Stacking robot equipment for intelligent manufacturing industry

Abstract

The invention provides palletizing robot equipment for the intelligent manufacturing industry, and relates to the technical field of palletizing robots, the palletizing robot equipment comprises a protective frame, a working cavity is formed in the protective frame, a vertically arranged lead screw is rotatably mounted in the working cavity of the protective frame, a lifting nut is slidably mounted on the lead screw in a sleeving manner, and a plurality of balls are rotatably mounted on the inner wall of the lifting nut. According to the palletizing robot equipment for the intelligent manufacturing industry, through the protection frame, the lead screw, the lifting nut, the ball, the lifting rod, the executing mechanism, the blocking mechanism, the limiting mechanism, the positioning mechanism and the driving mechanism, a product can be driven by a single power source to conduct vertical and transverse movement palletizing operation; according to the invention, stability during conversion between vertical motion and transverse motion is ensured, jamming caused by mechanical inertia or an imperfect control algorithm is reduced, cost can be reduced, energy consumption is reduced, a control system is simplified, synchronous coordination control between power sources and other problems are reduced, and stability and reliability of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing robots, and in particular to a palletizing robot device for the intelligent manufacturing industry. Background Art

[0002] In the context of intelligent manufacturing, as an important part of industrial automation, palletizing robot equipment has attracted much attention for its technological development and application prospects. With the rapid progress of cutting-edge technologies such as artificial intelligence, machine vision, and deep learning, palletizing robots are undergoing intelligent upgrades and can automatically adjust their working modes and programming algorithms according to production needs to achieve more accurate and efficient handling and stacking. At the same time, their flexible design allows the robot to quickly replace the end effector to adapt to the handling needs of materials of different shapes, sizes, and weights, broadening the application scenarios.

[0003] The palletizing robot integrates multidisciplinary technologies such as mechanics, electronics, computers, control and sensors, and realizes a fully automated process from material delivery, grabbing, handling to accurate palletizing, greatly improving production efficiency, reducing labor costs, and ensuring the stability of product quality. Its effectiveness and accuracy are reflected in the use of advanced servo drive systems and high-precision sensors, which can quickly and accurately identify product positions, sizes and weights, and achieve fast and accurate grabbing and stacking. In addition, the flexibility and adaptability of the equipment enable it to easily cope with products of different shapes, sizes, weights and a variety of palletizing modes.

[0004] Current palletizing robots need to move products horizontally and vertically when palletizing products by displacement in the horizontal and vertical directions. Therefore, most of them use two drive mechanisms to drive horizontal and vertical movements respectively. In actual situations, the two drive mechanisms need to independently control the lateral and longitudinal movements, which increases the complexity of the control system. When switching actions, the movements of the two drive mechanisms need to be precisely coordinated to ensure a smooth transition. If the control algorithm is not perfect or there is a delay, it may cause the action switching to be stuck, affecting work efficiency. Two drive mechanisms usually mean a more complex mechanical structure, including more transmission components and connecting components. These components may cause short-term jams and other unfavorable factors when switching actions due to mechanical inertia, friction and other factors. Summary of the invention

[0005] Based on the technical problems existing in the background technology, the present invention proposes a palletizing robot device for the intelligent manufacturing industry.

[0006] The present invention proposes a palletizing robot device for intelligent manufacturing industry, comprising a protective frame, a working chamber is provided in the protective frame, a vertically arranged screw rod is rotatably installed in the working chamber of the protective frame, a lifting nut is slidably sleeved on the screw rod, a plurality of balls are rotatably installed on the inner wall of the lifting nut, a thread groove for slidingly cooperating with the balls is provided on the outer periphery of the screw rod, a lifting rod is fixedly connected to the lifting nut, and an actuator is installed on the end of the lifting rod away from the lifting nut;

[0007] The protection frame is vertically provided with a vertical lifting groove which is slidably matched with the lifting rod, and one side of the vertical lifting groove is provided with a plurality of transverse grooves arranged at intervals, and the lifting rod can slide in the transverse groove;

[0008] The transverse slot is also equipped with an obstruction mechanism, which can prevent the lifting rod from entering the transverse slot;

[0009] A limit mechanism is installed in the I-shaped cavity, and the limit mechanism can determine the height of the lifting rod in the vertical lifting slot;

[0010] A positioning mechanism is installed in the working chamber, and the positioning mechanism is used to position the lifting nut on the screw rod;

[0011] The protection frame is provided with a driving mechanism, which can control the obstruction mechanism to enter and exit the transverse displacement groove, drive the limiting mechanism to rotate in the I-shaped cavity, and drive the positioning mechanism to approach the screw rod.

[0012] Preferably, the blocking mechanism comprises a shift plate; both ends of the shift plate are fixedly connected with anti-slip bars, and the inner wall of the transverse groove is provided with an anti-slip groove that slidably cooperates with the anti-slip bar;

[0013] The inner wall of the transverse shift groove is also provided with a storage cavity for storing the shift plate.

[0014] Preferably, the limiting mechanism comprises an arc-shaped shift rod; the inner arc surface of the shift plate is fixedly connected with a mounting block, and one end of the arc-shaped shift rod is fixedly connected to the mounting block.

[0015] Preferably, the driving mechanism includes an arc-shaped mounting block, a driving gear and an arc-shaped rack; the arc-shaped mounting block is fixedly mounted on the inner wall of the working chamber, the driving gear is rotatably mounted in the arc-shaped mounting block, one end of the arc-shaped rack is fixedly connected to the mounting block on the side of the shift plate, a through sliding groove for slidingly cooperating with the arc-shaped rack is provided in the arc-shaped mounting block, and the driving gear is meshed with the arc-shaped rack.

[0016] Preferably, the positioning mechanism comprises a positioning pin, a positioning spring and a reset assembly; the inner wall of the lifting nut is provided with a receiving hole capable of receiving the positioning pin, the outer circumference of the screw rod is provided with spirally arranged positioning holes, the positioning pin can be inserted into the positioning hole, the positioning spring is located in the receiving hole, and the positioning spring can drive the positioning pin to be inserted into the positioning hole;

[0017] The reset assembly is used to drive the positioning pin to be received in the receiving hole.

[0018] Preferably, the reset assembly comprises a retraction spring, a first permanent magnet block and a second permanent magnet block; the retraction spring is located in the receiving hole, and the retraction spring can make the positioning pin have a tendency to retract into the receiving hole;

[0019] The No. 1 permanent magnet block is fixedly connected to the end of the positioning pin, and an adjustment groove is provided in the lifting nut to slidably cooperate with the No. 2 permanent magnet block. The No. 2 permanent magnet block can magnetically attract the No. 1 permanent magnet block and drive the positioning pin to retract and slide in the receiving hole.

[0020] Preferably, an alignment hole connected to the adjustment groove is provided on the top surface of the lifting nut, a pressing rod is slidably installed in the alignment hole, the bottom end of the pressing rod is fixedly connected to the second permanent magnet block, a boss is circumferentially connected to the outer periphery of the pressing rod, a lifting slot slidably matched with the boss is provided in the lifting nut, a lifting spring is installed in the lifting slot, and both ends of the lifting spring are respectively against the inner wall of the end of the lifting slot and the boss;

[0021] A pressing mechanism is installed on the installation arc block, and the pressing mechanism can drive the pressing rod to descend in the lifting slide groove.

[0022] Preferably, the pressing mechanism comprises a moving block, a pressing rod and a return assembly; the moving block is slidably mounted on the mounting arc block, and the pressing rod is slidably mounted on the bottom surface of the moving block;

[0023] When the lifting nut is raised, the pressing rod can be inserted into the lifting slot;

[0024] The return assembly is used to drive the pressing rod to slide and reset on the bottom surface of the moving block.

[0025] Preferably, the return assembly includes a movable slider, an anti-slip slider and a return spring; the bottom surface of the movable block is provided with an arc-shaped sliding groove that slidably cooperates with the movable slider, the top of the lower pressure rod is fixedly connected to the bottom surface of the movable slider, the number of the anti-slip sliders is two, and the two anti-slip sliders are respectively fixedly connected to the two sides of the movable slider, a placement groove that slidably cooperates with the anti-slip slider is provided in the movable block, the return spring is located in the placement groove, and the two ends of the return spring are respectively connected to the end inner wall of the placement groove and the anti-slip slider.

[0026] Preferably, the driving mechanism further comprises an inclined plane driving block; the inclined plane driving block is fixedly connected to the arc-shaped shift rod, and the inclined plane of the inclined plane driving block can be slidably matched with the outer arc surface of the moving block.

[0027] The present invention provides a palletizing robot device for the intelligent manufacturing industry, which has the following beneficial effects: through a protective frame, a screw, a lifting nut, a ball, a lifting rod, an actuator, an obstruction mechanism, a limit mechanism, a positioning mechanism and a driving mechanism, the product can be driven by a single power source to perform vertical and horizontal movement palletizing operations, thereby ensuring stability during the conversion between vertical and horizontal movements, reducing jamming due to mechanical inertia or imperfect control algorithms, and reducing costs, energy consumption, simplifying the control system, reducing problems such as synchronous coordinated control between power sources, and improving the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the overall structure of a palletizing robot device for the intelligent manufacturing industry proposed by the present invention;

[0029] Figure 2 A schematic diagram of the positions of a shift lever and an arc-shaped shift lever of a palletizing robot device for an intelligent manufacturing industry proposed by the present invention when performing lateral shift palletizing;

[0030] Figure 3 A top view of a protective frame in a palletizing robot device for an intelligent manufacturing industry proposed by the present invention;

[0031] Figure 4 A top view of a section of a driving gear in a mounting arc block in a palletizing robot device for an intelligent manufacturing industry proposed by the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of a shift plate, an arc-shaped shift rod, an arc-shaped rack and an inclined plane drive block in a palletizing robot device for an intelligent manufacturing industry proposed by the present invention;

[0033] Figure 6 A cross-sectional view of the connection position of a lead screw and a lifting nut in a palletizing robot device for an intelligent manufacturing industry proposed by the present invention;

[0034] Figure 7 A palletizing robot device for intelligent manufacturing industry proposed by the present invention Figure 6 Enlarged view of point A in the middle;

[0035] Figure 8 This is a structural schematic diagram of installing arc blocks and moving blocks in a palletizing robot device for the intelligent manufacturing industry proposed by the present invention;

[0036] Fig. 9A bottom view of a moving block in a palletizing robot device for an intelligent manufacturing industry proposed by the present invention;

[0037] Fig.10 A cross-sectional view of a mobile unit in a palletizing robot device for an intelligent manufacturing industry proposed by the present invention;

[0038] Fig.11 This is a schematic structural diagram of a lower pressure rod, a movable slider and an anti-dropping slider in a palletizing robot device for an intelligent manufacturing industry proposed by the present invention;

[0039] Fig.12 This is a cross-sectional view of the end portion of a positioning pin inserted into a screw rod in a palletizing robot device for the intelligent manufacturing industry proposed by the present invention.

[0040] In the figure: 1. Protective frame; 2. Screw rod; 3. Lifting nut; 4. Ball; 5. Lifting rod; 6. Actuator; 7. Vertical lifting slot; 8. Horizontal shift slot; 9. Shift plate; 10. Storage chamber; 11. Arc shift rod; 12. Install arc block; 13. Drive gear; 14. Arc rack; 15. Locating pin; 16. Locating spring; 17. Locating hole; 18. Retraction spring; 19. Permanent magnet block No. 1; 20. Permanent magnet block No. 2; 21. Press rod; 22. Lifting spring; 23. Moving block; 24. Press rod; 25. Movable slider; 26. Anti-drop slider; 27. Return spring; 28. Inclined drive block. DETAILED DESCRIPTION

[0041] Reference Figure 1-Figure 12The present invention proposes a palletizing robot device for the intelligent manufacturing industry, including a protective frame 1, a working chamber is opened in the protective frame 1, a vertically arranged screw rod 2 is rotatably installed in the working chamber of the protective frame 1, the screw rod 2 is driven to rotate by a driving motor, a lifting nut 3 is slidably sleeved on the screw rod 2, a plurality of balls 4 are rotatably installed on the inner wall of the lifting nut 3, a threaded groove is opened on the outer periphery of the screw rod 2 for sliding cooperation with the balls 4, the cooperation working principle of the screw rod 2, the lifting nut 3 and the balls 4 is similar to the working principle of the ball screw, a lifting rod 5 is fixedly connected to the lifting nut 3, an actuator 6 is installed at one end of the lifting rod 5 away from the lifting nut 3, the actuator 6 is a prior art, such as a mechanical claw, a vacuum suction cup, etc., a vertical screw rod 5 is vertically opened on the protective frame 1 for sliding cooperation with the lifting rod 5 Lifting slot 7, one side of the vertical lifting slot 7 is provided with a plurality of transverse slots 8 arranged at intervals, the intervals between the plurality of transverse slots 8 are designed according to the size of the product (the size of the product is relatively consistent, and when performing palletizing operations, when stacking products of different heights, the lifting height is usually kept consistent), the lifting rod 5 can slide in the transverse slot 8, and in normal use, the product is lifted by the actuator 6 (that is, the lifting rod 5 is lifted in the vertical lifting slot 7), when the product needs to be moved laterally for palletizing, the lifting rod 5 can be rotated into the corresponding transverse slot 8, and the product is moved laterally to the specified position and palletized. In the specific operation process, when the lifting rod 5 is lifted and lowered in the vertical lifting slot 7, when the lifting rod 5 reaches the notch position of the transverse slot 8, Due to the rotation of the screw rod 2, the screw rod 2 may drive the lifting rod 5 to rotate synchronously, so an obstruction mechanism is installed in the transverse slot 8. When the lifting rod 5 reaches the slot position of the transverse slot 8, the obstruction mechanism can prevent the lifting rod 5 from following the rotation of the screw rod 2 and rotating into the transverse slot 8, thereby ensuring that the lifting rod 5 will not move laterally in advance before reaching the specified height. The number of obstruction mechanisms is the same as the number of transverse slots 8, and each obstruction mechanism can operate independently of each other. The obstruction mechanism can prevent the lifting rod 5 from entering the transverse slot 8. During the entire stacking operation, the vertical and lateral movements of the product are driven by the drive motor to drive the screw rod 2 to rotate, and then the screw rod 2 drives the lifting nut 3 to lift or rotate. During the process, there is no need to switch the power source, which can reduce the energy consumed by the power source, reduce related circuits, lines and other consumables, further reduce costs, make the mechanical structure more compact and simple, reduce complex transmission devices and connecting components, reduce the size and weight of the equipment, etc. A limiting mechanism is installed in the I-shaped cavity, and the number of limiting mechanisms and the number of transverse slots 8 are also the same and are set one by one. The limiting mechanism can determine the height of the lifting rod 5 in the vertical lifting slot 7. In the specific stacking operation, the height of the product stacking will increase accordingly during the product stacking process. For each layer of product stacked, the lifting rod 5 needs to lift the product to a higher position to stack the product next time. Therefore, a limiting mechanism is set. When each layer of product is stacked,The limiting mechanism of the upper layer works to limit the height of the lifting rod 5 in the vertical lifting slot 7, thereby ensuring the stacking of products. When the screw rod 2 drives the lifting rod 5 to rotate horizontally, although the limiting mechanism limits the lifting height of the lifting rod 5, when the screw rod 2 rotates, the lifting rod 5 will rotate with the rotation of the screw rod 2, but it will cause pressure on the ball 4 and the thread, which may cause damage to the thread. Therefore, a positioning mechanism is designed. When the screw rod 2 needs to drive the lifting nut 3 and the lifting rod 5 to rotate synchronously, the positions of the lifting nut 3 and the screw rod 2 are fixed to keep them in a relatively integrated state. Therefore, a positioning mechanism is designed. A positioning mechanism is installed in the working chamber. The positioning mechanism is used to position the lifting nut 3 on the screw rod 2. When the screw rod 2 rotates to drive the lifting rod 5 to rotate into the transverse slot 8 of the corresponding height, the protection of the thread on the screw rod 2 is ensured, and the lifting rod 5 is rotated. In order to ensure the smoothness of movement and stable stacking of products, a driving mechanism is installed on the protective frame 1. The driving mechanism can control the obstruction mechanism to enter and exit the transverse slot 8, the driving mechanism can drive the limit mechanism to rotate in the I-shaped cavity, and the driving mechanism can also drive the positioning mechanism to approach the screw 2. When performing the stacking operation, the driving mechanism opens the transverse slot 8 at the corresponding position in advance, thereby ensuring that the lifting rod 5 can rotate horizontally at the specified height. In addition, the driving mechanism simultaneously drives the limit mechanism to block the path of the vertical lifting slot 7, thereby hindering the rising height of the lifting rod 5, ensuring that the lifting rod 5 reaches the specified height before rotating, and also drives the positioning mechanism to work. When the lifting rod 5 reaches the specified height, the lifting nut 3 and the screw 2 remain in a relatively fixed state, ensuring that the screw 2 can drive the lifting nut 3, the lifting rod 5 and the product to rotate synchronously, thereby completing the stacking operation.

[0042] Compared with a system with two power sources, a system with one power source reduces the procurement cost of one power source and its related supporting equipment, such as motors, drivers, etc., which can reduce the initial equipment investment cost for enterprises. A single power source consumes relatively less energy. In the long-term use process, it can effectively reduce the consumption of energy such as electricity, thereby reducing operating costs. Moreover, the reduction in the number of power sources also means a reduction in related circuits, lines and other consumables, further reducing costs. The control system of one power source is relatively simple, and only one set of control logic and parameter settings is needed to achieve vertical and lateral motion control of the product. Compared with two power sources, the problem of synchronous and coordinated control between power sources is reduced, the complexity and programming difficulty of the control system are reduced, and the stability and reliability of the system are improved.

[0043] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown in the figure, the blocking mechanism includes a shift plate 9; both ends of the shift plate 9 are fixedly connected with anti-slip slide bars, the inner wall of the transverse slot 8 is provided with an anti-slip slide groove that slides with the anti-slip slide bar, and the inner wall of the transverse slot 8 is also provided with a storage cavity 10 for accommodating the shift plate 9. In a normal state, the shift plate 9 is located in the transverse slot 8, thereby blocking the transverse slot 8 to ensure that the lifting rod 5 does not enter the transverse slot 8. After the transverse slot 8 slides into the storage cavity 10, the transverse slot 8 is opened, and the lifting rod 5 can slide laterally into the transverse slot 8 to ensure the lateral movement of the product and perform stacking operations.

[0044] like Figure 2 , Figure 3 and Figure 5 As shown in the figure, the limiting mechanism includes an arc-shaped shift rod 11; the inner arc surface of the shift plate 9 is fixedly connected to a mounting block, and one end of the arc-shaped shift rod 11 is fixedly connected to the mounting block. When the shift plate 9 is rotated and stored in the storage cavity 10, the shift plate 9 will drive the mounting block and the arc-shaped shift rod 11 to rotate synchronously, so that the arc-shaped shift rod 11 slides to the travel path of the vertical lifting groove 7. When the lifting rod 5 is raised, the lifting rod 5 will be hindered by the arc-shaped shift rod 11, thereby limiting the lifting height of the lifting rod 5, thereby ensuring that the lifting rod 5 can rotate laterally at the specified position.

[0045] like Figure 3 , Figure 4 , Figure 5 and Figure 8 As shown in, the driving mechanism includes an arc-shaped mounting block 12, a driving gear 13 and an arc-shaped rack 14; the arc-shaped mounting block 12 is fixedly mounted on the inner wall of the working chamber, and the driving gear 13 is rotatably mounted in the arc-shaped mounting block 12. The driving gear 13 is driven by a motor, and one end of the arc-shaped rack 14 is fixedly connected to the mounting block on the side of the shift plate 9. A through slide groove that slides with the arc-shaped rack 14 is provided in the arc-shaped mounting block 12, and the driving gear 13 is meshed with the arc-shaped rack 14. In actual situations, the arc-shaped rack 14 is slidably mounted in the through slide groove, and the driving gear 13 is driven to rotate by the motor, and the driving gear 13 drives the arc-shaped rack 14 to slide in the through slide groove, and the arc-shaped rack 14 can drive the mounting block, the shift plate 9 and the arc-shaped shift rod 11 to slide.

[0046] like Figure 3 , Figure 4 , Figure 6 , Figure 7 and Fig.12As shown in the figure, the positioning mechanism includes a positioning pin 15, a positioning spring 16 and a reset assembly; the inner wall of the lifting nut 3 is provided with a receiving hole capable of receiving the positioning pin 15, and the outer periphery of the screw rod 2 is provided with a spirally arranged positioning hole 17, the positioning pin 15 can be inserted into the positioning hole 17, the positioning spring 16 is located in the receiving hole, and the positioning spring 16 can drive the positioning pin 15 to be inserted into the positioning hole 17; the reset assembly is used to drive the positioning pin 15 to be received in the receiving hole, and one side of the end of the positioning pin 15 is an inclined surface, such as Fig.12 As shown in FIG. 1 , when the screw rod 2 rotates to drive the lifting rod 5 to rotate and move in the transverse groove 8, Fig.12 When the lifting rod 5 reaches the vertical lifting groove 7, the locating pin 15 is still inserted in the locating hole 17, and the screw 2 continues to rotate. At this time, the inner wall of the locating hole 17 and the inclined surface of the locating pin 15 slide together under the rotation of the screw 2, so that the locating pin 15 disengages from the locating hole 17 and retracts into the receiving hole, thereby enabling relative rotation between the screw 2 and the lifting nut 3 and realizing the descending movement of the lifting nut 3.

[0047] like Figure 6 , Figure 7 and Fig.12 In the embodiment, the reset assembly includes a retraction spring 18, a first permanent magnet block 19 and a second permanent magnet block 20; the retraction spring 18 is located in the receiving hole, and the retraction spring 18 can make the positioning pin 15 have a tendency to retract into the receiving hole, the first permanent magnet block 19 is fixedly connected to the end of the positioning pin 15, and an adjustment groove for slidingly cooperating with the second permanent magnet block 20 is provided in the lifting nut 3. The second permanent magnet block 20 can magnetically attract the first permanent magnet block 19 and drive the positioning pin 15 to retract and slide in the receiving hole. In the normal state, the second permanent magnet block 20 is located outside the end of the receiving hole. At this time, the No. 2 permanent magnet block 20 and the No. 1 permanent magnet block 19 are magnetically attracted, and the No. 1 permanent magnet block 19 squeezes the positioning spring 16. At the same time, the rebound effect of the retraction spring 18 will drive the positioning pin 15 to retract into the storage hole. When the No. 2 permanent magnet block 20 slides in the adjustment groove, the No. 2 permanent magnet block 20 and the No. 1 permanent magnet block 19 are misaligned, making the No. 2 permanent magnet block 20 unable to magnetically attract the No. 1 permanent magnet block 19. Under the rebound effect of the positioning spring 16, the positioning pin 15 is driven to extend out of the storage hole (the rebound force of the positioning spring 16 is greater than the rebound force of the retraction spring 18).

[0048] like Figure 3 , Figure 4 , Figure 6 , Figure 7 , Figure 8 and Fig. 9As shown in the figure, the top surface of the lifting nut 3 is provided with an alignment hole connected to the adjustment groove, and a pressing rod 21 is slidably installed in the alignment hole. The bottom end of the pressing rod 21 is fixedly connected to the second permanent magnet block 20, and a boss is circumferentially connected to the outer periphery of the pressing rod 21. A lifting slide groove that slides with the boss is provided in the lifting nut 3, and a lifting spring 22 is installed in the lifting slide groove. The two ends of the lifting spring 22 are respectively against the end inner wall of the lifting slide groove and the boss. A pressing mechanism is installed on the mounting arc block 12, and the pressing mechanism can drive the pressing rod 21 to descend in the lifting slide groove. The pressing mechanism includes a moving block 23, a lower pressure rod 24 and The return assembly; the moving block 23 is slidably mounted on the mounting arc block 12, and an elastic member such as a spring, a spring piece, etc., is also mounted on the mounting arc block 12 for driving the moving block 23 to slide and reset. The lower pressure rod 24 is slidably mounted on the bottom surface of the moving block 23. When the lifting nut 3 is raised, the lower pressure rod 24 can be inserted into the lifting slide groove. The return assembly is used to drive the lower pressure rod 24 to slide and reset on the bottom surface of the moving block 23. When the lifting rod 5 slides in the vertical lifting groove 7, the lifting nut 3 is in a straight up and down state. When the lifting nut 3 is raised to the specified position, the lower pressure rod 24 in the pressing mechanism on the mounting arc block 12 is pressed. The pressure rod 24 can be inserted into the alignment hole, and the end of the lower pressure rod 24 can be against the top of the pressing rod 21, so that when the lifting nut 3 is raised, the pressing rod 21 remains relatively still, and the No. 1 permanent magnet block 19 is also in a relatively still state (the height will not change). As the lifting nut 3 continues to rise, the No. 2 permanent magnet block 20 and the No. 1 permanent magnet block 19 are gradually misaligned (at the beginning, the No. 2 permanent magnet block 20 and the No. 1 permanent magnet block 19 are gradually misaligned until the misalignment of the No. 2 permanent magnet block 20 and the No. 1 permanent magnet block 19 reaches a point where the No. 1 permanent magnet block 19 cannot be magnetically attracted, and under the rebound effect of the positioning spring 16, the No. 2 permanent magnet block 20 and the No. 1 permanent magnet block 19 are gradually misaligned). The locating pin 15 is instantly extended and inserted into the locating hole 17), thereby fixing the position between the lifting nut 3 and the screw rod 2, ensuring that the screw rod 2 can drive the lifting nut 3 to rotate synchronously; when the lifting nut 3 is driven to descend, the lifting nut 3 withdraws from the transverse groove 8 and enters the vertical lifting groove 7. At this time, the inclined surface of the locating pin 15 is squeezed by the inner wall of the locating hole 17 and retracts into the receiving hole, thereby ensuring the lifting and lowering of the lifting nut 3. At the same time, under the rebound action of the lifting spring 22, the pressing rod 21 and the second permanent magnet block 20 are lifted, and the second permanent magnet block 20 is lifted and reset to magnetically attract the first permanent magnet block 19.

[0049] like Figure 3 , Figure 5 , Figure 8 , Fig. 9 , Fig.10 and Fig.11As shown in, the return assembly includes a movable slider 25, an anti-slip slider 26 and a return spring 27; the bottom surface of the movable block 23 is provided with an arc-shaped slide groove that slidably cooperates with the movable slider 25, and the top of the lower pressure rod 24 is fixedly connected to the bottom surface of the movable slider 25. The number of anti-slip sliders 26 is two, and the two anti-slip sliders 26 are respectively fixedly connected to the two sides of the movable slider 25. A placement groove that slidably cooperates with the anti-slip slider 26 is provided in the movable block 23, and the return spring 27 is located in the placement groove. The two ends of the return spring 27 are respectively connected to the end inner wall of the placement groove and the anti-slip slider 26. The driving mechanism also includes an inclined plane driving block 28; the inclined plane driving block 28 is fixedly connected to the arc-shaped shift rod 11, and the inclined surface of the inclined plane driving block 28 can slidably cooperate with the outer arc surface of the movable block 23. During normal operation, the arc-shaped shift rod 11 rotates the shift rod 11 to the shift position. When the lifting nut 3 is raised, the lower pressure rod 24 under the movable block 23 can be inserted into the alignment hole, thereby realizing the misalignment of the No. 2 permanent magnet block 20 and the No. 1 permanent magnet block 19. In order to ensure the synchronous rotation of the lifting nut 3 and the screw rod 2, the lower pressure rod 24 also needs to rotate synchronously with the lifting nut 3. When the lower pressure rod 24 rotates, it will drive the movable slider 25 and the anti-slip slider 26 to slide synchronously. The rebound effect of the return spring 27 can make the movable slider 25 always in the initial position (when not affected by external force), thereby ensuring that the lower pressure rod 24 can be inserted into the alignment hole.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A palletizing robot device for intelligent manufacturing industry, characterized in that: The invention comprises a protection frame (1), wherein a working chamber is provided in the protection frame (1), a vertically arranged screw rod (2) is rotatably installed in the working chamber of the protection frame (1), a lifting nut (3) is slidably sleeved on the screw rod (2), a plurality of balls (4) are rotatably installed on the inner wall of the lifting nut (3), a thread groove slidably matched with the balls (4) is provided on the outer periphery of the screw rod (2), a lifting rod (5) is fixedly connected to the lifting nut (3), and an actuator (6) is installed on the end of the lifting rod (5) away from the lifting nut (3); The protection frame (1) is provided with a vertical lifting groove (7) which is slidably matched with the lifting rod (5), and a plurality of transverse displacement grooves (8) arranged at intervals are provided on one side of the vertical lifting groove (7), and the lifting rod (5) can slide in the transverse displacement groove (8); The transverse displacement groove (8) is also provided with an obstruction mechanism, and the obstruction mechanism is capable of preventing the lifting rod (5) from entering the transverse displacement groove (8); A limiting mechanism is installed in the I-shaped cavity, and the limiting mechanism can determine the height to which the lifting rod (5) is raised in the vertical lifting groove (7); A positioning mechanism is installed in the working chamber, and the positioning mechanism is used to position the lifting nut (3) on the screw rod (2); The protection frame (1) is provided with a driving mechanism, which can control the obstruction mechanism to enter and exit the transverse displacement groove (8), the driving mechanism can drive the limiting mechanism to rotate in the I-shaped cavity, and the driving mechanism can also drive the positioning mechanism to approach the screw rod (2).

2. The palletizing robot equipment for intelligent manufacturing industry according to claim 1, characterized in that: The obstruction mechanism comprises a shift plate (9); both ends of the shift plate (9) are fixedly connected with anti-slip bars, and the inner wall of the transverse groove (8) is provided with an anti-slip groove that slidably cooperates with the anti-slip bar; The inner wall of the transverse shift groove (8) is also provided with a storage cavity (10) for storing the shift plate (9).

3. The palletizing robot equipment for intelligent manufacturing industry according to claim 2, characterized in that: The limiting mechanism comprises an arc-shaped shifting rod (11); the inner arc surface of the shifting plate (9) is fixedly connected to a mounting block, and one end of the arc-shaped shifting rod (11) is fixedly connected to the mounting block.

4. The palletizing robot equipment for intelligent manufacturing industry according to claim 3 is characterized in that: The driving mechanism comprises an arc-shaped mounting block (12), a driving gear (13) and an arc-shaped rack (14); the arc-shaped mounting block (12) is fixedly mounted on the inner wall of the working chamber, the driving gear (13) is rotatably mounted in the arc-shaped mounting block (12), one end of the arc-shaped rack (14) is fixedly connected to the mounting block on the side of the shift plate (9), a through sliding groove for slidingly cooperating with the arc-shaped rack (14) is provided in the arc-shaped mounting block (12), and the driving gear (13) is meshed with the arc-shaped rack (14).

5. The palletizing robot equipment for intelligent manufacturing industry according to claim 4, characterized in that: The positioning mechanism comprises a positioning pin (15), a positioning spring (16) and a reset assembly; the inner wall of the lifting nut (3) is provided with a receiving hole capable of receiving the positioning pin (15); the outer circumference of the screw rod (2) is provided with spirally arranged positioning holes (17); the positioning pin (15) can be inserted into the positioning hole (17); the positioning spring (16) is located in the receiving hole; and the positioning spring (16) can drive the positioning pin (15) to be inserted into the positioning hole (17); The reset assembly is used to drive the positioning pin (15) to be received in the receiving hole.

6. The palletizing robot equipment for intelligent manufacturing industry according to claim 5, characterized in that: The resetting assembly comprises a retraction spring (18), a first permanent magnet block (19) and a second permanent magnet block (20); the retraction spring (18) is located in the receiving hole, and the retraction spring (18) can make the positioning pin (15) have a tendency to retract into the receiving hole; The first permanent magnet block (19) is fixedly connected to the end of the positioning pin (15), and an adjustment groove for slidingly cooperating with the second permanent magnet block (20) is provided in the lifting nut (3). The second permanent magnet block (20) can magnetically attract the first permanent magnet block (19) and drive the positioning pin (15) to retract and slide in the receiving hole.

7. The palletizing robot equipment for intelligent manufacturing industry according to claim 6, characterized in that: The top surface of the lifting nut (3) is provided with an alignment hole connected to the adjustment groove, a pressing rod (21) is slidably installed in the alignment hole, the bottom end of the pressing rod (21) is fixedly connected to the second permanent magnet block (20), the outer periphery of the pressing rod (21) is circumferentially connected to a boss, a lifting slot slidably matched with the boss is provided in the lifting nut (3), a lifting spring (22) is installed in the lifting slot, and the two ends of the lifting spring (22) are respectively against the inner wall of the end of the lifting slot and the boss; A pressing mechanism is installed on the installation arc block (12), and the pressing mechanism can drive the pressing rod (21) to descend in the lifting slide groove.

8. The palletizing robot equipment for intelligent manufacturing industry according to claim 7, characterized in that: The pressing mechanism comprises a moving block (23), a pressing rod (24) and a return assembly; the moving block (23) is slidably mounted on the mounting arc block (12), and the pressing rod (24) is slidably mounted on the bottom surface of the moving block (23); When the lifting nut (3) is lifted, the pressing rod (24) can be inserted into the lifting chute; The return assembly is used to drive the lower pressing rod (24) to slide and return to its original position on the bottom surface of the moving block (23).

9. The palletizing robot equipment for intelligent manufacturing industry according to claim 8, characterized in that: The return assembly comprises a movable slider (25), an anti-slip slider (26) and a return spring (27); the bottom surface of the movable block (23) is provided with an arc-shaped sliding groove that slidably cooperates with the movable slider (25); the top end of the pressing rod (24) is fixedly connected to the bottom surface of the movable slider (25); the number of the anti-slip sliders (26) is two, and the two anti-slip sliders (26) are respectively fixedly connected to the two sides of the movable slider (25); the movable block (23) is provided with a placement groove that slidably cooperates with the anti-slip slider (26); the return spring (27) is located in the placement groove, and the two ends of the return spring (27) are respectively connected to the end inner wall of the placement groove and the anti-slip slider (26).

10. The palletizing robot equipment for intelligent manufacturing industry according to claim 9, characterized in that: The driving mechanism further comprises an inclined plane driving block (28); the inclined plane driving block (28) is fixedly connected to the arc-shaped shift rod (11); and the inclined plane of the inclined plane driving block (28) can be slidably matched with the outer arc surface of the moving block (23).

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