An integrated robot for logistics unloading and palletizing

Abstract

The present invention discloses a logistics unloading and palletizing integrated robot, which relates to the field of handling and palletizing technology, including a support component, an air supply component, a rotating component and a translation component. The support component includes a bottom plate, a bracket is fixedly connected to the top of the bottom plate, a motor is fixedly connected to the top of the bracket, and the output end of the motor passes through the bracket and extends to the lower side. In the present invention, when the logistics unloading and palletizing integrated robot is used, the first piston is driven to move when the connecting frame moves up and down to achieve the compressed gas replenishment of the gas tank, and the rotation and translation adjustment of the electric clamp is achieved by using the supply of the gas source. The height adjustment of the electric clamp by the motor can drive the electric clamp to move to complete the logistics unloading and palletizing work, and less driving equipment is used, and the energy consumption is low during operation, that is, the production cost is reduced while the operating cost is reduced, which is conducive to the large-scale promotion and use of the logistics unloading and palletizing integrated robot.

Description

Technical Field

[0001] The present invention relates to the technical field of handling and palletizing, and in particular to an integrated logistics unloading and palletizing robot. Background Art

[0002] The function of the integrated logistics unloading and palletizing robot is to unload and palletize goods, which can greatly reduce labor and labor intensity.

[0003] In the prior art, in order to realize automated unloading and palletizing, the integrated logistics unloading and palletizing robot usually directly purchases a handling robot arm and uses it with a gripper. However, the procurement cost of the robot arm on the market is very high, and the robot arm requires multiple drive devices to operate, which makes the production cost and operating energy consumption of the integrated logistics unloading and palletizing robot high, which is not conducive to large-scale promotion and use.

[0004] Therefore, a logistics unloading and palletizing integrated robot is proposed to solve the problems raised in the above background technology. Summary of the invention

[0005] The purpose of the present invention is to provide a logistics unloading and palletizing integrated robot to solve the problem that the logistics unloading and palletizing integrated robot proposed in the above background technology has high production cost and high operating energy consumption, which is not conducive to large-scale promotion and use.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A logistics unloading and stacking integrated robot, comprising a support assembly, an air supply assembly, a rotating assembly and a translation assembly, wherein the support assembly comprises a bottom plate, a bracket is fixedly connected to the top of the bottom plate, a motor is fixedly connected to the top of the bracket, the output end of the motor passes through the bracket and extends to the lower side, a screw is fixedly connected to the output end of the motor, a sliding seat is threadedly connected to the outer surface of the screw, and a mounting seat is fixedly connected to the outer surface of the sliding seat close to the bracket; the air supply assembly is fixedly connected to the top of the bottom plate, the air supply assembly comprises a gas tank and two vertical pipes, a gas supply pipe is fixedly connected to the top of the gas tank, and a connecting pipe is fixedly connected between the two vertical pipes; the rotating assembly is fixedly connected to the outer surface of the mounting seat, the rotating assembly comprises a connecting frame, a turntable is rotatably connected to the bottom of the connecting frame through a plane bearing, the top of the turntable is fixedly connected to a support shaft, and a first U-shaped pipe is fixedly connected to the bottom of the connecting frame; the translation assembly is fixedly connected to the outer surface of the support shaft, and the translation assembly comprises a rotating block.

[0007] Preferably, the outer surface of the bracket is symmetrically fixedly connected with a slide rail, the outer surface of the mounting seat close to the bracket is symmetrically fixedly connected with a slider, the inner surface of the slider is slidably connected to the outer surface of the slide rail, and the lower end surface of the screw rod is rotatably connected to the top of the base plate.

[0008] By adopting the above technical solution, through the coordinated arrangement of the slider and the slide rail, it is possible to provide support and limit for the up and down displacement of the mounting seat.

[0009] Preferably, a notch is provided on the outer surface of the bracket, and the inner surfaces on both sides of the notch are fixedly connected with bellows, a connecting block is fixedly connected between the two bellows, a connecting pipe is fixedly connected through the inner surface of the connecting block, and a hose is fixedly connected to the end face of the connecting pipe close to the bracket, and the hose is fixedly connected to the gas tank.

[0010] By adopting the above technical solution, the hose will be deformed when the connecting frame moves up and down. Through the coordinated use of the connecting block and the bellows, the hose can always be separated at the rear position of the bracket. When the hose is deformed and displaced, it is away from the stacking operation range, avoiding damage to the hose caused by the displacement.

[0011] Preferably, a first piston is provided on the inner surface of the vertical pipe, the first piston is located at the lower side of the connecting pipe, a first sliding rod is fixedly connected to the top of the first piston, the first sliding rod slides through the vertical pipe and extends to the outside, the upper end surface of the first sliding rod is fixedly connected to a side frame, and the lower end surface of the side frame is fixedly connected to the top of the connecting frame.

[0012] By adopting the above technical solution, when the connecting frame moves up and down, the first piston can be driven to move up and down through the connection between the side frame and the first sliding rod, that is, the compressed gas in the gas tank can be replenished by driving the first piston to move when the connecting frame moves up and down.

[0013] Preferably, the outer surface of the connecting tube is fixedly connected to the first outer tube, the upper end surface of the first outer tube is fixedly connected to the first retaining ring, the top of the first retaining ring is fixedly connected to the filter cover, the top of the filter cover is fixedly connected to the first spring, the lower end surface of the first spring is fixedly connected to the first sealing block, the first sealing block is located at the lower side of the first retaining ring, and the outer surface of the first sealing block is in contact with the outer surface of the first outer tube.

[0014] By adopting the above technical solution, when the first piston moves downward in the vertical pipe, the air pressure in the closed space between the vertical pipe and the connecting pipe changes. Under the action of the low air pressure, the first sealing block is pulled down into the connecting pipe. When the first sealing block moves downward, the first spring is stretched. At this time, air enters the connecting pipe from the filter cover position for circulation.

[0015] Preferably, the outer surface of the connecting tube is fixedly connected to a second outer tube, the upper end surface of the second outer tube is fixedly connected to a second baffle ring, the top of the second baffle ring is fixedly connected to a conical cover, the top of the conical cover is fixedly connected to a second spring, the lower end surface of the second spring is fixedly connected to a second sealing block, the second sealing block is located on the upper side of the second baffle ring, and the first solenoid valve is symmetrically installed inside the connecting tube, the two first solenoid valves are respectively located outside the first outer tube and the second outer tube, and the conical cover is fixedly connected to the air supply pipe.

[0016] By adopting the above technical solution, the upward movement of the first piston can compress the air. After the first piston moves up a certain distance, the air pressure inside the connecting pipe in the vertical pipe gradually increases. At this time, the compressed air will exert upward pressure on the second sealing block, and the second sealing block will be lifted up and compressed to shrink the second spring. At this time, the compressed air will flow out through the second outer tube, and then enter the gas tank through the connection between the conical cover and the air supply pipe, thereby realizing the storage of compressed gas.

[0017] Preferably, the inner surface of the connecting frame is fixedly connected to the first fixed tube, the inner surface of the first fixed tube is provided with a second piston, the outer surfaces of both sides of the second piston are fixedly connected to the second sliding rods, the second sliding rod slides through and extends to the outside with the first fixed tube, the end face of the second sliding rod is fixedly connected to the side plate, the outer surfaces of the adjacent sides of the two side plates are fixedly connected to the push rods, a rack is fixedly connected between the end faces of the two push rods, the upper end face of the support shaft is fixedly connected to the gear, the rack and the gear are in a meshing state, the outer surface of the rack away from the gear is fixedly connected to the sliding bar, the inner surface of the connecting frame is provided with a sliding groove, the outer surface of the sliding bar is slidably connected to the inner surface of the sliding groove, and the end faces of both sides of the first U-shaped tube are fixedly connected to the first fixed tube.

[0018] By adopting the above technical solution, the rack can drive the support shaft to follow the rotation through the engagement with the gear during translation, and the rotation of the support shaft can drive the rotating block to follow the rotation. The rotating block can drive the second fixed tube to follow the rotation through the connection between the first support plate, the support rod and the second support plate. At this time, the moving seat can follow the rotation of the support shaft through the sliding connection with the support rod, and the moving seat drives the electric clamp to follow the rotation through the connection with the mounting frame, thereby achieving the purpose of rotating and adjusting the position of the electric clamp.

[0019] Preferably, an air supply pipe is fixedly connected to the outer surface of the first U-shaped tube, the air supply pipe is fixedly connected to the connecting pipe, the outer surface of the air supply pipe is fixedly connected to the first branch pipe, the second solenoid valves are symmetrically installed inside the first U-shaped tube, and the first exhaust valve is symmetrically installed inside the first U-shaped tube near the outer sides of the two second solenoid valves.

[0020] By adopting the above technical solution, the direction of the gas can be controlled by the coordinated use of the second solenoid valve and the first exhaust valve. After the gas enters the first fixed tube through the first U-shaped tube, the position of the rack can be adjusted by adjusting the position of the second piston.

[0021] Preferably, a first support plate is fixedly connected to the outer surface of the rotating block, support rods are fixedly connected at the corners of the outer surface of the first support plate, a second support plate is fixedly connected between the end faces of the multiple support rods, a second fixed tube is fixedly connected between the first support plate and the second support plate, a second U-shaped tube is fixedly connected to the outer surface of the second fixed tube, a second side branch tube is fixedly connected to the outer surface of the second U-shaped tube, a bellows is fixedly connected to the end face of the second side branch tube, the bellows is fixedly connected to the first side branch tube, a third solenoid valve is symmetrically installed inside the second U-shaped tube, and a second exhaust valve is symmetrically installed inside the second U-shaped tube near the outer sides of the two third solenoid valves.

[0022] By adopting the above technical solution, the direction of the gas can be controlled by the coordinated use of the third solenoid valve and the second exhaust valve. After the gas enters the second fixed tube through the second U-shaped tube, the translational position of the electric clamp can be adjusted by adjusting the position of the third piston.

[0023] Preferably, third pistons are symmetrically arranged on the inner surface of the second fixed tube, an inner rod is fixedly connected between the two third pistons, a first magnetic sleeve is fixedly connected to the outer surface of the inner rod, a second magnetic sleeve is sleeved on the outer surface of the second fixed tube, a movable seat is fixedly connected to the outer surface of the second magnetic sleeve, a mounting bracket is fixedly connected to the outer surface of the movable seat, and an electric clamp is fixedly connected to the bottom of the mounting bracket.

[0024] By adopting the above technical solution, through the magnetic connection between the second magnetic sleeve and the first magnetic sleeve inside the second fixed tube, the movable seat can be driven to follow the displacement when the third piston moves, thereby achieving the purpose of driving the electric clamp to translate the position adjustment.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. In the present invention, when the integrated logistics unloading and palletizing robot is in use, the first piston is driven to move when the connecting frame moves up and down to replenish the compressed gas in the gas tank, and the rotation and translation adjustment of the electric clamp is realized by utilizing the supply of the gas source. The height adjustment of the electric clamp by the motor can drive the displacement of the electric clamp to complete the logistics unloading and palletizing work. Fewer driving devices are used, and the energy consumption is low during operation, which reduces the production cost and the operation cost, and is conducive to the large-scale promotion and use of the integrated logistics unloading and palletizing robot.

[0027] 2. In the present invention, when the connecting frame moves up and down, the hose will be deformed. Through the coordinated use of the connecting block and the corrugated cover, the hose can always be separated at the rear position of the bracket. When the hose is deformed and displaced, it is away from the stacking operation range, avoiding damage to the hose caused by the displacement.

[0028] 3. In the present invention, by using two first solenoid valves, when one of the risers is damaged, the first solenoid valve on that side is cut off, so that the damaged riser is disconnected from the connecting pipe, and the riser on the other side can still be used normally, ensuring that the robot can continue to operate for a period of time. Maintenance during operation can ensure that the stacking work continues, avoiding structural damage that causes work to stop and affects efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional diagram of a logistics unloading and palletizing integrated robot according to the present invention;

[0030] Figure 2 This is an expanded view of a logistics unloading and palletizing integrated robot according to the present invention;

[0031] Figure 3 This is an expanded view from another perspective of a logistics unloading and palletizing integrated robot of the present invention;

[0032] Figure 4 This is a schematic diagram of the support component structure of a logistics unloading and palletizing integrated robot of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the air supply component of a logistics unloading and palletizing integrated robot of the present invention;

[0034] Figure 6 This is a schematic diagram of the connecting pipe structure of a logistics unloading and palletizing integrated robot of the present invention;

[0035] Figure 7 This is a schematic diagram of the partial structural combination of a logistics unloading and palletizing integrated robot of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of a rotating assembly of a logistics unloading and palletizing integrated robot according to the present invention;

[0037] Fig. 9 This is a schematic diagram of the first fixed tube structure of a logistics unloading and palletizing integrated robot of the present invention;

[0038] Fig.10 This is a schematic diagram of the structure of a translation component of a logistics unloading and palletizing integrated robot according to the present invention;

[0039] Fig.11This is a schematic diagram of the second fixed tube structure of a logistics unloading and palletizing integrated robot of the present invention;

[0040] Fig.12 This is a schematic diagram of the third piston structure of a logistics unloading and palletizing integrated robot of the present invention.

[0041] In the figure: 1. Support assembly; 101. Bottom plate; 102. Bracket; 103. Slide rail; 104. Notch; 105. Motor; 106. Screw; 107. Sliding seat; 108. Mounting seat; 109. Sliding block; 110. Bellows; 111. Connecting block; 112. Connecting pipe; 113. Hose; 2. Air supply assembly; 201. Air tank; 202. Standpipe; 203. First piston; 204. First slide rod ; 205, side frame; 206, air supply pipe; 207, connecting pipe; 208, first solenoid valve; 209, first outer tube; 210, first retaining ring; 211, filter cover; 212, first spring; 213, first sealing block; 214, second outer tube; 215, second retaining ring; 216, conical cover; 217, second spring; 218, second sealing block; 3, rotating assembly; 301, connecting frame; 302, turntable; 303, support shaft; 304, gear; 305, first fixed pipe; 306, second piston; 307, second slide bar; 308, side plate; 309, push rod; 310, rack; 311, slide bar; 312, slide groove; 313, first U-shaped pipe; 314, air supply pipe; 315, first side branch pipe; 316, second solenoid valve; 317, first exhaust valve; 4, translation assembly; 401, rotating block; 402 , first support plate; 403, support rod; 404, second support plate; 405, second fixed tube; 406, third piston; 4061, inner rod; 407, first magnetic sleeve; 408, second magnetic sleeve; 409, movable seat; 410, second U-shaped tube; 411, second branch tube; 412, bellows; 413, third solenoid valve; 414, second exhaust valve; 415, mounting bracket; 416, electric clamp. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Example 1: Please refer to Figure 1-Figure 12As shown, the present invention provides a technical solution: a logistics unloading and palletizing integrated robot, including a support component 1, an air supply component 2, a rotating component 3 and a translation component 4, the support component 1 includes a base plate 101, a bracket 102 is fixedly connected to the top of the base plate 101, a motor 105 is fixedly connected to the top of the bracket 102, an output end of the motor 105 passes through the bracket 102 and extends to the lower side, a screw rod 106 is fixedly connected to the output end of the motor 105, a sliding seat 107 is threadedly connected to the outer surface of the screw rod 106, and a mounting seat 108 is fixedly connected to the outer surface of the sliding seat 107 close to the bracket 102; the air supply component 2 is fixedly connected to the top of the base plate 101, the air supply component 2 includes a gas tank 201 and two risers 202, and the top of the gas tank 201 is fixedly connected The air supply pipe 206 has a connecting pipe 207 fixedly connected between the two vertical pipes 202; the rotating assembly 3 is fixedly connected to the outer surface of the mounting seat 108, and the rotating assembly 3 includes a connecting frame 301. The bottom of the connecting frame 301 is rotatably connected to the turntable 302 through a plane bearing, and the top of the turntable 302 is fixedly connected to the support shaft 303. The bottom of the connecting frame 301 passes through and is fixedly connected to the first U-shaped tube 313; the translation assembly 4 is fixedly connected to the outer surface of the support shaft 303, and the translation assembly 4 includes a rotating block 401. The outer surface of the bracket 102 is symmetrically fixedly connected to the slide rail 103, and the outer surface of the mounting seat 108 close to the bracket 102 is symmetrically fixedly connected to the slider 109. The inner surface of the slider 109 is slidably connected to the outer surface of the slide rail 103, and the lower end surface of the screw rod 106 The bracket 102 is rotatably connected to the top of the bottom plate 101, and a notch 104 is provided on the outer surface of the bracket 102. The inner surfaces of the upper and lower sides of the notch 104 are fixedly connected with bellows 110. A connecting block 111 is fixedly connected between the two bellows 110. A connecting pipe 112 is fixedly connected to the inner surface of the connecting block 111. A hose 113 is fixedly connected to the end surface of the connecting pipe 112 close to the bracket 102. The hose 113 is fixedly connected to the gas tank 201. A first piston 203 is provided on the inner surface of the stand pipe 202. The first piston 203 is located at the lower side of the connecting pipe 207. A first slide bar 204 is fixedly connected to the top of the first piston 203. The first slide bar 204 slides through the stand pipe 202 and extends to the outside. The upper end surface of the first slide bar 204 is fixedly connected to the side frame 2 05, the lower end surface of the side frame 205 is fixedly connected to the top of the connecting frame 301, the outer surface of the connecting pipe 207 is fixedly connected to the first outer tube 209, the upper end surface of the first outer tube 209 is fixedly connected to the first retaining ring 210, the top of the first retaining ring 210 is fixedly connected to the filter cover 211, the top of the filter cover 211 is fixedly connected to the first spring 212, the lower end surface of the first spring 212 is fixedly connected to the first sealing block 213, the first sealing block 213 is located at the lower side of the first retaining ring 210, the outer surface of the first sealing block 213 is in contact with the outer surface of the first outer tube 209, the outer surface of the connecting pipe 207 is fixedly connected to the second outer tube 214, the upper end surface of the second outer tube 214 is fixedly connected to the second retaining ring 215, the top of the second retaining ring 215 is fixedly connected to the conical cover 216,A second spring 217 is fixedly connected to the top of the conical cover 216, and a second sealing block 218 is fixedly connected to the lower end surface of the second spring 217. The second sealing block 218 is located on the upper side of the second retaining ring 215. The conical cover 216 is fixedly connected to the air supply pipe 206. The inner surface of the connecting frame 301 is fixedly connected to the first fixed pipe 305. The inner surface of the first fixed pipe 305 is provided with a second piston 306. The outer surfaces of both sides of the second piston 306 are fixedly connected to second slide bars 307. The second slide bars 307 slide through the first fixed pipe 305 and extend to the outside. The end surface of the second slide bar 307 is fixedly connected to a side plate 308. The outer surfaces of the adjacent sides of the two side plates 308 are fixedly connected to push rods 309. The two push rods A rack 310 is fixedly connected between the end surfaces 309, a gear 304 is fixedly connected to the upper end surface of the support shaft 303, the rack 310 and the gear 304 are in a meshing state, a slide bar 311 is fixedly connected to the outer surface of the rack 310 away from the gear 304, a slide groove 312 is provided on the inner surface of the connecting frame 301, the outer surface of the slide bar 311 is slidably connected to the inner surface of the slide groove 312, both side end surfaces of the first U-shaped tube 313 are fixedly connected to the first fixed tube 305, an air supply pipe 314 is fixedly connected to the outer surface of the first U-shaped tube 313, the air supply pipe 314 is fixedly connected to the connecting pipe 112, a first side branch pipe 315 is fixedly connected to the outer surface of the air supply pipe 314, and a second electromagnetic The first exhaust valve 317 is symmetrically installed inside the first U-shaped tube 313 near the outer side of the two second solenoid valves 316, the outer surface of the rotating block 401 is fixedly connected to the first support plate 402, the outer surface corners of the first support plate 402 are fixedly connected to the support rods 403, the end surfaces of the plurality of support rods 403 are fixedly connected to the second support plate 404, the second fixed tube 405 is fixedly connected between the first support plate 402 and the second support plate 404, the outer surface of the second fixed tube 405 is fixedly connected to the second U-shaped tube 410, the outer surface of the second U-shaped tube 410 is fixedly connected to the second side branch tube 411, the end surface of the second side branch tube 411 is fixedly connected to the bellows 412, and the bellows 412 is fixedly connected to the first side branch tube 411. A side branch pipe 315 is fixedly connected, a third solenoid valve 413 is symmetrically installed inside the second U-shaped pipe 410, a second exhaust valve 414 is symmetrically installed inside the second U-shaped pipe 410 near the outer side of the two third solenoid valves 413, a third piston 406 is symmetrically arranged on the inner surface of the second fixed pipe 405, an inner rod 4061 is fixedly connected between the two third pistons 406, a first magnetic suction sleeve 407 is fixedly connected on the outer surface of the inner rod 4061, a second magnetic suction sleeve 408 is sleeved on the outer surface of the second fixed pipe 405, a moving seat 409 is fixedly connected on the outer surface of the second magnetic suction sleeve 408, a mounting frame 415 is fixedly connected on the outer surface of the moving seat 409, and an electric clamp 416 is fixedly connected to the bottom of the mounting frame 415.

[0044] The use steps of the present invention are as follows: when the integrated logistics unloading and palletizing robot is used, the first piston 203 is driven to move when the connecting frame 301 moves up and down to replenish the compressed gas in the gas tank 201. The compressed gas in the gas tank 201 can flow into the second U-shaped tube 410 through the connection of the first side branch pipe 315, the bellows 412 and the second side branch pipe 411. When the position of the electric clamp 416 is rotated and adjusted, the second solenoid valve 316 on one side is opened, and the first exhaust valve 317 on the other side is opened. At this time, the gas flows into the first fixed tube 305 through the second U-shaped tube 410 and pushes The second piston 306 can be driven to move, and the second piston 306 can drive the rack 310 to move to one side through the connection between the second sliding rod 307 and the side plate 308. The rack 310 can drive the support shaft 303 to rotate with it through the meshing with the gear 304 during translation. The rotation of the support shaft 303 drives the rotating block 401 to rotate with it. The rotating block 401 can drive the second fixed tube 405 to rotate with it through the connection between the first support plate 402, the support rod 403 and the second support plate 404. At this time, the moving seat 409 can rotate with the support shaft 303 through the sliding connection with the support rod 403. 409 drives the electric clamp 416 to rotate with it through the connection with the mounting frame 415, so as to realize the purpose of rotating and adjusting the position of the electric clamp 416. When adjusting the translation position of the electric clamp 416, the third solenoid valve 413 on one side is opened, and the second exhaust valve 414 on the other side is opened, and the gas enters the second fixed tube 405 through the second U-shaped tube 410 to push the third piston 406 to move. When the third piston 406 moves, it can drive the inner rod 4061 and the first magnetic suction sleeve 407 to move with it. The first magnetic suction sleeve 407 and the second magnetic suction sleeve 408 outside the second fixed tube 405 are in a magnetic state, so it can The second magnetic suction sleeve 408 and the movable seat 409 are driven to translate. After the translation is in place, the third solenoid valve 413 and the second exhaust valve 414 are closed to achieve the purpose of translational adjustment of the position of the electric clamp 416. The air source is used to realize the rotation and translational adjustment of the electric clamp 416. The height adjustment of the electric clamp 416 by the motor 105 can drive the electric clamp 416 to move to complete the logistics unloading and palletizing work. Fewer driving devices are used, and the energy consumption is low during operation, which reduces the production cost while reducing the operating cost, which is conducive to the large-scale promotion and use of integrated robots for logistics unloading and palletizing.

[0045] Embodiment 2: Figure 1-Figure 4 As shown, a slot 104 is provided on the outer surface of the bracket 102, and bellows 110 are fixedly connected to the inner surfaces of the upper and lower sides of the slot 104, a connecting block 111 is fixedly connected between the two bellows 110, a connecting pipe 112 is fixedly connected to the inner surface of the connecting block 111, and a hose 113 is fixedly connected to the end face of the connecting pipe 112 close to the bracket 102, and the hose 113 is fixedly connected to the gas tank 201.

[0046] According to the use steps of the present invention, when the connecting frame 301 moves up and down, the hose 113 will be deformed. By using the connecting block 111 and the bellows 110 in coordination, the hose 113 can always be separated at the rear position of the bracket 102. When the hose 113 is deformed and displaced, it is away from the stacking operation range, thereby preventing the hose 113 from being touched by the displacement and causing damage.

[0047] Embodiment 3: Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the first solenoid valves 208 are symmetrically installed inside the connecting pipe 207, and the two first solenoid valves 208 are respectively located outside the first outer tube 209 and the second outer tube 214.

[0048] The use steps of the present invention are as follows: by using two first solenoid valves 208, when one of the risers 202 is damaged, the first solenoid valve 208 on that side is cut off, so that the damaged riser 202 is disconnected from the connecting pipe 207, and the riser 202 on the other side can still be used normally, ensuring that the robot can continue to operate for a period of time. Maintenance during operation can ensure that the stacking work continues, avoiding structural damage that causes work to stop and affects efficiency.

[0049] The effect and working principle achieved by the entire mechanism are as follows: when the integrated logistics unloading and palletizing robot is used, the position of the electric clamp 416 can be controlled and adjusted through the coordinated use of the support component 1, the air supply component 2, the rotation component 3 and the translation component 4. By adjusting the position of the electric clamp 416, after the electric clamp 416 moves to the unloading position, the electric clamp 416 operates to clamp the goods, and then the electric clamp 416 is controlled to grab the goods and move to the palletizing position to complete the logistics unloading and palletizing work. In the process of palletizing, the connecting frame 301 is controlled to move up and down through the operation of the motor 105. After the motor 105 is running, it can drive the screw rod 106 to rotate accordingly. The rotation of the screw rod 106 can drive the sliding seat 107 to move up and down. The sliding seat 107 can drive the mounting seat 108 and the slider 109 to move accordingly. The slider 109 will move along the slide rail 103 to play a supporting and limiting role. The mounting seat 108 can drive the connecting frame 301 to move up and down by connecting with the connecting frame 301. The up and down movement of the connecting frame 301 can drive the translation assembly 4 to move up and down. The up and down movement of the translation assembly 4 can drive the electric clamp 416 to move up and down. During palletizing, the electric clamp 416 needs to grab the goods from a higher position and then start palletizing from the bottom. Therefore, at the beginning of palletizing and when palletizing is about to end, the height of the goods on both sides changes. The electric clamp 416 palletizes from high to low, or from low to high. The connecting frame 301 will have a larger When the connecting frame 301 moves downward, the first slide bar 204 and the first piston 203 can be driven to move downward by the connection with the side frame 205. When the first piston 203 moves downward in the vertical pipe 202, the air pressure in the closed space between the vertical pipe 202 and the connecting pipe 207 changes. Under the action of the low air pressure, the first sealing block 213 is pulled down into the connecting pipe 207. When the first sealing block 213 moves downward, the first spring 212 is stretched. At this time, the air enters the connecting pipe 207 from the position of the filter cover 211 for circulation. After the connecting frame 301 moves down to the right position, the first piston 203 stops moving. At this time, the first sealing block 213 can be driven to move up and reset by the rebound force of the first spring 212. The first sealing block 213 moves up and tops the connecting pipe 207. At the position of the first retaining ring 210, the first outer tube 209 and the connecting tube 207 are in a closed state. At this time, the electric gripper 416 is in the lower position to complete the palletizing. Then the robot continues to move to the unloading position to grab the goods. When unloading and grabbing the goods, it is necessary to control the connection frame 301 to move up. After the connection frame 301 moves up, it can drive the first piston 203 to move up. At this time, since there is a closed space between the vertical tube 202 and the connecting tube 207, and air is sent into the space during the downward movement, the upward movement of the first piston 203 can compress the air. After the first piston 203 moves up a certain stroke, the air pressure inside the connecting tube 207 in the vertical tube 202 gradually increases. At this time, the compressed air will exert pressure upward on the second sealing block 218.The second sealing block 218 is lifted up and the second spring 217 is compressed. At this time, the compressed air will flow out through the second outer tube 214, and then enter the gas tank 201 through the connection of the conical cover 216 and the air supply pipe 206. After an up and down stroke of the connecting frame 301, the up and down displacement of the first pistons 203 on both sides can be used to achieve air inhalation, compression, and storage. A connecting valve is also provided on the top of the gas tank 201, which can be used to release pressure and send in gas for replenishment at the initial stage of operation to ensure sufficient gas supply in the initial operation stage. Through the synchronous use of the two vertical pipes 202 and the two first pistons 203, the space of the two vertical pipes 202 can be used to store compressed air when the connecting frame 301 moves up and down, realizing The high storage efficiency is achieved by using two first electromagnetic valves 208. Considering that the first piston 203 will wear out due to long-term air compression, when one of the vertical pipes 202 is damaged, the first electromagnetic valve 208 on that side is cut off, so that the damaged vertical pipe 202 is disconnected from the connecting pipe 207, and the vertical pipe 202 on the other side can still be used normally, ensuring that the robot can continue to operate for a period of time. Maintenance during operation can ensure that the stacking work continues, avoiding structural damage that causes work to stop and affect efficiency. While the motor 105 drives the connecting frame 301 to move up and down, the air source stored in the gas tank 201 can be used to realize the driving function, which is to control the electric gripper 4. 16 adjusts the working position by rotating the support shaft 303 at the center of the circle, and controls the electric clamp 416 to slide along the support rod 403, and cooperates with the rotation to achieve a larger working coverage range of the electric clamp 416, so as to achieve the purpose of replacing the mechanical arm with a simple and low-cost structure, saving the production cost of the logistics unloading and stacking robot. The driving air source utilizes the hose 113, the connecting pipe 112 and the air supply pipe 314 to allow the compressed gas in the gas tank 201 to flow into the first U-shaped tube 313. When the connecting frame 301 moves up and down, the hose 113 will be deformed. Through the coordinated use of the connecting block 111 and the corrugated cover 110, the hose 113 can always be separated at the rear position of the bracket 102, and the deformation position of the hose 113 When moving away from the stacking operation range, the hose 113 is prevented from being damaged by the displacement. The compressed gas in the gas tank 201 can flow into the second U-shaped tube 410 through the connection of the first side branch tube 315, the bellows 412 and the second side branch tube 411. When the position of the electric clamp 416 is rotated and adjusted, the second solenoid valve 316 on one side is opened, and the first exhaust valve 317 on the other side is opened. At this time, the gas flows into the first fixed tube 305 through the second U-shaped tube 410, and the gas can push the second piston 306 to move. At this time, the gas enters one side of the second piston 306, and the gas on the other side can be discharged from the position of the first exhaust valve 317 through the first U-shaped tube 313. By using the displacement of the second piston 306,The second piston 306 can drive the rack 310 to move to one side through the connection between the second slide bar 307 and the side plate 308. After the rack 310 is moved into place, the second solenoid valve 316 and the first exhaust valve 317 are closed, so that the position of the second piston 306 is fixed. The rack 310 slides in the slide groove 312 through the connection of the slide bar 311 to limit the displacement of the rack 310. When the rack 310 is translated, it can drive the support shaft 303 to rotate with it through the engagement with the gear 304. The rotation of the support shaft 303 drives the rotating block 401 to rotate with it. 401 can drive the second fixed tube 405 to rotate by connecting the first support plate 402, the support rod 403 and the second support plate 404. At this time, the movable seat 409 can rotate with the support shaft 303 by sliding connection with the support rod 403. The movable seat 409 drives the electric clamp 416 to rotate by connecting with the mounting bracket 415, so as to achieve the purpose of adjusting the position of the electric clamp 416 by rotation. When adjusting the translation position of the electric clamp 416, the third solenoid valve 413 on one side is opened, and the second exhaust valve 414 on the other side is opened, and the gas passes through the second The U-shaped tube 410 enters the second fixed tube 405 to push the third piston 406 to move. When the third piston 406 moves, it can drive the inner rod 4061 and the first magnetic sleeve 407 to move with it. The first magnetic sleeve 407 and the second magnetic sleeve 408 on the outside of the second fixed tube 405 are in a magnetic state, so it can drive the second magnetic sleeve 408 and the moving seat 409 to move horizontally. After the translation is in place, the third solenoid valve 413 and the second exhaust valve 414 are closed to achieve the purpose of adjusting the position of the electric clamp 416 by translation, and the first piston is driven by the connection frame 301 when it moves up and down. 203 displacement to achieve the compressed gas replenishment of the gas tank 201, the compressed gas stored in the gas tank 201 can supply the rotating component 3 and the translation component 4, the supply of gas source is used to achieve the rotation and translation adjustment of the electric gripper 416, and the height adjustment of the electric gripper 416 by the motor 105 can drive the electric gripper 416 to move to complete the logistics unloading and stacking work, using less driving equipment, and the energy consumption is low during operation, which reduces the production cost and the operating cost, which is conducive to the large-scale promotion and use of the integrated robot for logistics unloading and stacking.

[0050] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A logistics unloading and palletizing integrated robot, comprising a support component (1), an air supply component (2), a rotation component (3) and a translation component (4), characterized in that: The support assembly (1) comprises a base plate (101), a bracket (102) being fixedly connected to the top of the base plate (101), a motor (105) being fixedly connected to the top of the bracket (102), an output end of the motor (105) passing through the bracket (102) and extending to the bottom, a screw rod (106) being fixedly connected to the output end of the motor (105), a sliding seat (107) being threadedly connected to the outer surface of the screw rod (106), and a mounting seat (108) being fixedly connected to the outer surface of the sliding seat (107) on a side close to the bracket (102); The air supply assembly (2) is fixedly connected to the top of the base plate (101), and comprises an air tank (201) and two vertical pipes (202). The top of the air tank (201) is fixedly connected to an air supply pipe (206), and a connecting pipe (207) is fixedly connected between the two vertical pipes (202). The outer surface of the bracket (102) is provided with a notch (104), and the inner surfaces of the upper and lower sides of the notch (104) are fixedly connected to a corrugated cover (110), and a connecting block (110) is fixedly connected between the two corrugated covers (110). 1), a connecting pipe (112) is fixedly connected to the inner surface of the connecting block (111), a hose (113) is fixedly connected to the end surface of the connecting pipe (112) close to the bracket (102), the hose (113) is fixedly connected to the gas tank (201), a first outer pipe (209) is fixedly connected to the outer surface of the connecting pipe (207), a first retaining ring (210) is fixedly connected to the upper end surface of the first outer pipe (209), a filter cover (211) is fixedly connected to the top of the first retaining ring (210), and the filter cover (211) is fixedly connected to the inner surface of the filter cover (211). A first spring (212) is fixedly connected to the top, a first sealing block (213) is fixedly connected to the lower end surface of the first spring (212), the first sealing block (213) is located at the lower side of the first retaining ring (210), the outer surface of the first sealing block (213) is in contact with the outer surface of the first outer tube (209), the outer surface of the connecting tube (207) is fixedly connected to the second outer tube (214), the upper end surface of the second outer tube (214) is fixedly connected to the second retaining ring (215), and the top of the second retaining ring (215) is fixedly connected to a conical cover (216), a second spring (217) is fixedly connected to the top of the conical cover (216), a second sealing block (218) is fixedly connected to the lower end surface of the second spring (217), the second sealing block (218) is located on the upper side of the second retaining ring (215), a first solenoid valve (208) is symmetrically installed inside the connecting pipe (207), two first solenoid valves (208) are respectively located outside the first outer tube (209) and the second outer tube (214), and the conical cover (216) is fixedly connected to the air supply pipe (206); The rotating assembly (3) is fixedly connected to the outer surface of the mounting seat (108), and the rotating assembly (3) comprises a connecting frame (301). The inner bottom of the connecting frame (301) is rotatably connected to a rotating disk (302) via a plane bearing, and the top of the rotating disk (302) is fixedly connected to a supporting shaft (303). The inner bottom of the connecting frame (301) is penetrated and fixedly connected to a first U-shaped tube (313). The inner surface of the vertical tube (202) is provided with a first piston (203), and the first piston (203) is located at a lower side of the connecting tube (207). The top of the first piston (203) is fixedly connected to a first sliding rod (204), and the first sliding rod (204) slides through the vertical tube (202) and extends to the outside. The upper end surface of the first sliding rod (204) is fixedly connected to a side frame (205), and the lower end surface of the side frame (205) is fixedly connected to the top of the connecting frame (301); The translation assembly (4) is fixedly connected to the outer surface of the support shaft (303), and the translation assembly (4) comprises a rotating block (401).

2. The integrated logistics unloading and palletizing robot according to claim 1 is characterized in that: The outer surface of the bracket (102) is symmetrically fixedly connected to a slide rail (103), the outer surface of the mounting seat (108) close to the bracket (102) is symmetrically fixedly connected to a slider (109), the inner surface of the slider (109) is slidably connected to the outer surface of the slide rail (103), and the lower end surface of the screw rod (106) is rotatably connected to the top of the bottom plate (101).

3. The integrated logistics unloading and palletizing robot according to claim 1 is characterized in that: The inner surface of the connecting frame (301) is fixedly connected to a first fixed tube (305), the inner surface of the first fixed tube (305) is provided with a second piston (306), the outer surfaces of both sides of the second piston (306) are fixedly connected to second sliding rods (307), the second sliding rods (307) slide through the first fixed tube (305) and extend to the outside, the end surface of the second sliding rod (307) is fixedly connected to a side plate (308), the outer surfaces of the adjacent sides of the two side plates (308) are fixedly connected to push rods (309), the two push rods (30 9) A rack (310) is fixedly connected between the end surfaces, a gear (304) is fixedly connected to the upper end surface of the support shaft (303), the rack (310) and the gear (304) are in a meshing state, a slide bar (311) is fixedly connected to the outer surface of the rack (310) away from the gear (304), a slide groove (312) is provided on the inner surface of the connecting frame (301), the outer surface of the slide bar (311) is slidably connected to the inner surface of the slide groove (312), and the end surfaces on both sides of the first U-shaped tube (313) are fixedly connected to the first fixed tube (305).

4. The integrated logistics unloading and palletizing robot according to claim 1 is characterized in that: An air supply pipe (314) is fixedly connected to the outer surface of the first U-shaped tube (313), the air supply pipe (314) is fixedly connected to the connecting tube (112), a first side branch pipe (315) is fixedly connected to the outer surface of the air supply pipe (314), second solenoid valves (316) are symmetrically installed inside the first U-shaped tube (313), and a first exhaust valve (317) is symmetrically installed inside the first U-shaped tube (313) near the outer sides of the two second solenoid valves (316).

5. The integrated logistics unloading and palletizing robot according to claim 4 is characterized in that: The outer surface of the rotating block (401) is fixedly connected to a first support plate (402); support rods (403) are fixedly connected to the corners of the outer surface of the first support plate (402); a second support plate (404) is fixedly connected between the end surfaces of the plurality of support rods (403); a second fixed tube (405) is fixedly connected between the first support plate (402) and the second support plate (404); a second U-shaped tube (410) is fixedly connected to the outer surface of the second fixed tube (405); a second side branch tube (411) is fixedly connected to the outer surface of the second U-shaped tube (410); a bellows (412) is fixedly connected to the end surface of the second side branch tube (411); the bellows (412) is fixedly connected to the first side branch tube (315); a third solenoid valve (413) is symmetrically installed inside the second U-shaped tube (410); and a second exhaust valve (414) is symmetrically installed inside the second U-shaped tube (410) near the outer sides of the two third solenoid valves (413).

6. The integrated logistics unloading and palletizing robot according to claim 5 is characterized in that: The inner surface of the second fixed tube (405) is symmetrically provided with a third piston (406), an inner rod (4061) is fixedly connected between the two third pistons (406), the outer surface of the inner rod (4061) is fixedly connected with a first magnetic suction sleeve (407), the outer surface of the second fixed tube (405) is sleeved with a second magnetic suction sleeve (408), the outer surface of the second magnetic suction sleeve (408) is fixedly connected with a movable seat (409), the outer surface of the movable seat (409) is fixedly connected with a mounting frame (415), and the bottom of the mounting frame (415) is fixedly connected with an electric clamp (416).

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