Industrial robot capable of achieving automatic stacking

Abstract

The invention relates to the field of industrial palletizing robots, in particular to an industrial robot capable of realizing automatic palletizing, which comprises a plate conveying frame, supporting plates are fixedly connected to two sides of the plate conveying frame, and a manipulator bracket is movably connected between the upper parts of the two supporting plates; and a height switching mechanism is movably connected between the lower part of the manipulator bracket and the side wall of the supporting plate. The industrial robot capable of achieving automatic stacking is composed of a height switching mechanism and a return mechanism. Through cooperative use of a manipulator support, a supporting plate, a height switching mechanism and other parts, linkage arrangement of a clamping jaw rod and a protruding strip on the height switching mechanism and meshing transmission of a telescopic gear sleeve and a transmission gear rod, when the width of a metal plate is within the common divisor range of twelve, the metal plates with different widths can be clamped, and the clamping jaw rod can be driven by the telescopic gear sleeve and the transmission gear rod. A dynamic transmission ratio is formed between the extending number of the telescopic gear sleeves and the transmission gear rods, so that the stacking height is automatically adjusted after the clamping manipulator and the clamping sleeve are matched to clamp the metal plates and stack the metal plates for one layer.

Description

Technical Field

[0001] The present invention relates to the field of industrial palletizing robots, and specifically to an industrial robot capable of realizing automatic palletizing. Background Art

[0002] Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry to replace manual operations and improve work efficiency. During the production process of metal plates, due to the heavy weight of metal plates, industrial robots with stacking functions are usually used to replace manual operations. The following problems in the prior art have not been well solved: 1. During the production process of metal plates, due to different production batches, the widths of metal plates are also different. When a factory uses a palletizing box of one specification to store metal plates of different specifications, multiple narrow metal plates can be stacked on one layer of the palletizing box, while when stacking wide metal plates, the stacking quantity will decrease. Since the palletizing robot needs to rise after each layer of stacking to stack the second layer, some existing palletizing robots are difficult to automatically switch the stacking height according to the width of the metal plate when stacking metal plates of different specifications, and the robot palletizing program needs to be readjusted, resulting in poor usability. Summary of the Invention

[0003] The purpose of the present invention is to provide an industrial robot capable of realizing automatic palletizing to solve the problem raised in the above background art: some existing palletizing robots are difficult to automatically switch the stacking height according to the width of the metal plate when stacking metal plates of different specifications, resulting in poor usability. To achieve the above purpose, the present invention provides the following technical solution: an industrial robot capable of realizing automatic palletizing, including: A sheet material conveying rack, both sides of the sheet material conveying rack are fixedly connected with support plates, and a manipulator support is movably connected between the upper parts of the two support plates; It further includes: A height switching mechanism is movably connected between the lower part of the manipulator support and the side wall of the support plate for switching the stacking height of the manipulator; A return mechanism is movably connected to the surface of the support plate and is matched with the height switching mechanism for initializing the stacking height of the manipulator.

[0004] Preferably, the height switching mechanism includes: a driving assembly, movably installed on the side wall of the support plate, and the manipulator support is fixedly connected between the upper parts of the two driving assemblies; A connecting bracket is movably connected to the lower part of the manipulator support, and clamping sleeves are symmetrically fixed at the bottom thereof. An activity groove is provided inside the clamping sleeve, a driving motor is fixed in the activity groove, and a driving gear is fixedly connected to the rotating end of the driving motor, and clamping jaw rods are meshed on both sides of the driving gear; A sink groove is provided in the clamping sleeve, and twelve groove rods are equidistantly and movably connected in the sink groove, one end of the groove rod is fixed with a telescopic gear sleeve, and is linked with the adjacent clamping claw rod through a convex strip; The U-shaped guide plate is fixed to the opposite side of the support plate, and telescopic guide pins for slidingly connecting the U-shaped guide plate are provided at both ends of the connecting bracket; A connecting shaft with a notch and a sliding arrangement, one end of the connecting shaft is fixed with a guide bar, and the bottom of the telescopic guide pin is provided with an oblique groove that matches the guide bar; The oblique positioning sleeve and the transmission pin bar, the middle part of the connecting shaft is movably connected to the oblique positioning sleeve, the transmission pin bar is slidably connected to the side wall of the support plate, and is linked with the transmission gear rod, the synchronous belt and the toggle rod.

[0005] Preferably, the driving assembly comprises an electric telescopic rod, the electric telescopic rod is fixedly connected to the surface of the support plate, one end of the electric telescopic rod is fixedly connected to a driving rack, the surface of the support plate is rotatably connected to a driving rack, and the side wall of the driving rack is meshed with the surface of the driving rack; One end of the driving gear rod is fixedly connected to a driving protrusion, the side wall of the support plate is rotatably connected to a swing plate, a waist-shaped groove is opened in the middle of the swing plate, and one end of the driving protrusion is slidably arranged inside the waist-shaped groove; A transverse groove is provided on the upper part of the support plate, and a transverse pin is slidably connected inside the transverse groove. One end of the transverse pin is fixedly connected to the end of the manipulator bracket, and the other end of the transverse pin passes through the transverse groove and is fixedly connected to a hinge block. The bottom of the hinge block is movably connected to the upper part of the swing plate.

[0006] Preferably, a wedge-shaped groove matching with the convex strip is provided in the middle of the groove rod, a support ring is movably sleeved on the surface of the groove rod, and the bottom of the support ring is fixedly connected to the inner wall of the sink groove; A return spring is movably connected between the side wall of the telescopic tooth sleeve and the side wall of the support ring. The teeth of the telescopic tooth sleeve are set to be trapezoidal, and the teeth are telescopic inside the telescopic tooth sleeve. A telescopic spring is fixedly connected between the teeth and the inner wall of the telescopic tooth sleeve.

[0007] Preferably, the upper portion of the transmission gear rod is provided with twelve teeth, the twelve teeth correspond one to one with the twelve telescopic gear sleeves, the middle portion of the transmission gear rod is fixedly sleeved with a damping bearing, the outer ring of the damping bearing is fixedly connected with a main pad, and one end of the main pad is fixedly connected to the side wall of the corresponding support plate; The top of the toggle lever and the bottom of the transmission gear rod are both fixedly connected with a synchronous wheel, the synchronous belt is installed between the two synchronous wheels, the top of the toggle lever is rotatably connected with a slave pad, and one end of the slave pad is fixedly connected to the side wall of the corresponding support plate.

[0008] Preferably, an inclined groove matching with the notch is formed in the side wall of the support plate, the connecting shaft is slidably arranged inside the inclined groove, a synchronous groove parallel to the inclined groove is formed on the surface of the notch, a synchronous pin is fixedly connected to the surface of the guiding strip, and the synchronous pin is slidably arranged inside the synchronous groove; The top of the guiding strip is a conical surface matching with the inclined groove at the bottom of the telescopic guide pin.

[0009] Preferably, the return mechanism includes: a return groove arranged on the side wall of the support plate, a return block is slidably connected inside the return groove, the return block is connected with the inner wall of the groove through a return spring, and one end of the return block is fixedly connected with the bottom of the transmission pin strip; An L-shaped pull rod is slidably connected inside the strip-shaped groove, one end of the L-shaped pull rod is fixed through a damping spring rod, and the other end is connected with a U-shaped adjusting plate; A limiting sleeve and a limiting tooth block, the limiting sleeve is slidably connected to the middle of the U-shaped adjusting plate, and the limiting tooth block is matched with the limiting tooth groove on the side wall of the transmission pin strip.

[0010] Preferably, adjusting grooves are symmetrically formed on the surface of the U-shaped adjusting plate, adjusting pins are symmetrically fixedly connected to the surface of the limiting sleeve, the two adjusting pins are respectively slidably arranged inside the two adjusting grooves, and chutes are symmetrically fixedly connected to the right side of the inner wall of the strip-shaped groove, and the opposite ends of the two adjusting pins are respectively slidably arranged inside the two chutes.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, through the cooperation of components such as the manipulator bracket, the support plate, and the height switching mechanism, the linkage setting of the clamping jaw rod and the convex strip on the height switching mechanism, combined with the meshing transmission of the telescopic gear sleeve and the transmission gear rod, when the width of the metal plate is within the range of the common divisors of twelve, when clamping metal plates of different widths, the number of extensions of the telescopic gear sleeve forms a dynamic transmission ratio with the transmission gear rod, so that the clamping manipulator and the clamping sleeve cooperate to automatically adjust the stacking height after clamping a layer of metal plates, improving the convenience of use.

[0012] In the present invention, through the cooperation of components such as the support plate, the height switching mechanism, and the return mechanism, when the height switching mechanism drives the stacking height of the clamping sleeve between the two support plates to rise to the limit position, the return mechanism cooperates with the height switching mechanism to enable the stacking height of the clamping sleeve at the lower part of the manipulator bracket to automatically return to the initial height, facilitating the realization of continuous stacking operations and improving work efficiency. Description of the Drawings

[0013] Figure 1 It is a three-dimensional view of the position of the sheet conveying frame and the support plate of the present invention; Figure 2 It is a three-dimensional view of the partial position of the connecting bracket and the clamping sleeve of the present invention; Figure 3 It is a cross-sectional view of a local position of a driving motor and a movable slot of the present invention; Figure 4 It is a cross-sectional view of a local position of a driving gear and a movable groove of the present invention; Figure 5 For the present invention Figure 4 A magnified view of the structure at center A; Figure 6 It is a side cross-sectional view of a local position of the support plate and the U-shaped guide plate of the present invention; Figure 7 For the present invention Figure 6 A magnified view of the structure at B in the middle; Figure 8 For the present invention Figure 6 A magnified view of the structure at C in the middle; Figure 9 A three-dimensional diagram of the positions of the transmission gear rod and the toggle rod of the present invention; Figure 10 It is a three-dimensional diagram of the oblique positioning sleeve and the transmission pin of the present invention; Figure 11 It is a top cross-sectional view of the local position of the support plate and the L-shaped tie rod of the present invention; Figure 12 For the present invention Figure 11 A magnified view of the structure at D in the middle; Figure 13 It is a cross-sectional view of the U-shaped adjustment plate and the limiting sleeve of the present invention; Figure 14 It is a cross-sectional view of a local position of the groove rod and the telescopic gear sleeve of the present invention; Figure 15 It is a cross-sectional view of a local position of the support plate and the robot support of the present invention.

[0014] In the figure: 1, sheet material conveying rack; 2, support plate; 3, manipulator bracket; 4, height switching mechanism; 401, driving assembly; 402, connecting bracket; 403, clamping sleeve; 404, movable groove; 405, driving motor; 406, driving gear; 407, clamping claw rod; 408, sinking groove; 409, groove rod; 410, telescopic gear sleeve; 411, convex strip; 412, U-shaped guide plate; 413, telescopic guide pin; 414, notch; 415, connecting Connecting shaft; 416, guide strip; 417, oblique groove; 418, oblique positioning sleeve; 419, transmission pin strip; 420, transmission gear rod; 421, synchronous belt; 422, toggle rod; 5, return mechanism; 501, return groove; 502, return block; 503, return spring; 504, strip groove; 505, L-shaped pull rod; 506, damping spring rod; 507, U-shaped adjustment plate; 508, limit sleeve; 509, limit tooth block; 510, limit tooth groove. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0016] Please refer to Figures 1 to 15 , the present invention provides a technical solution: an industrial robot capable of realizing automatic palletizing, including: a sheet material conveying rack 1, both sides of the sheet material conveying rack 1 are fixedly connected with support plates 2, and a manipulator support 3 is movably connected between the upper parts of the two support plates 2. It should be noted that: a metal plate conveyor belt is arranged on the left side of the sheet material conveying rack 1, a conveying guide plate is arranged on the side wall of the metal plate conveyor belt, and a palletizing box is arranged on the right side of the sheet material conveying rack 1. Here, both the metal plate conveyor belt and the palletizing box are prior arts and will not be described in detail; the two support plates 2 are respectively arranged on the front and rear sides of the sheet material conveying rack 1.

[0017] A height switching mechanism 4 is movably connected between the lower part of the manipulator support 3 and the side wall of the support plate 2, and the height switching mechanism 4 is used to switch the stacking height of the manipulator.

[0018] A return mechanism 5 that cooperates with the height switching mechanism 4 is movably connected to the surface of the support plate 2, and the return mechanism 5 is used to initialize the stacking height of the manipulator.

[0019] In this embodiment, as Figures 1 to 15As shown in the figure, the height switching mechanism 4 includes a driving component 401, which is movably installed at the side wall position of the support plate 2. The manipulator bracket 3 is fixedly connected between the upper parts of the two driving components 401. The lower part of the manipulator bracket 3 is movably connected with a connecting bracket 402. The bottom of the connecting bracket 402 is symmetrically and fixedly connected with clamping sleeves 403. An activity groove 404 is formed inside the clamping sleeve 403. The middle part of the inner wall of the activity groove 404 is fixedly connected with a driving motor 405. The rotating end of the driving motor 405 is rotatably connected with a driving gear 406. Two clamping rod 407 are symmetrically and movably connected inside the activity groove 404. The two clamping rod 407 are respectively meshed with both sides of the driving gear 406. It should be noted that: the side wall of the clamping rod 407 is provided with a tooth groove matched with the driving gear 406. When the driving motor 405 drives the driving gear 406 to rotate, the two clamping rod 407 can move away from each other and move relatively, and the metal plate is clamped by the clamping jaws at the ends of the clamping rod 407; on both sides of the top of the connecting bracket 402, vertical sliding rods are fixedly connected. The sliding rods are vertically movably inserted through the surface of the manipulator bracket 3. When the manipulator bracket 3 drives the connecting bracket 402 to translate on the side wall of the support plate 2, since the connecting bracket 402 can vertically slide at the bottom of the manipulator bracket 3 through the sliding rods, it is ensured that the connecting bracket 402 moves along the track of the U-shaped guide plate 412 along with the telescopic guide pin 413.

[0020] A sinking groove 408 matched with the activity groove 404 is formed inside the clamping sleeve 403. Twelve groove rods 409 are movably connected at equal intervals inside the sinking groove 408. One end of the groove rod 409 is fixedly connected with a telescopic tooth sleeve 410. A convex strip 411 is movably connected between the twelve groove rods 409. The top of the convex strip 411 is fixedly connected with the surface of the adjacent clamping rod 407. It should be noted that: when the clamping rod 407 moves inside the activity groove 404, the clamping rod 407 will drive the convex strip 411 to move synchronously. For example, when in use, when the two clamping rod 407 clamp a metal plate with a width of 30 cm, the clamping rod 407 will drive the convex strip 411 to move synchronously during the clamping operation while moving inside the activity groove 404. At this time, the convex strip 411 will release the contact with the three groove rods 409 on the right side, so that the three groove rods 409 in the released restriction state will drive the corresponding telescopic tooth sleeves 410 to extend out from the side wall of the clamping sleeve 403, and the teeth of the extended telescopic tooth sleeves 410 can be meshed and driven with the transmission tooth rod 420. In summary, when the clamping sleeve 403 clamps the metal plate, it is suitable for clamping and palletizing metal plates with corresponding widths that have a greatest common divisor with twelve, and the application range is wide.

[0021] On both opposite sides of the two support plates 2, U-shaped guide plates 412 are fixedly connected. At both ends of the connecting bracket 402, telescopic guide pins 413 are fixedly connected. The telescopic guide pins 413 are slidably connected to the middle of the corresponding U-shaped guide plates 412. A notch 414 is formed on the right side of the U-shaped guide plate 412. A connecting shaft 415 that cooperates with the notch 414 is slidably arranged on the right side of the support plate 2. One end of the connecting shaft 415 is fixedly connected with a guide strip 416. The guide strip 416 is slidably arranged at the position of the notch 414. An inclined groove 417 that cooperates with the guide strip 416 is formed at the bottom of the telescopic guide pin 413. It should be noted that: a U-shaped groove is formed in the middle of the U-shaped guide plate 412. When the connecting bracket 402 moves along the side wall of the support plate 2 with the manipulator bracket 3, the connecting bracket 402 slides along the U-shaped groove track of the U-shaped guide plate 412 through the telescopic guide pin 413, so that the manipulator bracket 3 drives the connecting bracket 402 and the clamping sleeve 403 to complete the transfer operation during the metal plate palletizing process. During this process, when the telescopic guide pin 413 moves to the position of the guide strip 416, the inclined groove 417 at the bottom of the telescopic guide pin 413 contacts the top of the guide strip 416 and then contracts. At this time, the end of the telescopic guide pin 413 contracts to the position of the notch 414 and slides along the surface of the guide strip 416, ensuring that after the guide strip 416 rises at the position of the notch 414, the connecting bracket 402 and the telescopic guide pin 413 can also stably move to the extreme position to the right along the surface of the support plate 2 with the manipulator bracket 3 without causing interference; here, the end of the telescopic guide pin 413 can only expand and contract and cannot rotate to avoid affecting the cooperation between the inclined groove 417 and the guide strip 416.

[0022] The middle of the connecting shaft 415 is movably connected with an inclined positioning sleeve 418. A transmission pin strip 419 is fixedly connected to the side wall of the inclined positioning sleeve 418. The transmission pin strip 419 is slidably arranged on the side wall of the support plate 2. A transmission tooth bar 420 that cooperates with the telescopic tooth sleeve 410 is rotatably connected to the upper part of the side wall of the support plate 2. The lower part of the transmission tooth bar 420 is movably connected with a synchronous belt 421. One end of the synchronous belt 421 and the side wall of the corresponding support plate 2 are movably connected with a toggle rod 422 that cooperates with the transmission pin strip 419. It should be noted that: the transmission tooth bar 420 is arranged at the middle position of the U-shaped guide plate 412. When the telescopic tooth sleeve 410 protruding from the clamping sleeve 403 moves to the middle position of the U-shaped guide plate 412 along with the connecting bracket 402, the protruding telescopic tooth sleeve 410 meshes and drives with the transmission tooth bar 420, so that the synchronous belt 421 drives the toggle rod 422 to toggle the transmission pin strip 419 to move leftward. At this time, the inclined positioning sleeve 418 on the transmission pin strip 419 drives the connecting shaft 415 and the guide strip 416 to rise along the track of the notch 414 at the side wall position of the support plate 2. By changing the up and down position of the guide strip 416, when the clamping sleeve 403 moves to the extreme position on the right side of the U-shaped guide plate 412, the stopping height of the clamping sleeve 403 also changes accordingly.

[0023] In this embodiment, asFigures 1 to 15 As shown in the figure, the driving assembly 401 includes an electric telescopic rod. The electric telescopic rod is fixedly connected to the surface of the support plate 2. One end of the electric telescopic rod is fixedly connected with a driving rack. A driving gear rod is rotatably connected to the surface of the support plate 2. The side wall of the driving rack is meshed with the surface of the driving gear rod.

[0024] One end of the driving gear rod is fixedly connected with a driving bump. A swing plate is rotatably connected to the side wall of the support plate 2. A waist-shaped groove is formed in the middle of the swing plate. One end of the driving bump is slidably arranged inside the waist-shaped groove.

[0025] A horizontal groove is formed in the upper part of the support plate 2. A horizontal pin is slidably connected inside the horizontal groove. One end of the horizontal pin is fixedly connected to the end of the connected manipulator bracket 3. The other end of the horizontal pin penetrates through the horizontal groove and is fixedly connected with a hinge block. The bottom of the hinge block is movably connected to the upper part of the swing plate. It should be noted that: the driving assembly 401 controls the horizontal sliding of the manipulator bracket 3 at the position of the horizontal groove on the two support plates 2. The combined use of this driving assembly 401 is prior art and will not be described in detail here. This driving assembly 401 can also use an electric telescopic cylinder to directly drive the horizontal pin to reciprocate along the trajectory of the horizontal groove.

[0026] In this embodiment, as Figures 1 to 15 shown, a wedge-shaped groove matching with the convex strip 411 is formed in the middle of the groove rod 409. A support pad ring is movably sleeved on the surface of the groove rod 409. The bottom of the support pad ring is fixedly connected to the inner wall of the sink 408.

[0027] A return spring is movably connected between the side wall of the telescopic tooth sleeve 410 and the side wall of the support pad ring. The teeth of the telescopic tooth sleeve 410 are trapezoidal. Its teeth expand and contract inside the telescopic tooth sleeve 410, and a telescopic spring is fixedly connected between the teeth and the inner wall of the telescopic tooth sleeve 410. It should be noted that: when the convex strip 411 moves leftward along with the corresponding jaw rod 407, the convex strip 411 will gradually disengage from the wedge-shaped groove on the corresponding groove rod 409, enabling the return spring to press against and release the restricted groove rod 409 and telescopic tooth sleeve 410 to move outward in the direction of the outside of the clamping sleeve 403. When the convex strip 411 moves rightward again along with the jaw rod 407, after the convex strip 411 is inserted into the wedge-shaped groove inside the groove rod 409, the groove rod 409 will drive the telescopic tooth sleeve 410 to move into the sink 408.

[0028] In this embodiment, as Figures 1 to 15As shown in the figure, the upper part of the transmission rack 420 is provided with twelve teeth, and the twelve teeth correspond to the twelve telescopic sleeves 410 one by one. A damping bearing is fixedly sleeved in the middle of the transmission rack 420, and the outer ring of the damping bearing is fixedly connected with a main cushion block, and one end of the main cushion block is fixedly connected with the side wall of the corresponding support plate 2. It should be noted that when the connecting bracket 402 drives the clamping sleeve 403 and the extended telescopic sleeve 410 to move to the position of the transmission rack 420, the three telescopic sleeves 410 extending from the inside of the clamping sleeve 403 are meshed with the transmission rack 420 to drive, and can be meshed with three teeth on the transmission rack 420 and rotate it by 90 degrees. In this way, after the clamping sleeve 403 reciprocates four times, the transmission rack 420 can rotate one circle, and the transmission rack 420 that rotates one circle drives the toggle lever 422 through the synchronous belt 421 to drive the transmission pin 419 to move left once, so as to adjust the height of the guide bar 416. Therefore, in the state where the three telescopic sleeves 410 are extended, the clamping sleeve 403 can automatically switch the stacking height once when clamping and feeding four metal plates; the setting of the damping bearing here can prevent the clamping sleeve 403 from driving the transmission rack 420 to rotate during the reverse translation process with the telescopic sleeve 410. When the tooth flank of the telescopic sleeve 410 in the reverse reset movement contacts the transmission rack 420, the teeth will retract into the inside of the extended sleeve. The damping bearing can also be a friction resistance ring that increases friction.

[0029] Synchronous wheels are fixedly connected to the top of the toggle lever 422 and the bottom of the transmission rack 420, the synchronous belt 421 is installed between the two synchronous wheels, and a secondary cushion block is rotatably connected to the top of the toggle lever 422, and one end of the secondary cushion block is fixedly connected with the side wall of the corresponding support plate 2.

[0030] In this embodiment, as Figures 1 to 15 shown, an inclined groove matching with the notch 414 is opened on the side wall of the support plate 2, the connecting shaft 415 is slidably arranged inside the inclined groove, a synchronous groove parallel to the inclined groove is opened on the surface of the notch 414, and a synchronous pin is fixedly connected to the surface of the guide bar 416, and the synchronous pin is slidably arranged inside the synchronous groove. It should be noted that the cooperation of the synchronous groove and the inclined groove enables the guide bar 416 to move up and down along the track direction of the notch 414. Specifically, when the inclined positioning sleeve 418 moves to the left, the connecting shaft 415 slides between the inclined positioning sleeve 418 and the inclined groove, so that the connecting shaft 415 drives the guide bar 416 to move up along the track of the synchronous groove.

[0031] The top of the guide bar 416 is provided with a conical surface matching with the inclined groove 417 at the bottom of the telescopic guide pin 413.

[0032] In this embodiment, as Figures 1 to 15As shown in the figure, the return mechanism 5 includes a return groove 501. The return groove 501 is opened at the side wall position of the support plate 2. The bottom of the transmission pin strip 419 is fixedly connected with a return block 502. The return block 502 is slidably arranged inside the corresponding return groove 501. A return spring 503 is fixedly connected between the inner wall of the return groove 501 and the side wall of the return block 502.

[0033] A strip-shaped groove 504 is opened on the side wall of the support plate 2. An L-shaped pull rod 505 that cooperates with the transmission pin strip 419 is slidably connected inside the strip-shaped groove 504. A damping spring rod 506 is fixedly connected between the left end of the L-shaped pull rod 505 and the inner wall of the strip-shaped groove 504. It should be noted that the damping spring rod 506 is provided so that the L-shaped pull rod 505 can slowly reset after being pressed by the transmission pin strip 419, and the return spring 503 can quickly reset the transmission pin strip 419 that is released from the restriction.

[0034] The right end of the L-shaped pull rod 505 is fixedly connected with a U-shaped adjusting plate 507. A limit sleeve 508 is movably installed on the right side of the inner wall of the strip-shaped groove 504. The surface of the limit sleeve 508 is slidably arranged in the middle of the U-shaped adjusting plate 507. A limit tooth block 509 is slidably connected inside the limit sleeve 508. A limit tooth groove 510 that cooperates with the limit tooth block 509 is opened on the side wall of the transmission pin strip 419. It should be noted that when the transmission pin strip 419 moves to the left, it will be clamped by the cooperation of the limit tooth groove 510 and the limit tooth block 509 to restrict the reset movement of the transmission pin strip 419. When the L-shaped pull rod 505 drives the U-shaped adjusting plate 507 to move to the left, the U-shaped adjusting plate 507 will drive the limit sleeve 508 to move inside the adjusting groove, so that the limit sleeve 508 drives the limit tooth block 509 to release the clamping with the limit tooth groove 510. At this time, the transmission pin strip 419 can perform a reset movement.

[0035] In this embodiment, as Figures 1 to 15 shown, adjusting grooves are symmetrically opened on the surface of the U-shaped adjusting plate 507. Adjusting pins are symmetrically fixedly connected to the surface of the limit sleeve 508. The two adjusting pins are respectively slidably arranged inside the two adjusting grooves. Sliding grooves are symmetrically fixedly connected to the right side of the inner wall of the strip-shaped groove 504. The opposite ends of the two adjusting pins are respectively slidably arranged inside the two sliding grooves. It should be noted that when the U-shaped adjusting plate 507 moves horizontally to the right, the adjusting grooves cooperate with the adjusting pins to slide, so that the adjusting pins drive the limit sleeve 508 to longitudinally translate. At this time, the limit sleeve 508 drives the limit tooth block 509 to release the clamping with the limit tooth groove 510.

[0036] The usage method and advantages of the present invention: The industrial robot capable of realizing automatic palletizing works as follows: As Figures 1 to 15As shown in the figure, during use, the driving assembly 401 on the two support plates 2 drives the manipulator bracket 3 to reciprocate horizontally between the upper parts of the two support plates 2. During this process, the connecting bracket 402 movably installed on the manipulator bracket 3 will drive the clamping sleeve 403 to reciprocate along the track of the U-shaped guide plate 412, so that the jaw rod 407 on the clamping sleeve 403 will pick up the metal plate from the left side of the sheet conveying rack 1 and transfer it to the inside of the palletizing box on the right side for palletizing; When the driving motor 405 on the clamping sleeve 403 drives the driving gear 406 to engage and drive with the two jaw rods 407, the two jaw rods 407 move relatively to clamp the metal plate. Since the jaw rods 407 move to different positions inside the sunk groove 408 with the rib 411 when picking up metal plates of different widths, when the rib 411 disengages from the corresponding groove rod 409, the return spring will press against the groove rod 409 to drive the corresponding telescopic tooth sleeve 410 to extend out of the clamping sleeve 403. When the manipulator bracket 3 and the connecting bracket 402 drive the clamping sleeve 403 to move to the position of the transmission rack 420, the teeth of the extended telescopic tooth sleeve 410 will engage and drive with the transmission rack 420. At this time, the transmission rack 420 will drive the toggle rod 422 to rotate once through the synchronous belt 421. Since the number of the extended telescopic tooth sleeves 410 and the teeth of the transmission rack 420 appear in the form of a common divisor; Specifically, for example, when the current state is that three telescopic tooth sleeves 410 extend from the side wall of the clamping sleeve 403, and since the number of teeth of the transmission rack 420 is twelve, after the clamping sleeve 403 reciprocates four times, four metal plates are palletized in the palletizing box in one layer. At this time, the transmission rack 420 just rotates one circle, and during the process of the transmission rack 420 rotating one circle, it will drive the toggle rod 422 to rotate one circle synchronously. The toggle rod 422 will toggle the transmission pin 419 to move left once, so that the transmission pin 419 will pull the guide bar 416 to move up once along the track direction of the notch 414 and the inclined groove 417 through the connecting shaft 415. When the manipulator bracket 3 and the connecting bracket 402 move towards the notch 414 on the right side of the U-shaped guide plate 412 next time, after the telescopic guide pin 413 on the connecting bracket 402 contacts the top of the guide bar 416 that has risen at the notch 414 and inclined groove 417 position, the telescopic guide pin 413 will contract and continue to slide along the track of the top of the guide bar 416. At this time, the telescopic guide pin 413 will no longer move to the lowermost position on the right side of the U-shaped guide plate 412, so that when the connecting bracket 402 drives the clamping sleeve 403 to move to the extreme position on the right, it can be in the height position adjusted by the guide bar 416, ensuring that the clamping sleeve 403 on the manipulator bracket 3 will automatically switch the stacking height with the change of the height of the guide bar 416 after laying a layer of metal plates in the palletizing box, improving the convenience of use; And every time the transmission pin bar 419 moves leftward once, it is clamped by the cooperation of the limit tooth block 509 and the limit tooth groove 510 on the support plate 2 to limit the movement of the transmission pin bar 419 unidirectionally. Since every time the transmission pin bar 419 moves leftward once, it will drive the guide bar 416 to rise once along the track direction of the inclined groove 417 and the notch 414. When the guide bar 416 rises to the limit position, the transmission pin bar 419 also moves leftward to the limit position. At this time, the transmission pin bar 419 presses against the end position of the L-shaped pull rod 505, causing the L-shaped pull rod 505 to be pressed and drive the U-shaped adjusting plate 507 to slide in cooperation with the limit sleeve 508, so that the limit sleeve 508 drives the limit tooth block 509 to move into the interior of the strip-shaped groove 504. At this time, the limit tooth block 509 releases the engagement with the limit tooth groove 510, and the damping spring rod 506 drives the L-shaped pull rod 505 to slowly reset, while the return spring 503 drives the transmission pin bar 419 to quickly move rightward to reset, causing the transmission pin bar 419 to drive the inclined positioning sleeve 418 to reset and move. At this time, the guide bar 416 can move down to the initial position, so that when the manipulator bracket 3 and the connecting bracket 402 drive the clamping sleeve 403 to move to the right end position of the U-shaped guide plate 412 next time, stacking starts from the bottom layer of the stacking box again, and the stacking robot automatically returns to the initial stacking position.

[0037] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot capable of automatic palletizing, comprising: A sheet material conveying frame (1), wherein support plates (2) are fixedly connected to both sides of the sheet material conveying frame (1), and a manipulator bracket (3) is movably connected between the upper parts of the two support plates (2); It is characterized by further comprising: A height switching mechanism (4) is movably connected between the lower part of the manipulator support (3) and the side wall of the support plate (2), and is used to switch the stacking height of the manipulator; A return mechanism (5) cooperating with the height switching mechanism (4) is movably connected to the surface of the support plate (2) and is used to initialize the stacking height of the robot.

2. The industrial robot capable of realizing automatic palletizing according to claim 1, wherein: The height switching mechanism (4) comprises: a driving assembly (401) movably mounted on a side wall of the support plate (2); the manipulator bracket (3) is fixedly connected between the upper parts of the two driving assemblies (401); A connecting bracket (402) is movably connected to the lower part of the manipulator bracket (3), and a clamping sleeve (403) is symmetrically fixed at the bottom thereof, a movable groove (404) is provided inside the clamping sleeve (403), a driving motor (405) is fixed inside the movable groove (404), and a driving gear (406) is fixedly connected to the rotating end of the driving motor (405), and claw rods (407) are meshedly provided on both sides of the driving gear (406); A sink groove (408) is disposed in the clamping sleeve (403), and twelve groove rods (409) are equidistantly and movably connected in the sink groove (408), one end of the groove rod (409) is fixed with a telescopic tooth sleeve (410), and is linked with the adjacent clamping claw rod (407) through a convex strip (411); A U-shaped guide plate (412) is fixed to the opposite side of the support plate (2), and telescopic guide pins (413) for slidably connecting the U-shaped guide plate (412) are provided at both ends of the connecting bracket (402); A notch (414) and a slidably arranged connecting shaft (415), one end of the connecting shaft (415) being fixed with a guide bar (416), and a bottom of the telescopic guide pin (413) being provided with an inclined groove (417) cooperating with the guide bar (416); An oblique positioning sleeve (418) and a transmission pin (419), wherein the middle portion of the connecting shaft (415) is movably connected to the oblique positioning sleeve (418), and the transmission pin (419) is slidably connected to the side wall of the support plate (2) and is linked to the transmission gear rod (420), the synchronous belt (421) and the toggle rod (422).

3. An industrial robot capable of realizing automatic palletizing according to claim 2, characterized in that: The driving assembly (401) comprises an electric telescopic rod, the electric telescopic rod is fixedly connected to the surface of the support plate (2), one end of the electric telescopic rod is fixedly connected to a driving rack, the surface of the support plate (2) is rotatably connected to a driving rack, and the side wall of the driving rack meshes with the surface of the driving rack; One end of the driving gear rod is fixedly connected to a driving protrusion, the side wall of the support plate (2) is rotatably connected to a swing plate, a waist-shaped groove is provided in the middle of the swing plate, and one end of the driving protrusion is slidably arranged inside the waist-shaped groove; A transverse groove is provided on the upper portion of the support plate (2), a transverse pin is slidably connected inside the transverse groove, one end of the transverse pin is fixedly connected to the end of the manipulator bracket (3), and the other end of the transverse pin passes through the transverse groove and is fixedly connected to a hinge block, and the bottom of the hinge block is movably connected to the upper portion of the swing plate.

4. An industrial robot capable of realizing automatic palletizing according to claim 3, characterized in that: A wedge-shaped groove matching the convex strip (411) is provided in the middle of the groove rod (409); a support ring is movably sleeved on the surface of the groove rod (409); and the bottom of the support ring is fixedly connected to the inner wall of the sink groove (408); A return spring is movably connected between the side wall of the telescopic tooth sleeve (410) and the side wall of the support ring; the teeth of the telescopic tooth sleeve (410) are arranged in a trapezoidal shape; the teeth are telescoped inside the telescopic tooth sleeve (410); and a telescopic spring is fixedly connected between the teeth and the inner wall of the telescopic tooth sleeve (410).

5. An industrial robot capable of realizing automatic palletizing according to claim 4, characterized in that: The upper portion of the transmission gear rod (420) is provided with twelve teeth, the twelve teeth corresponding one to one with the twelve telescopic gear sleeves (410), the middle portion of the transmission gear rod (420) is fixedly sleeved with a damping bearing, the outer ring of the damping bearing is fixedly connected with a main pad, and one end of the main pad is fixedly connected to the side wall of the corresponding support plate (2); The top of the toggle rod (422) and the bottom of the transmission gear rod (420) are both fixedly connected with a synchronous wheel, the synchronous belt (421) is installed between the two synchronous wheels, and the top of the toggle rod (422) is rotatably connected with a follower pad, one end of which is fixedly connected to the side wall of the corresponding support plate (2).

6. The industrial robot capable of realizing automatic palletizing according to claim 5, characterized in that: The side wall of the support plate (2) is provided with an inclined groove matching the notch (414); the connecting shaft (415) is slidably arranged inside the inclined groove; the surface of the notch (414) is provided with a synchronous groove parallel to the inclined groove; the surface of the guide bar (416) is fixedly connected with a synchronous pin; the synchronous pin is slidably arranged inside the synchronous groove; The top of the guide strip (416) is configured as a conical surface that matches the inclined groove (417) at the bottom of the telescopic guide pin (413).

7. An industrial robot capable of realizing automatic palletizing according to claim 6, characterized in that: The return mechanism (5) comprises: a return groove (501) provided on the side wall of the support plate (2), wherein a return block (502) is slidably connected therein, wherein the return block (502) is connected to the inner wall of the groove via a return spring (503), and one end of the return block (502) is fixedly connected to the bottom of the transmission pin (419); An L-shaped pull rod (505) is slidably connected in the strip groove (504), one end of which is fixed by a damping spring rod (506) and the other end is connected to a U-shaped adjustment plate (507); A limiting sleeve (508) and a limiting tooth block (509), wherein the limiting sleeve is slidably connected to the middle of the U-shaped adjustment plate (507), and the limiting tooth block (509) cooperates with a limiting tooth groove (510) on the side wall of the transmission pin bar (419).

8. The industrial robot capable of realizing automatic palletizing according to claim 7, wherein: The surface of the U-shaped adjusting plate (507) is symmetrically provided with adjusting grooves, and the surface of the limit sleeve (508) is symmetrically fixedly connected with adjusting pins. The two adjusting pins are respectively slidably arranged inside the two adjusting grooves, and the right side of the inner wall of the strip-shaped groove (504) is symmetrically fixedly connected with sliding grooves. The opposite ends of the two adjusting pins are respectively slidably arranged inside the two sliding grooves.

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