmission ability of the device.

[0059] The above are only the preferred specific embodiments 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, making equivalent substitutions or changes should be covered within 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 carrying plate (1) is provided with a driving mechanism (12), the carrying plate (1) is provided with a connecting component (13) connected to the driving mechanism (12), and the carrying 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; 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); 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) adapted to the clamping assembly (11) being provided on the palletizing plate (602), and a signal receiver (604) being arranged on the palletizing plate (602); The driving mechanism (12) comprises a support plate (1201) arranged on the bearing 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); 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).

2. A material handling and palletizing robot according to claim 1, 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).

3. A material handling and palletizing robot according to claim 2, 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).

4. A material handling and palletizing robot according to claim 3, 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).

5. The material handling and palletizing robot according to claim 4, 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).

6. The material handling and palletizing robot according to claim 5, 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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