An automatic palletizing robot for the production of waterborne coatings

Abstract

The present invention relates to the technical field of automatic palletizing, and particularly relates to an automatic palletizing robot for waterborne coating production, including a vehicle body, a C-shaped frame, a supporting cross arm, a steering mechanism, a robotic arm adjusting mechanism, a clamping mechanism, an auxiliary suction mechanism, a conveying mechanism, and a positioning mechanism. In the present invention, the clamping mechanism uses two front and rear rectangular clamping plates and two left and right C-shaped top plates to synchronously approach and fit against the inclined outer wall on the upper side of the paint bucket, thereby achieving the effect of grasping and supporting the grasping groove and the handle on the paint bucket. The clamping is fast and stable, effectively improving the safety and stability of the palletizing process, and when placing the palletized paint bucket, the clamping mechanism will not be unable to be removed, nor will it occupy more area.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic palletizing, and particularly relates to an automatic palletizing robot for waterborne coating production. Background Art

[0002] The invention of the automatic palletizing equipment for barreled coatings stems from the automation requirements of the coating manufacturing and packaging industries. During the coating production process, coatings are generally packed in round or square barrels. After packaging, the coating barrels need to be neatly stacked, i.e., palletized, for storage and transportation.

[0003] Generally, the material of the square barrel is plastic, and the weight of each barrel of coating can reach 50KG. Due to its heavy weight and the inability to use magnetic adsorption like round metal barrels, when palletizing square plastic barrels, clamping plates are often selected to clamp the barreled coatings. However, the already placed barreled coatings have a certain obstructive effect on the clamping plates to be lowered. Specifically, if the gap between adjacent barreled coatings is small, it will be difficult to remove the clamping plates. If the gap between adjacent barreled coatings is large, the floor area will increase.

[0004] In addition, when using clamping plates to clamp heavy barreled coatings, there is a situation where the barreled coatings roll down due to instability during transportation or during the process of stacking layer by layer. Summary of the Invention

[0005] Technical problems to be solved: An automatic palletizing robot for waterborne coating production provided by the present invention can solve the above-mentioned problems.

[0006] Technical solution: To achieve the above object, the present invention adopts the following technical solutions. An automatic palletizing robot for waterborne coating production is used in cooperation with a conveying mechanism and includes a vehicle body. A U-shaped frame is arranged on the left side of the vehicle body. A support cross arm is arranged on the upper side of the vehicle body. A steering mechanism is arranged on the vehicle body. A robotic arm adjusting mechanism is jointly arranged on the steering mechanism and the support cross arm. A clamping mechanism is arranged on the support cross arm. An auxiliary suction mechanism is arranged on the clamping mechanism. A conveying mechanism is arranged on the U-shaped frame. A positioning mechanism is arranged on the conveying mechanism.

[0007] The clamping mechanism includes a support shaft rotatably installed through the tail end of the support cross arm. The front and rear ends of the support shaft are jointly hinged with a U-shaped support plate. The lower end of the U-shaped support plate is installed with a mounting plate. The bottom end of the mounting plate is provided with a circular mounting groove. A clamping part is arranged on the mounting plate, and a recovery part is arranged on the clamping part. The auxiliary suction mechanism includes a plurality of waist-shaped through holes one evenly distributed in a circumferential manner and opened on the upper end of the mounting plate. The plurality of waist-shaped through holes one are all communicated with the circular mounting groove. Auxiliary suction parts are arranged on the mounting plate at positions corresponding to the plurality of waist-shaped through holes one. The alignment mechanism includes rectangular through holes one opened at both the front and rear ends of the U-shaped frame. Rectangular through holes two communicated with the rectangular through holes one are opened at both the front and rear ends of the U-shaped frame. Alignment parts are arranged on the U-shaped frame at positions corresponding to the rectangular through holes one. Avoidance through holes are opened at the bottom end of the U-shaped frame at positions corresponding to the rectangular through holes one. Lifting parts are arranged on the U-shaped frame at positions corresponding to the avoidance through holes.

[0008] Preferably, the clamping part includes a plurality of L-shaped through holes evenly distributed in a circumferential manner and opened on the upper end of the mounting plate. The plurality of L-shaped through holes are all communicated with the circular mounting groove, and the plurality of L-shaped through holes and the plurality of waist-shaped through holes one are arranged in a staggered manner. A passive gear is rotatably installed in the circular mounting groove. A U-shaped mounting groove communicated with the circular mounting groove is opened at the bottom end of the mounting plate. A first driving gear is rotatably installed in the U-shaped mounting groove. The first driving gear is meshed with the passive gear. A forward and reverse motor one is installed on the upper end of the mounting plate through a motor seat. The output shaft of the forward and reverse motor one rotatably penetrates through the mounting plate and is fixedly connected to the first driving gear.

[0009] Preferably, the clamping part further includes a plurality of arc-shaped through holes one evenly distributed in a circumferential manner and opened on the upper end of the passive gear. A first support slide rod is slidably installed in each of the plurality of arc-shaped through holes one and the corresponding L-shaped through holes. A circular sleeve plate slidably connected to the mounting plate is fixedly sleeved on the upper ends of the plurality of first support slide rods. A rectangular clamping plate is installed at the lower ends of the front and rear first support slide rods. Mounting chutes are opened at the opposite ends of the front and rear rectangular clamping plates. A wedge-shaped top plate is slidably connected to the mounting chutes through a plurality of compression springs. A U-shaped top plate is installed at the lower ends of the left and right first support slide rods. The openings of the left and right U-shaped top plates are arranged in opposite directions, and the horizontal sections on the lower sides of the left and right U-shaped top plates are both wedge-shaped structures.

[0010] Preferably, the recovery part includes a plurality of waist-shaped through holes two evenly distributed in a circumferential manner and opened on the upper end of the passive gear. The plurality of waist-shaped through holes two are respectively communicated with the corresponding arc-shaped through holes one. A first passive gear ring is rotatably installed on the upper end of the mounting plate. A forward and reverse motor two is installed on the upper end of the mounting plate through a motor seat. The output shaft of the forward and reverse motor two is fixedly connected to a second driving gear. The second driving gear is always meshed with the first passive gear ring. A plurality of compensation telescopic rods evenly distributed in a circumferential manner are installed on the inner wall of the first passive gear ring. The telescopic ends of the plurality of compensation telescopic rods are respectively fixedly connected to the outer walls of the corresponding circular sleeve plates.

[0011] Preferably, the auxiliary suction part includes a plurality of arc-shaped through holes two that are evenly distributed in a circle and opened at the upper end of the passive gear. A support slide bar two is slidably installed in each of the plurality of arc-shaped through holes two and the corresponding waist-shaped through holes one. A plurality of support barrels that are evenly distributed in a circle are slidably installed on the upper end of the mounting plate. The upper ends of the plurality of support slide bars two are slidably connected to the inner walls of the corresponding support barrels through compression springs. The lower ends of the plurality of support slide bars two are all installed with L-shaped negative pressure suction cups. The middle parts of the lower ends of the plurality of L-shaped negative pressure suction cups are all installed with rectangular ejector rods. Extension plates are installed at the front and rear ends of the mounting plate. Two left and right negative pressure pumps are installed on the extension plates. The upper ends of the plurality of negative pressure pumps are all installed with L-shaped protective pipes. One end of the L-shaped protective pipe away from the negative pressure pump is fixedly connected to the corresponding support barrel. A telescopic air pipe is arranged in the L-shaped protective pipe. One end of the telescopic air pipe is communicated with the corresponding negative pressure pump, and the other end simultaneously slides through the support barrel and the support slide bar two, and is communicated with the corresponding L-shaped negative pressure suction cup.

[0012] Preferably, the conveying mechanism includes a plurality of transmission rollers that are evenly and rotatably penetrated and installed at the rear end of the C-shaped frame. The front ends of the plurality of transmission rollers are rotatably connected to the inner wall of the front end of the C-shaped frame. The rear ends of the plurality of transmission rollers are connected by a transmission belt. An intermittent motor is installed on the front end of the C-shaped frame through a motor seat. The output shaft of the intermittent motor rotatably penetrates through the C-shaped frame and is fixedly connected to the leftmost transmission roller.

[0013] Preferably, the alignment part includes alignment groups symmetrically arranged at the front and rear ends of the C-shaped frame. The alignment group includes a support seat installed on the side wall of the vertical section of the C-shaped frame. A pneumatic push rod is penetrated and installed on the support seat. The pneumatic push rod expands and contracts in the left-right direction. The telescopic end of the pneumatic push rod is fixedly connected with a support column. A waist-shaped connecting rod one is hinged at the position corresponding to the rectangular through hole two on the upper end of the support seat. A waist-shaped connecting rod two is hinged at the position corresponding to the rectangular through hole two on the upper end of the support column. The ends of the waist-shaped connecting rod one and the waist-shaped connecting rod two away from the support seat and the support column are jointly hinged with a C-shaped push plate. The two shorter sections of the C-shaped push plate are wedge-shaped outward expansion structures, and the C-shaped push plate is slidably attached to the rectangular through hole one.

[0014] Preferably, the jacking part includes a rotating shaft rotatably installed on the inner walls of the front and rear ends of the C-shaped frame. A cam column is fixedly sleeved on the rotating shaft corresponding to the avoidance through hole. The front end of the rotating shaft rotatably penetrates through the front end of the C-shaped frame and is fixedly connected with a transmission gear one. A first motor is installed on the front end of the C-shaped frame through a motor seat. The output shaft of the first motor is fixedly connected with an incomplete gear three. The incomplete gear three is intermittently engaged with the transmission gear one. A U-shaped top plate is slidably installed on the inner walls of the front and rear ends of the C-shaped frame at the position between two of the transmission rollers. The lower end of the U-shaped top plate is fixedly connected to the inner wall of the bottom end of the C-shaped frame through a plurality of tension springs. One of the transmission rollers is opposite to the groove position of the U-shaped top plate. A plurality of balls are evenly installed on the upper end of the U-shaped top plate. The cam column is in rolling contact with the U-shaped top plate.

[0015] Preferably, the steering mechanism includes an annular baffle installed at the upper end of the vehicle body. A passive gear ring II is rotatably installed at the upper end of the vehicle body within the annular baffle. An opening groove is formed at the lower right side of the annular baffle corresponding to the position of the passive gear ring II. A forward and reverse motor III is installed on the right side of the upper end of the vehicle body through a motor base. The output shaft of the forward and reverse motor III is fixedly connected with a transmission gear II, and the transmission gear II meshes with the passive gear ring II. An annular turntable is installed at the upper end of the passive gear ring II, and a circular column with a rectangular avoidance opening in the middle is installed at the upper end of the annular turntable.

[0016] Preferably, the robotic arm adjustment mechanism includes a rectangular column slidably installed in the rectangular avoidance opening of the circular column. The right end of the support cross arm is hinged to the upper end position of the rectangular column. A rectangular accommodation groove is formed at the upper end of the vehicle body corresponding to the position of the rectangular column. A hydraulic push rod III is installed through the bottom inner wall of the rectangular accommodation groove, and the upper end of the hydraulic push rod III is rotatably connected to the lower surface of the rectangular column. The upper left side of the rectangular column is hinged with a hydraulic push rod I through a mounting seat, and the telescopic end of the hydraulic push rod I is hinged to the support cross arm through a mounting seat. A hydraulic push rod II is installed on the upper left side of the support cross arm through a mounting seat, and the telescopic end of the hydraulic push rod II is hinged to the C-shaped support plate through a mounting seat.

[0017] Beneficial effects: 1. In the present invention, the clamping mechanism uses two front and rear rectangular clamping plates and two left and right C-shaped top plates to synchronously approach and fit against the inclined outer wall on the upper side of the paint bucket, thereby achieving the effect of grasping and supporting the grasping groove and handle on the paint bucket. The clamping is fast and stable, effectively improving the safety and stability during the palletizing process, and when placing the palletized paint bucket, the clamping mechanism will not be unable to be removed, nor will it occupy more area.

[0018] 2. In the present invention, the auxiliary suction mechanism uses multiple L-shaped negative pressure suction cups to further clamp and adsorb the flat side wall in the middle of the paint bucket, further enhancing the clamping effect. Through the cooperation of the robotic arm adjustment mechanism and the steering mechanism, the clamped paint bucket can be driven to move to the palletizing area for palletizing. The multiple L-shaped negative pressure suction cups can adaptively expand and contract after being squeezed by adjacent paint buckets, thereby improving the neatness and consistency of palletizing, and avoiding the problem that the paint bucket may roll down due to instability during handling and stacking, causing damage.

[0019] 3. In the present invention, the conveying mechanism can intermittently convey the paint bucket from left to right, and then the alignment mechanism jacks it up. After reducing the friction with multiple balls, two front and rear C-shaped push plates are used to jointly align and clamp the paint bucket, facilitating the subsequent precise clamping work of the clamping mechanism on the paint bucket. Description of the Drawings

[0020] The present invention will be further described below in conjunction with the drawings and embodiments.

[0021] Figure 1It is the first three-dimensional structure schematic diagram of the present invention.

[0022] Figure 2 It is the second three-dimensional structure schematic diagram of the present invention.

[0023] Figure 3 It is the first partially sectioned three-dimensional structure schematic diagram at the conveying mechanism and the alignment mechanism in the present invention.

[0024] Figure 4 It is the second partially sectioned three-dimensional structure schematic diagram at the conveying mechanism and the alignment mechanism in the present invention.

[0025] Figure 5 It is the first partially sectioned three-dimensional structure schematic diagram at the clamping mechanism, the steering mechanism and the robotic arm adjustment mechanism in the present invention.

[0026] Figure 6 It is the second partially sectioned three-dimensional structure schematic diagram at the clamping mechanism, the steering mechanism and the robotic arm adjustment mechanism in the present invention.

[0027] Figure 7 It is the three-dimensional structure schematic diagram at the clamping mechanism and the auxiliary suction mechanism in the present invention.

[0028] Figure 8 It is the first partially sectioned three-dimensional structure schematic diagram at the clamping mechanism and the auxiliary suction mechanism in the present invention.

[0029] Figure 9 It is the second partially sectioned three-dimensional structure schematic diagram at the clamping mechanism and the auxiliary suction mechanism in the present invention.

[0030] Figure 10 It is in the present invention Figure 10 The enlarged view at Y.

[0031] Figure 11 It is the exploded view at the mounting plate and the passive gear in the present invention.

[0032] Figure 12 It is the state change diagram when the C-shaped top plate and the paint bucket handle cooperate in the present invention.

[0033] Figure 13 It is the schematic diagram of the paint bucket stacking method in the present invention.

[0034] In the figure: 1, vehicle body; 2, C-shaped frame; 3, support cross arm; 4, steering mechanism; 41, annular baffle; 42, passive gear ring II; 43, opening groove; 44, forward and reverse motor III; 45, transmission gear II; 46, annular turntable; 47, circular column; 5, robotic arm adjustment mechanism; 51, rectangular column; 53, rectangular accommodation groove; 54, hydraulic push rod III; 57, hydraulic push rod I; 58, hydraulic push rod II; 6, clamping mechanism; 61, support shaft; 62, C-shaped support plate; 63, mounting plate; 64, circular mounting groove; 65, clamping part; 651, L-shaped through hole; 652, passive gear; 653, U-shaped mounting groove; 654, driving gear I; 655, forward and reverse motor I; 656, arc-shaped through hole I; 657, support slide bar I; 658, annular sleeve plate; 659, rectangular clamping plate; 660, mounting slide groove; 661, wedge-shaped top plate; 662, C-shaped top plate; 67, recycling part; 671, waist-shaped through hole II; 672, passive gear ring I; 673, forward and reverse motor II; 674, driving gear II; 675, compensation telescopic rod; 7, auxiliary suction mechanism; 71, waist-shaped through hole I; 72, auxiliary suction part; 721, arc-shaped through hole II; 722, support slide bar II; 723, support barrel; 724, L-shaped negative pressure suction cup; 725, rectangular ejector rod; 726, extension plate; 727, negative pressure pump; 728, L-shaped protective tube; 8, conveying mechanism; 81, transmission roller; 82, intermittent motor; 9, alignment mechanism; 91, rectangular through hole I; 92, rectangular through hole II; 93, alignment part; 931, support base; 932, pneumatic push rod; 933, support column; 934, waist-shaped connecting rod I; 935, waist-shaped connecting rod II; 936, C-shaped push plate; 94, avoidance through hole; 95, jacking part; 951, rotating shaft; 952, cam column; 953, driving gear I; 954, first motor; 955, incomplete gear III; 956, U-shaped top plate; 957, ball. Detailed implementation mode

[0035] The following will describe the embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention can be implemented in many different ways defined and covered by the claims.

[0036] Refer to Figure 1 and Figure 2 , an automatic palletizing robot for waterborne paint production, which is used in cooperation with the conveying mechanism 8, includes a vehicle body 1. A C-shaped frame 2 is arranged on the left side of the vehicle body 1. A support cross arm 3 is arranged on the upper side of the vehicle body 1. A steering mechanism 4 is arranged on the vehicle body 1. A robotic arm adjustment mechanism 5 is jointly arranged on the steering mechanism 4 and the support cross arm 3. A clamping mechanism 6 is arranged on the support cross arm 3. An auxiliary suction mechanism 7 is arranged on the clamping mechanism 6. An alignment mechanism 9 is arranged on the conveying mechanism 8.

[0037] Refer to Figures 1 - 3 and Figure 7, the clamping mechanism 6 includes a support shaft 61 rotatably installed through the tail end of the support cross arm 3. The front and rear ends of the support shaft 61 are jointly hinged with a U-shaped support plate 62. The lower end of the U-shaped support plate 62 is installed with a mounting plate 63. The bottom end of the mounting plate 63 is provided with a circular mounting groove 64. A clamping portion 65 is arranged on the mounting plate 63, and a recovery portion 67 is arranged on the clamping portion 65. The auxiliary suction mechanism 7 includes a plurality of waist-shaped through holes one 71 evenly distributed in a circumferential manner and opened at the upper end of the mounting plate 63. The plurality of waist-shaped through holes one 71 communicate with the circular mounting groove 64. An auxiliary suction portion 72 is arranged on the mounting plate 63 at positions corresponding to the plurality of waist-shaped through holes one 71. The alignment mechanism 9 includes rectangular through holes one 91 opened at both the front and rear ends of the U-shaped frame 2. Rectangular through holes two 92 communicating with the rectangular through holes one 91 are opened at both the front and rear ends of the U-shaped frame 2. An alignment portion 93 is arranged on the U-shaped frame 2 at positions corresponding to the rectangular through holes one 91. An avoidance through hole 94 is opened at the bottom end of the U-shaped frame 2 at a position corresponding to the rectangular through holes one 91. A jacking portion 95 is arranged on the U-shaped frame 2 at a position corresponding to the avoidance through hole 94.

[0038] Refer to Figures 1 - 4 , the conveying mechanism 8 includes a plurality of transmission rollers 81 rotatably installed through the rear end of the U-shaped frame 2 in a uniform manner. The front ends of the plurality of transmission rollers 81 are rotatably connected to the inner wall of the front end of the U-shaped frame 2. The rear ends of the plurality of transmission rollers 81 are connected by a transmission belt. A intermittent motor 82 is installed on the front end of the U-shaped frame 2 through a motor base. The output shaft of the intermittent motor 82 rotatably penetrates through the U-shaped frame 2 and is fixedly connected to the leftmost transmission roller 81.

[0039] Refer to Figures 1 - 4 , the jacking portion 95 includes a rotating shaft 951 rotatably installed between the inner walls of the front and rear ends of the U-shaped frame 2. A cam column 952 is fixedly sleeved on the rotating shaft 951 at a position corresponding to the avoidance through hole 94. The front end of the rotating shaft 951 rotatably penetrates through the front end of the U-shaped frame 2 and is fixedly connected with a transmission gear one 953. A first motor 954 is installed on the front end of the U-shaped frame 2 through a motor base. The output shaft of the first motor 954 is fixedly connected with an incomplete gear three 955. The incomplete gear three 955 is intermittently meshed with the transmission gear one 953. A U-shaped top plate 956 is slidably installed between the inner walls of the front and rear ends of the U-shaped frame 2. The groove position of one of the transmission rollers 81 faces the U-shaped top plate 956. The lower end of the U-shaped top plate 956 is fixedly connected to the inner wall of the bottom end of the U-shaped frame 2 through a plurality of tension springs. A plurality of balls 957 are evenly installed on the upper end of the U-shaped top plate 956. The cam column 952 is in rolling contact with the U-shaped top plate 956.

[0040] Refer to Figure 3 and Figure 4, the alignment part 93 includes alignment groups symmetrically arranged at the front and rear ends of the C-shaped frame 2. The alignment group includes a support seat 931 installed on the side wall of the vertical section of the C-shaped frame 2. A pneumatic push rod 932 is installed through the support seat 931. The pneumatic push rod 932 expands and contracts in the left-right direction. The expansion and contraction end of the pneumatic push rod 932 is fixedly connected to a support column 933. At the position corresponding to the rectangular through hole two 92 at the upper end of the support seat 931, a waist-shaped connecting rod one 934 is hinged. At the position corresponding to the rectangular through hole two 92 at the upper end of the support column 933, a waist-shaped connecting rod two 935 is hinged. The ends of the waist-shaped connecting rod one 934 and the waist-shaped connecting rod two 935 are jointly hinged to a C-shaped push plate 936. The two shorter sections of the C-shaped push plate 936 are wedge-shaped outward expansion structures, and the C-shaped push plate 936 is slidably attached to the rectangular through hole one 91.

[0041] First, the peripherally-mounted feeding device places the paint buckets filled with paint on multiple conveying rollers 81. It should be noted that, grabbing grooves are provided on the front and rear sides of the upper end of the paint bucket, and handles are hinged on both the left and right sides of the upper end of the paint bucket. When placing the paint bucket, it is necessary to control it so that the end with the grabbing groove faces forward. Then, the intermittent motor 82 controls the connected conveying rollers 81 to rotate. Under the driving action of the conveyor belt, multiple conveying rollers 81 will rotate synchronously and drive the paint bucket to be conveyed to the right. When the paint bucket moves to the upper side position of the U-shaped top plate 956, the intermittent motor 82 stops working. The first motor 954 is used to control the rotation of the incomplete gear three 955. The incomplete gear three 955 meshes and drives with the driving gear one 953 until the cam column 952 is driven to rotate 180 degrees. During this process, the cam column 952 will push the U-shaped top plate 956 to move upward, and the U-shaped top plate 956 will drive the paint bucket to move upward. Then, the front and rear pneumatic push rods 932 are controlled to drive the corresponding support columns 933 to move to the right respectively. Under the combined action of the waist-shaped connecting rod one 934 and the waist-shaped connecting rod two 935, the front and rear C-shaped push plates 936 will move closer to each other until the front and rear C-shaped push plates 936 jointly perform alignment and clamping on the paint bucket on the U-shaped top plate 956. It should be noted that during this period, the rectangular through hole two 92 plays a role in avoiding the waist-shaped connecting rod one 934. The multiple balls 957 on the U-shaped top plate 956 can reduce the friction between the paint bucket and the U-shaped top plate 956, making it easier for the front and rear C-shaped push plates 936 to push the paint bucket to successfully complete the alignment work. The conveying mechanism 8 can intermittently convey the paint bucket from left to right, and then the alignment mechanism 9 jacks it up. After reducing the friction with the cooperation of multiple balls 957, the front and rear C-shaped push plates 936 jointly perform alignment and clamping on the paint bucket, which is convenient for the subsequent precise clamping work of the clamping mechanism 6 on the paint bucket.

[0042] Refer to Figure 2 、 Figure 5 and Figure 6, the steering mechanism 4 includes an annular baffle 41 installed at the upper end of the vehicle body 1. A driven gear ring II 42 is rotatably installed at the upper end of the vehicle body 1 within the annular baffle 41. An opening groove 43 is provided at the lower right side of the annular baffle 41 corresponding to the position of the driven gear ring II 42. A forward and reverse motor III 44 is installed on the right side of the upper end of the vehicle body 1 through a motor mount. The output shaft of the forward and reverse motor III 44 is fixedly connected with a transmission gear II 45. The transmission gear II 45 meshes with the driven gear ring II 42. An annular turntable 46 is installed at the upper end of the driven gear ring II 42. A circular column 47 with a rectangular avoidance opening in the middle is installed at the upper end of the annular turntable 46.

[0043] Refer to Figure 5 and Figure 6 , the robotic arm adjustment mechanism 5 includes a rectangular column 51 slidably installed in the rectangular avoidance opening of the circular column 47. The right end of the support cross arm 3 is hinged at the upper end position of the rectangular column 51. A rectangular accommodation groove 53 is provided at the upper end of the vehicle body 1 corresponding to the position of the rectangular column 51. A hydraulic push rod III 54 is installed through the bottom inner wall of the rectangular accommodation groove 53. The upper end of the hydraulic push rod III 54 is rotatably connected to the lower surface of the rectangular column 51. A hydraulic push rod I 57 is hinged to the upper left side of the rectangular column 51 through a mounting seat. The telescopic end of the hydraulic push rod I 57 is hinged to the support cross arm 3 through a mounting seat. A hydraulic push rod II 58 is installed on the upper left side of the support cross arm 3 through a mounting seat. The telescopic end of the hydraulic push rod II 58 is hinged to the C-shaped support plate 62 through a mounting seat.

[0044] When it is necessary to adjust the palletizing angle, the forward and reverse motor III 44 is controlled to drive the transmission gear II 45 to rotate. The transmission gear II 45 drives the driven gear ring II 42, driving the annular turntable 46 to rotate. The annular turntable 46 drives the rectangular column 51 to rotate through the circular column 47. The rectangular column 51 drives the mounting plate 63 and the paint bucket to rotate synchronously through the support cross arm 3.

[0045] After the front and rear C-shaped push plates 936 jointly clamp and position the paint bucket on the U-shaped top plate 956, the vehicle body 1 is controlled to move to the right side position of the C-shaped frame 2. First, the hydraulic push rod III 54 is used to drive the rectangular column 51 to move upward. During this period, the hydraulic push rod I 57 and the hydraulic push rod II 58 are respectively controlled to adjust the angles of the support cross arm 3 and the mounting plate 63. When the mounting plate 63 is adjusted to a horizontal state and moves to the upper side position of the paint bucket, then the hydraulic push rod III 54 is used to drive the rectangular column 51 to move downward. The rectangular column 51 will drive the mounting plate 63 to move downward through the support cross arm 3 until the lower end surface of the mounting plate 63 fits against the upper end of the paint bucket.

[0046] Refer to Figures 6 - 9, the clamping portion 65 includes a plurality of L-shaped through holes 651 that are circumferentially and evenly distributed at the upper end of the mounting plate 63. The plurality of L-shaped through holes 651 communicate with the circular mounting groove 64, and the plurality of L-shaped through holes 651 and the plurality of waist-shaped through holes one 71 are arranged in a staggered manner. A driven gear 652 is rotatably mounted in the circular mounting groove 64. A U-shaped mounting groove 653 that communicates with the circular mounting groove 64 is opened at the bottom end of the mounting plate 63. A first driving gear 654 is rotatably mounted in the U-shaped mounting groove 653. The first driving gear 654 meshes with the driven gear 652. A forward and reverse motor one 655 is mounted on the upper end of the mounting plate 63 through a motor base. The output shaft of the forward and reverse motor one 655 rotatably penetrates through the mounting plate 63 and is fixedly connected to the first driving gear 654.

[0047] Refer to Figures 7 - 10 , the clamping portion 65 further includes a plurality of arc-shaped through holes one 656 that are circumferentially and evenly distributed at the upper end of the driven gear 652. A first support slide rod 657 is slidably mounted in the plurality of arc-shaped through holes one 656 and the corresponding L-shaped through holes 651. A circular sleeve plate 658 that is slidably connected to the mounting plate 63 is fixedly sleeved on the upper ends of the plurality of first support slide rods 657. A rectangular clamping plate 659 is mounted at the lower ends of the front and rear first support slide rods 657. Mounting chutes 660 are opened at the opposite ends of the front and rear rectangular clamping plates 659. A wedge-shaped top plate 661 is slidably connected in the mounting chutes 660 through a plurality of compression springs. A C-shaped top plate 662 is mounted at the lower ends of the left and right first support slide rods 657. The openings of the left and right C-shaped top plates 662 are arranged in opposite directions, and the horizontal sections at the lower sides of the left and right C-shaped top plates 662 are both wedge-shaped structures.

[0048] Refer to Figure 1 , Figure 8 , Figure 9 and Figure 11 , the recycling portion 67 includes a plurality of waist-shaped through holes two 671 that are circumferentially and evenly distributed at the upper end of the driven gear 652. The plurality of waist-shaped through holes two 671 communicate with the corresponding arc-shaped through holes one 656 respectively. A first driven gear ring 672 is rotatably mounted on the upper end of the mounting plate 63. A forward and reverse motor two 673 is mounted on the upper end of the mounting plate 63 through a motor base. The output shaft of the forward and reverse motor two 673 is fixedly connected to a second driving gear 674. The second driving gear 674 always meshes with the first driven gear ring 672. A plurality of compensation telescopic rods 675 that are circumferentially and evenly distributed are mounted on the inner wall of the first driven gear ring 672. The telescopic ends of the plurality of compensation telescopic rods 675 are fixedly connected to the outer walls of the corresponding circular sleeve plates 658 respectively.

[0049] After the lower end face of the mounting plate 63 fits against the upper end of the paint bucket, it should be noted that the two rectangular clamping plates 659 and the U-shaped top plate 662 are initially in a state of moving away from each other, and multiple first supporting sliding rods 657 are respectively located at one end of the corresponding first arc-shaped through holes 656 away from the axis of the driven gear 652. By controlling the rotation of the first driving gear 654 with the first forward and reverse motor 655, the first driving gear 654 meshes with and drives the driven gear 652 to rotate in the reverse direction. Under the combined action of the multiple first arc-shaped through holes 656 and the corresponding L-shaped through holes 651, the multiple first supporting sliding rods 657 will respectively slide from one end of the corresponding first arc-shaped through holes 656 away from the axis of the driven gear 652 to one end close to the axis of the driven gear 652. At this time, the multiple first supporting sliding rods 657 will respectively drive the corresponding rectangular clamping plates 659 and the U-shaped top plate 662 to move closer to each other and fit against the inclined outer wall on the upper side of the paint bucket, and the front and rear two wedge-shaped top plates 661 will respectively retract into the corresponding mounting chutes 660. Then, by controlling the rotation of the second driving gear 674 with the second forward and reverse motor 673, the second driving gear 674 drives the first driven gear ring 672 to rotate, driving the multiple compensation telescopic rods 675 to rotate in the reverse direction by an appropriate angle. The multiple first supporting sliding rods 657 will respectively slide along the corresponding second waist-shaped through holes 671 and the L-shaped through holes 651 until the front and rear two rectangular clamping plates 659 move to positions corresponding to the grasping grooves of the paint bucket. During this period, under the action of the compression springs, the front and rear two wedge-shaped top plates 661 will respectively insert into the corresponding grasping grooves, and the left and right two U-shaped top plates 662 will lift the corresponding handles, so that the left and right two handles are respectively located in the grooves of the corresponding U-shaped top plates 662, thereby achieving the effect of grasping and supporting the paint bucket, as Figure 12 shown. The clamping mechanism 6 uses the front and rear two rectangular clamping plates 659 and the left and right two U-shaped top plates 662 to move closer to each other synchronously and fit against the inclined outer wall on the upper side of the paint bucket, thereby achieving the effect of grasping and supporting the grasping grooves and handles on the paint bucket. The clamping is fast and stable, effectively improving the safety and stability of the palletizing process.

[0050] Refer to Figure 2 and Figures 7 - 11, the auxiliary suction part 72 includes a plurality of arc-shaped through holes two 721 evenly distributed in a circle at the upper end of the passive gear 652. A support slide bar two 722 is slidably installed in each of the plurality of arc-shaped through holes two 721 and the corresponding waist-shaped through hole one 71. A plurality of support barrels 723 evenly distributed in a circle are slidably installed at the upper end of the mounting plate 63. The upper ends of the plurality of support slide bars two 722 are slidably connected to the inner walls of the corresponding support barrels 723 through compression springs. L-shaped negative pressure suction cups 724 are installed at the lower ends of the plurality of support slide bars two 722. Rectangular ejector rods 725 are installed in the middle of the lower ends of the plurality of L-shaped negative pressure suction cups 724. Extension plates 726 are installed at the front and rear ends of the mounting plate 63. Two negative pressure pumps 727 are installed on each extension plate 726. L-shaped protective pipes 728 are installed at the upper ends of the plurality of negative pressure pumps 727. One end of the L-shaped protective pipe 728 away from the negative pressure pump 727 is fixedly connected to the corresponding support barrel 723. A telescopic air pipe is arranged in the L-shaped protective pipe 728. One end of the telescopic air pipe is communicated with the corresponding negative pressure pump 727, and the other end simultaneously slides through the support barrel 723 and the support slide bar two 722 and is communicated with the corresponding L-shaped negative pressure suction cup 724.

[0051] It should be noted that initially, the plurality of support slide bars two 722 are respectively located at the ends of the corresponding arc-shaped through holes two 721 away from the axis of the passive gear 652. When the mounting plate 63 adjusts its position, the plurality of L-shaped negative pressure suction cups 724 will move to the upper ends of the front and rear C-shaped push plates 936 accordingly. Under the extrusion of the front and rear C-shaped push plates 936, the upper ends of the plurality of support slide bars two 722 will move upward and retract into the corresponding support barrels 723. When the first positive and reverse motor 655 controls the rotation of the first driving gear 654, the plurality of support slide bars two 722 will also slide along the corresponding arc-shaped through holes two 721 from the ends away from the axis of the passive gear 652 to the ends close to the axis of the passive gear 652 respectively. The plurality of support slide bars two 722 will drive the corresponding L-shaped negative pressure suction cups 724 to approach each other until they tightly fit on the flat side wall in the middle of the paint bucket for clamping. Then, control the front and rear pneumatic push rods 932 to drive the corresponding support columns 933 to move leftward to restore their original positions respectively. Under the cooperation of the first waist-shaped connecting rod 934 and the second waist-shaped connecting rod 935, the front and rear C-shaped push plates 936 will move away from each other to restore their original positions. Then, control the plurality of L-shaped negative pressure suction cups 724 to jointly suck the paint bucket tightly to perform the auxiliary adsorption work on the paint bucket. Then, the first hydraulic push rod 57 and the second hydraulic push rod 58 can be controlled respectively to adjust the angles of the support cross arm 3 and the mounting plate 63 again. The mounting plate 63 clamps the paint bucket through the clamping mechanism 6, and then control the vehicle body 1 to move to the palletizing work area.

[0052] After the paint bucket is transported to the palletizing area, such as Figure 13As shown, at this time, the paint bucket needs to be close to and stacked against multiple stacked paint buckets. First, control the L-shaped negative pressure suction cups 724 at adjacent positions that already have paint buckets to stop sucking the paint buckets, and the remaining L-shaped negative pressure suction cups 724 still maintain suction. Then, the hydraulic push rod three 54 drives the rectangular column 51 to move downward. The rectangular column 51 will drive the mounting plate 63 to move downward through the support cross arm 3, and the mounting plate 63 will drive the paint bucket to move downward. During this period, if there are already stacked paint buckets on the front or left side of the clamped paint bucket, during the downward movement of the mounting plate 63, the corresponding several L-shaped negative pressure suction cups 724 will be squeezed and stop moving downward. A part of the corresponding multiple support slide rods two 722 will respectively retract into the corresponding support barrels 723. While the unobstructed L-shaped negative pressure suction cups 724 continue to move downward, they will play an auxiliary fixing role for the clamped paint bucket.

[0053] When the bottom end of the paint bucket is in contact with the ground, control the forward and reverse rotation of the second motor 673 to drive the second driving gear 674 to rotate in the reverse direction. The second driving gear 674 meshes with the first passive gear ring 672 to drive multiple compensation telescopic rods 675 to rotate at an appropriate angle. The multiple first support slide rods 657 will respectively slide along the corresponding second kidney-shaped through holes 671 and L-shaped through holes 651 to return to their original positions until the front and rear rectangular clamping plates 659 move away from the grasping grooves. During this period, the front and rear wedge-shaped top plates 661 will respectively extend out of the corresponding mounting chutes 660 under the action of the compression springs, and the left and right C-shaped top plates 662 will move away from the corresponding handles to return to their original positions. Then, control the forward and reverse rotation of the first motor 655 to drive the first driving gear 654 to rotate in the reverse direction. The first driving gear 654 is in transmission with the driven gear 652 to drive the driven gear 652 to rotate. Under the combined action of the multiple first arc-shaped through holes 656 and the corresponding L-shaped through holes 651, the multiple first support slide rods 657 will respectively slide along the corresponding first arc-shaped through holes 656 from the end close to the axis of the driven gear 652 to the end far from the axis of the driven gear 652. At this time, the multiple first support slide rods 657 will respectively drive the corresponding rectangular clamping plates 659 and C-shaped top plates 662 to move away from each other and return to their original positions. Repeating the above operations can repeat the palletizing work of the paint buckets.

[0054] The auxiliary suction mechanism 7 uses multiple L-shaped negative pressure suction cups 724 to further clamp and suck the flat side wall in the middle of the paint bucket, further enhancing the clamping effect. Through the cooperation of the robotic arm adjustment mechanism 5 and the steering mechanism 4, the clamped paint bucket can be driven to move to the palletizing area for palletizing. The multiple L-shaped negative pressure suction cups 724 can adaptively expand and contract after being squeezed by adjacent paint buckets, thereby improving the neatness and consistency of palletizing, and avoiding the problem that the paint bucket may roll down due to instability during handling and stacking, resulting in damage.

[0055] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present invention. In addition, in the description of the present invention, unless otherwise specified, the meanings of "a plurality of", "a plurality of roots", and "a plurality of groups" are two or more.

[0056] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "connected", "installed", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0057] The embodiments of the specific implementation manners are all preferred embodiments of the present invention, and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. An automated palletizing robot for water-based paint production, used in conjunction with a conveying mechanism (8), comprising a vehicle body (1), a shaped frame (2) being arranged on the left side of the vehicle body (1), characterized in that: A support cross arm (3) is arranged on the upper side of the vehicle body (1), a steering mechanism (4) is arranged on the vehicle body (1), a robotic arm adjusting mechanism (5) is jointly arranged on the steering mechanism (4) and the support cross arm (3), a clamping mechanism (6) is arranged on the support cross arm (3), an auxiliary suction mechanism (7) is arranged on the clamping mechanism (6), a conveying mechanism (8) is arranged on the C-shaped frame (2), and an alignment mechanism (9) is arranged on the conveying mechanism (8); The clamping mechanism (6) includes a support shaft (61) rotatably penetrating through the tail end of the support cross arm (3), C-shaped support plates (62) are jointly hinged at the front and rear ends of the support shaft (61), a mounting plate (63) is installed at the lower end of the C-shaped support plates (62), a circular mounting groove (64) is opened at the bottom end of the mounting plate (63), a clamping part (65) is arranged on the mounting plate (63), and a recycling part (67) is arranged on the clamping part (65); The auxiliary suction mechanism (7) includes a plurality of waist-shaped through holes one (71) evenly distributed in a circumferential manner and opened at the upper end of the mounting plate (63), the plurality of waist-shaped through holes one (71) are all communicated with the circular mounting groove (64), and an auxiliary suction part (72) is arranged on the mounting plate (63) at positions corresponding to the plurality of waist-shaped through holes one (71); The alignment mechanism (9) includes rectangular through holes one (91) opened at both the front and rear ends of the C-shaped frame (2), rectangular through holes two (92) communicated with the rectangular through holes one (91) are opened at both the front and rear ends of the C-shaped frame (2), an alignment part (93) is arranged on the C-shaped frame (2) at positions corresponding to the rectangular through holes one (91), an avoidance through hole (94) is opened at the bottom end of the C-shaped frame (2) at a position corresponding to the rectangular through holes one (91), and a jacking part (95) is arranged on the C-shaped frame (2) at a position corresponding to the avoidance through hole (94).

2. The automated palletizing robot for water-based paint production according to claim 1, characterized in that: The clamping part (65) includes a plurality of L-shaped through holes (651) evenly distributed in a circumferential manner and opened at the upper end of the mounting plate (63), the plurality of L-shaped through holes (651) are all communicated with the circular mounting groove (64), and the plurality of L-shaped through holes (651) and the plurality of waist-shaped through holes one (71) are arranged in an alternating manner. A passive gear (652) is rotatably installed in the circular mounting groove (64), a U-shaped mounting groove (653) communicated with the circular mounting groove (64) is opened at the bottom end of the mounting plate (63), a driving gear one (654) is rotatably installed in the U-shaped mounting groove (653), the driving gear one (654) is meshed with the passive gear (652), a forward and reverse motor one (655) is installed on the upper end of the mounting plate (63) through a motor base, and an output shaft of the forward and reverse motor one (655) rotatably penetrates through the mounting plate (63) and is fixedly connected to the driving gear one (654).

3. The automated palletizing robot for water-based paint production according to claim 2, characterized in that: The clamping portion (65) further includes a plurality of arc-shaped through holes one (656) that are evenly distributed in a circumferential manner and are opened at the upper end of the passive gear (652). A first support slide rod (657) is slidably installed in common in the plurality of arc-shaped through holes one (656) and the corresponding L-shaped through holes (651). A ring-shaped sleeve plate (658) that is slidably connected to the mounting plate (63) is fixedly sleeved on the upper ends of the plurality of first support slide rods (657). Rectangular clamping plates (659) are installed at the lower ends of the front and rear first support slide rods (657). Mounting chutes (660) are opened at the opposite ends of the front and rear rectangular clamping plates (659). A wedge-shaped top plate (661) is slidably connected in the mounting chute (660) through a plurality of compression springs. C-shaped top plates (662) are installed at the lower ends of the left and right first support slide rods (657). The openings of the left and right C-shaped top plates (662) are arranged in opposite directions, and the horizontal sections on the lower sides of the left and right C-shaped top plates (662) are both wedge-shaped structures.

4. The automated palletizing robot for water-based paint production according to claim 1, characterized in that: The recycling portion (67) includes a plurality of waist-shaped through holes two (671) that are evenly distributed in a circumferential manner and are opened at the upper end of the passive gear (652). The plurality of waist-shaped through holes two (671) are respectively communicated with the corresponding arc-shaped through holes one (656). A first passive gear ring (672) is rotatably installed at the upper end of the mounting plate (63). A forward and reverse motor two (673) is installed on the upper end of the mounting plate (63) through a motor base. The output shaft of the forward and reverse motor two (673) is fixedly connected to a second driving gear (674). The second driving gear (674) is intermittently engaged with the first passive gear ring (672). A plurality of compensation telescopic rods (675) that are evenly distributed in a circumferential manner are installed on the inner wall of the first passive gear ring (672). The telescopic ends of the plurality of compensation telescopic rods (675) are respectively fixedly connected to the outer walls of the corresponding ring-shaped sleeve plates (658).

5. The automated palletizing robot for water-based paint production according to claim 1, characterized in that: The auxiliary suction part (72) includes a plurality of arc-shaped through holes II (721) which are evenly distributed in a circle at the upper end of the passive gear (652). Support slide rods II (722) are slidably installed in common in the plurality of arc-shaped through holes II (721) and the corresponding waist-shaped through holes I (71). A plurality of support barrels (723) which are evenly distributed in a circle are slidably installed at the upper end of the mounting plate (63). The upper ends of the plurality of support slide rods II (722) are slidably connected to the inner walls of the corresponding support barrels (723) through compression springs. L-shaped negative pressure suction cups (724) are installed at the lower ends of the plurality of support slide rods II (722). Rectangular ejector rods (725) are installed in the middle of the lower ends of the plurality of L-shaped negative pressure suction cups (724). Extension plates (726) are installed at the front and rear ends of the mounting plate (63). Two left and right negative pressure pumps (727) are installed on the extension plates (726). L-shaped protection tubes (728) are installed at the upper ends of the plurality of negative pressure pumps (727). One end of the L-shaped protection tube (728) far away from the negative pressure pump (727) is fixedly connected to the corresponding support barrel (723). A telescopic air pipe is arranged in the L-shaped protection tube (728). One end of the telescopic air pipe is communicated with the corresponding negative pressure pump (727), and the other end simultaneously slides through the support barrel (723) and the support slide rod II (722), and is communicated with the corresponding L-shaped negative pressure suction cup (724).

6. The automated palletizing robot for water-based paint production according to claim 1, characterized in that: The conveying mechanism (8) includes a plurality of transmission rollers (81) which are evenly and rotatably installed through the rear end of the U-shaped frame (2). The front ends of the plurality of transmission rollers (81) are rotatably connected to the inner wall of the front end of the U-shaped frame (2). The rear ends of the plurality of transmission rollers (81) are connected by a transmission belt. An intermittent motor (82) is installed at the front end of the U-shaped frame (2) through a motor seat. The output shaft of the intermittent motor (82) rotates through the U-shaped frame (2) and is fixedly connected to the leftmost transmission roller (81).

7. The automated palletizing robot for water-based paint production according to claim 1, characterized in that: The alignment part (93) includes alignment groups symmetrically arranged at the front and rear ends of the U-shaped frame (2). The alignment group includes a support seat (931) installed on the side wall of the vertical section of the U-shaped frame (2). A pneumatic push rod (932) is installed through the support seat (931). The pneumatic push rod (932) expands and contracts in the left-right direction. The telescopic end of the pneumatic push rod (932) is fixedly connected to a support column (933). A waist-shaped connecting rod I (934) is hinged at the upper end of the support seat (931) corresponding to the position of the rectangular through hole II (92). A waist-shaped connecting rod II (935) is hinged at the upper end of the support column (933) corresponding to the position of the rectangular through hole II (92). The ends of the waist-shaped connecting rod I (934) and the waist-shaped connecting rod II (935) far away from the support seat (931) and the support column (933) are jointly hinged to a U-shaped push plate (936). The two shorter sections of the U-shaped push plate (936) are wedge-shaped outward expansion structures, and the U-shaped push plate (936) is slidably attached to the rectangular through hole I (91).

8. The automated palletizing robot for water-based paint production according to claim 6, characterized in that: The jacking part (95) includes a rotating shaft (951) rotatably installed on the inner walls at the front and rear ends of the U-shaped frame (2). A cam column (952) is fixedly sleeved on the rotating shaft (951) corresponding to the position of the avoidance through hole (94). The front end of the rotating shaft (951) rotatably penetrates through the front end of the U-shaped frame (2) and is fixedly connected with a first transmission gear (953). A first motor (954) is installed on the front end of the U-shaped frame (2) through a motor base. The output shaft of the first motor (954) is fixedly connected with an incomplete gear three (955). The incomplete gear three (955) is intermittently engaged with the first transmission gear (953). A U-shaped top plate (956) is slidably installed between the inner walls at the front and rear ends of the U-shaped frame (2). The lower end of the U-shaped top plate (956) is fixedly connected to the inner wall at the bottom end of the U-shaped frame (2) through a plurality of tension springs. One of the transmission rollers (81) is opposite to the groove position of the U-shaped top plate (956). A plurality of balls (957) are evenly installed on the upper end of the U-shaped top plate (956). The cam column (952) is in rolling contact with the U-shaped top plate (956).

9. The automated palletizing robot for water-based paint production according to claim 1, characterized in that: The steering mechanism (4) includes an annular baffle (41) installed on the upper end of the vehicle body (1). A second passive gear ring (42) is rotatably installed at the position inside the annular baffle (41) on the upper end of the vehicle body (1). An opening groove (43) is formed at the lower right side of the annular baffle (41) corresponding to the position of the second passive gear ring (42). A forward and reverse motor three (44) is installed on the upper right side of the vehicle body (1) through a motor base. The output shaft of the forward and reverse motor three (44) is fixedly connected with a second transmission gear (45). The second transmission gear (45) is engaged with the second passive gear ring (42). An annular turntable (46) is installed on the upper end of the second passive gear ring (42). A circular column (47) with a rectangular avoidance opening in the middle is installed on the upper end of the annular turntable (46).

10. The automated palletizing robot for water-based paint production according to claim 1, characterized in that: The robotic arm adjusting mechanism (5) includes a rectangular column (51) slidably installed in the rectangular avoidance opening of the circular column (47). The right end of the support cross arm (3) is hinged to the upper end position of the rectangular column (51). A rectangular accommodation groove (53) is formed at the position corresponding to the rectangular column (51) on the upper end of the vehicle body (1). A third hydraulic push rod (54) is installed through the inner wall at the bottom end of the rectangular accommodation groove (53). The upper end of the third hydraulic push rod (54) is rotatably connected to the lower surface of the rectangular column (51). The upper left side of the rectangular column (51) is hinged with a first hydraulic push rod (57) through a mounting seat. The telescopic end of the first hydraulic push rod (57) is hinged to the support cross arm (3) through a mounting seat. A second hydraulic push rod (58) is installed on the upper left side of the support cross arm (3) through a mounting seat. The telescopic end of the second hydraulic push rod (58) is hinged to the U-shaped support plate (62) through a mounting seat.

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