An industrial robot capable of automatic palletizing

Abstract

The present invention relates to the field of industrial palletizing robots, specifically an industrial robot capable of automatic palletizing, comprising a sheet material conveying frame, support plates fixedly connected to both sides of the sheet material conveying frame, a manipulator bracket movably connected between the upper portions of the two support plates, and a height switching mechanism movably connected between the lower portion of the manipulator bracket and the side walls of the support plates. This industrial robot capable of automatic palletizing comprises a height switching mechanism and a return mechanism; through the coordinated use of components such as the manipulator bracket, the support plates, and the height switching mechanism, the linkage setting of the clamping claw 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 common divisor range of twelve, when clamping metal plates of different widths, the extension amount 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 clamp the metal plate and stack one layer, and then automatically adjust the stacking height.

Description

Technical Field

[0001] The present invention relates to the field of industrial palletizing robots, and in particular 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 chemicals to replace manual work and improve work efficiency. In the production process of metal sheets, due to the heavy metal sheets, industrial robots with stacking functions are usually used to replace manual operations.

[0003] The following problems exist in the existing technology and have not been well solved: 1. Since the width of metal plates varies according to different production batches during the production process, when the factory uses a certain specification of stacking box to store metal plates of different specifications, one layer of the stacking box can stack multiple narrow metal plates, while when stacking wide metal plates, the stacking quantity will be reduced. Since the stacking robot needs to rise after each layer is stacked and then stack the second layer, some existing stacking robots find it difficult to automatically switch the stacking height according to the width of the metal plates when stacking metal plates of different specifications. The robot stacking program needs to be readjusted, and the convenience of use is poor. Summary of the Invention

[0004] The present invention aims to provide an industrial robot capable of automatic palletizing to address the problem raised in the aforementioned background art: some existing palletizing robots have difficulty automatically switching the stacking height according to the width of metal plates of different specifications when stacking them, resulting in poor usability. To achieve the above-mentioned object, the present invention provides the following technical solution: an industrial robot capable of automatic palletizing, comprising:

[0005] A sheet material conveying frame, wherein support plates are fixedly connected to both sides of the sheet material conveying frame, and a manipulator bracket is movably connected between the upper parts of the two support plates;

[0006] Also includes:

[0007] A height switching mechanism is movably connected between the lower portion of the manipulator bracket and the side wall of the support plate, for switching the stacking height of the manipulator;

[0008] The surface of the support plate is movably connected with a return mechanism that cooperates with the height switching mechanism and is used to initialize the stacking height of the manipulator.

[0009] Preferably, the height switching mechanism comprises: a driving assembly movably mounted on the side wall of the support plate, and the manipulator bracket is fixedly connected between the upper parts of the two driving assemblies;

[0010] A connecting bracket is movably connected to the lower part of the manipulator bracket, and a clamping sleeve is symmetrically fixed to the bottom thereof. A movable groove is provided inside the clamping sleeve, a driving motor is fixed in the movable groove, and a driving gear is fixedly connected to the rotating end of the driving motor. Claw rods are meshed on both sides of the driving gear.

[0011] 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 each groove rod is fixed with a telescopic gear sleeve, and is linked to the adjacent clamping claw rod through a convex strip;

[0012] A U-shaped guide plate is fixed to the opposite side of the support plate, and telescopic guide pins are provided at both ends of the connecting bracket for sliding connection with the U-shaped guide plate;

[0013] A connecting shaft with a notch and a sliding arrangement, one end of the connecting shaft being fixed with a guide bar, and an oblique groove cooperating with the guide bar being provided at the bottom of the telescopic guide pin;

[0014] The oblique positioning sleeve and the transmission pin bar are movably connected to the oblique positioning sleeve in the middle of the connecting shaft, and 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.

[0015] Preferably, the drive assembly includes 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 engaged with the surface of the driving rack;

[0016] One end of the driving gear rod is fixedly connected to a driving protrusion, and 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;

[0017] A transverse groove is provided on the upper part of the support plate, and a transverse pin is slidably connected to the inside of 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.

[0018] Preferably, a wedge-shaped groove is provided in the middle of the groove rod to match the convex strip, 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;

[0019] A reset spring is movably connected between the side wall of the telescopic gear sleeve and the side wall of the support ring. The teeth of the telescopic gear sleeve are set to be trapezoidal, and the teeth are telescopic inside the telescopic gear sleeve, and a telescopic spring is fixedly connected between the teeth and the inner wall of the telescopic gear sleeve.

[0020] Preferably, the upper portion of the transmission gear rod is provided with twelve teeth, and the twelve teeth correspond one to one with the twelve telescopic gear sleeves. A damping bearing is fixedly sleeved on the middle portion of the transmission gear rod, and a main pad is fixedly connected to the outer ring of the damping bearing, and one end of the main pad is fixedly connected to the side wall of the corresponding support plate.

[0021] The top of the toggle lever and the bottom of the transmission gear rod are 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.

[0022] Preferably, the side wall of the support plate is provided with an inclined groove matching the notch, the connecting shaft is slidably arranged inside the inclined groove, the surface of the notch is provided with a synchronization groove parallel to the inclined groove, the surface of the guide bar is fixedly connected with a synchronization pin, and the synchronization pin is slidably arranged inside the synchronization groove;

[0023] The top of the guide strip is configured as a tapered surface that matches the oblique groove at the bottom of the telescopic guide pin.

[0024] Preferably, the return mechanism comprises: a return groove provided on the side wall of the support plate, in which a return block is slidably connected, the return block being connected to the inner wall of the groove via a return spring, and one end of the return block being fixedly connected to the bottom of the transmission pin bar;

[0025] An L-shaped pull rod is slidably connected in the strip groove, one end of which is fixed by a damping spring rod and the other end is connected to the U-shaped adjustment plate;

[0026] The limiting sleeve and the limiting tooth block are slidingly connected to the middle part of the U-shaped adjustment plate, and the limiting tooth block cooperates with the limiting tooth groove on the side wall of the transmission pin bar.

[0027] Preferably, the surface of the U-shaped adjustment plate is symmetrically provided with adjustment grooves, the surface of the limit sleeve is symmetrically fixedly connected with adjustment pins, the two adjustment pins are respectively slidably arranged inside the two adjustment grooves, and the right side of the inner wall of the strip groove is symmetrically fixedly connected with a slide groove, and the opposite ends of the two adjustment pins are respectively slidably arranged inside the two slide grooves.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] In the present invention, through the coordinated use of components such as the manipulator bracket, the support plate and the height switching mechanism, the linkage setting of the clamping claw 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 common divisor range of twelve, when clamping metal plates of different widths, the extension amount of the telescopic gear sleeve and the transmission gear rod form a dynamic transmission ratio, so that the clamping manipulator and the clamping sleeve cooperate to clamp the metal plate to stack one layer and then automatically adjust the stacking height, thereby improving ease of use.

[0030] In the present invention, through the coordinated use 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, thereby facilitating continuous stacking operations and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A three-dimensional diagram of the positions of the sheet material conveying rack and the support plate of the present invention;

[0032] Figure 2 A three-dimensional diagram of a local position of the connecting bracket and the clamping sleeve of the present invention;

[0033] Figure 3 A cross-sectional view of a driving motor and a local portion of a movable slot according to the present invention;

[0034] Figure 4 A cross-sectional view of a local portion of the driving gear and the movable groove of the present invention;

[0035] Figure 5 For the present invention Figure 4 A magnified view of the structure at center A;

[0036] Figure 6 A side sectional view of a partial position of the support plate and the U-shaped guide plate of the present invention;

[0037] Figure 7 For the present invention Figure 6 A magnified view of the structure at B in the middle;

[0038] Figure 8 For the present invention Figure 6 A magnified view of the structure at center C;

[0039] Figure 9 A three-dimensional diagram showing the positions of the transmission gear rod and the toggle rod of the present invention;

[0040] Figure 10 A three-dimensional diagram of the oblique positioning sleeve and the transmission pin of the present invention;

[0041] Figure 11 A top cross-sectional view of a local position of the support plate and the L-shaped tie rod of the present invention;

[0042] Figure 12 For the present invention Figure 11 A magnified view of the structure at D in the middle;

[0043] Figure 13 It is a cross-sectional view of the U-shaped adjustment plate and the limiting sleeve of the present invention;

[0044] Figure 14A cross-sectional view of a local portion of the groove rod and the telescopic gear sleeve of the present invention;

[0045] Figure 15 It is a cross-sectional view of the local position of the support plate and the manipulator bracket of the present invention.

[0046] In the figure: 1, sheet material conveyor; 2, support plate; 3, manipulator bracket; 4, height switching mechanism; 401, drive assembly; 402, connecting bracket; 403, clamping sleeve; 404, movable groove; 405, drive motor; 406, drive gear; 407, clamping claw rod; 408, sink groove; 409, groove rod; 410, telescopic gear sleeve; 411, ridge; 412, U-shaped guide plate; 413, telescopic guide pin; 414, notch; 415, connecting Connecting shaft; 416, guide bar; 417, oblique groove; 418, oblique positioning sleeve; 419, transmission pin bar; 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

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] See also Figures 1 to 15 The present invention provides a technical solution: an industrial robot capable of automatic palletizing, comprising: a sheet material conveyor frame 1, with support plates 2 fixedly connected to both sides of the sheet material conveyor frame 1, and a manipulator bracket 3 movably connected between the upper portions of the two support plates 2. It should be noted that a metal sheet conveyor belt is provided on the left side of the sheet material conveyor frame 1, and conveying guide plates are provided on the side walls of the metal sheet conveyor belt, while a palletizing box is provided on the right side of the sheet material conveyor frame 1. The metal sheet conveyor belt and the palletizing box are both existing technologies and will not be described in detail. The two support plates 2 are respectively provided at the front and rear sides of the sheet material conveyor frame 1.

[0049] A height switching mechanism 4 is movably connected between the lower portion of the manipulator bracket 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.

[0050] The surface of the support plate 2 is movably connected with a return mechanism 5 that cooperates with the height switching mechanism 4. The return mechanism 5 is used to initialize the stacking height of the manipulator.

[0051] In this embodiment, Figures 1 to 15 As shown, the height switching mechanism 4 includes a driving component 401, which is movably installed on the side wall of the support plate 2, and 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 to the connecting bracket 402, and the bottom of the connecting bracket 402 is symmetrically fixedly connected to the clamping sleeve 403. A movable groove 404 is provided inside the clamping sleeve 403, and the middle part of the inner wall of the movable groove 404 is fixedly connected to the driving motor 405, and the rotating end of the driving motor 405 is rotatably connected to the driving gear 406. The inside of the movable groove 404 is symmetrically movably connected to the clamping rod 407, and the two clamping rods 407 are respectively engaged with the two 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 that cooperates with the driving gear 406. When the driving motor 405 rotates with the driving gear 406, the two clamping rods 407 can move back to back and relative to each other, and the metal plate is clamped by the clamping claws at the end of the clamping rod 407; both sides of the top of the connecting bracket 402 are vertically fixed with sliding rods, and the sliding rods are vertically movable and interspersed on the surface of the manipulator bracket 3. When the manipulator bracket 3 moves horizontally with the connecting bracket 402 on the side wall of the support plate 2, the connecting bracket 402 can slide vertically at the bottom of the manipulator bracket 3 through the sliding rod, thereby ensuring that the connecting bracket 402 moves along the trajectory of the U-shaped guide plate 412 with the telescopic guide pin 413.

[0052] The inside of the clamping sleeve 403 is provided with a sink groove 408 that cooperates with the movable groove 404. Twelve groove rods 409 are equidistantly and movably connected inside the sink groove 408. One end of the groove rod 409 is fixedly connected to a telescopic gear sleeve 410. The twelve groove rods 409 are movably connected with a convex strip 411. The top of the convex strip 411 is fixedly connected to the surface of the adjacent clamping claw rod 407. It should be noted that: when the clamping claw rod 407 moves inside the movable groove 404, the clamping claw rod 407 will move synchronously with the convex strip 411. For example, when in use, when the two clamping claw rods 407 clamp a metal plate of 30 cm wide, the clamping claw rod 407 moves inside the movable groove 404 to perform the clamping operation and will move synchronously with the convex strip 411. 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 extend from the side wall of the clamping sleeve 403 with the corresponding telescopic tooth sleeve 410, and the teeth of the extended telescopic tooth sleeve 410 can engage with the transmission tooth rod 420 for transmission. In summary, the clamping sleeve 403 is suitable for clamping and stacking metal plates with a width corresponding to the common divisor of twelve in the process of clamping metal plates, and has a wide range of uses.

[0053] The two opposite sides of the two support plates 2 are fixedly connected with U-shaped guide plates 412, and the two ends of the connecting bracket 402 are fixedly connected with telescopic guide pins 413. The telescopic guide pins 413 are slidably connected to the middle of the corresponding U-shaped guide plate 412. A notch 414 is provided on the right side of the U-shaped guide plate 412. A connecting shaft 415 that cooperates with the notch 414 is slidably provided on the right side of the support plate 2. One end of the connecting shaft 415 is fixedly connected with a guide bar 416, and the guide bar 416 is slidably set at the position of the notch 414. The bottom of the telescopic guide pin 413 is provided with an inclined groove 417 that cooperates with the guide bar 416. It should be noted that a U-shaped groove is provided in the middle of the U-shaped guide plate 412. When the connecting bracket 402 moves horizontally 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 completes the transfer operation during the metal plate stacking process with the connecting bracket 402 and the clamping sleeve 403. During this process, when the telescopic guide pin 413 moves to the position of the guide bar 416, the oblique groove 417 at the bottom of the telescopic guide pin 413 is aligned with the guide bar 416. After the top of the guide bar 416 contacts, it shrinks. At this time, the end of the telescopic guide pin 413 shrinks to the position of the notch 414 and slides along the surface of the guide bar 416, ensuring that after the guide bar 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 right to the extreme position on 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 be extended and retracted and cannot be rotated, so as to avoid affecting the coordinated use of the inclined slot 417 and the guide bar 416.

[0054] The middle part of the connecting shaft 415 is movably connected with an oblique positioning sleeve 418, and the side wall of the oblique positioning sleeve 418 is fixedly connected with a transmission pin 419, and the transmission pin 419 is slidably set on the side wall of the support plate 2. The upper part of the side wall of the support plate 2 is rotatably connected with a transmission gear rod 420 that cooperates with the telescopic gear sleeve 410, and the lower part of the transmission gear rod 420 is movably connected with a synchronous belt 421, and one end of the synchronous belt 421 is movably connected to the side wall of the corresponding support plate 2 with a toggle rod 422 that cooperates with the transmission pin 419. It should be noted that: the transmission gear rod 420 is set at the middle position of the U-shaped guide plate 412. When the telescopic gear sleeve 410 extending from the clamping sleeve 403 moves to the middle position of the U-shaped guide plate 412 along with the connecting bracket 402, the extended telescopic gear sleeve 410 engages with the transmission gear rod 420 for transmission, so that the synchronous belt 421 drives the toggle rod 422 to toggle the transmission pin 419 to move to the left. At this time, the oblique positioning sleeve 418 on the transmission pin 419 carries the connecting shaft 415 and the guide bar 416 along the trajectory of the notch 414 to rise at the side wall position of the support plate 2. By changing the upper and lower positions of the guide bar 416, when the clamping sleeve 403 moves to the right side of the U-shaped guide plate 412 to the extreme position, the stopping height of the clamping sleeve 403 also changes.

[0055] In this embodiment, Figures 1 to 15 As shown, the drive assembly 401 includes an electric telescopic rod, which 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, and the surface of the support plate 2 is rotatably connected to the driving rack. The side wall of the driving rack is engaged with the surface of the driving rack.

[0056] One end of the driving gear rod is fixedly connected to a driving protrusion, and the side wall of the support plate 2 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 set inside the waist-shaped groove.

[0057] The upper portion of the support plate 2 is provided with a transverse groove, within which a transverse pin is slidably connected. One end of the transverse pin is fixedly connected to the end of the connected manipulator bracket 3, and the other end of the transverse pin extends through the transverse groove and is fixedly connected to a hinge block. The bottom of the hinge block is movably connected to the upper portion of the swing plate. It should be noted that the manipulator bracket 3 is controlled to slide horizontally along the transverse grooves on the two support plates 2 by a drive assembly 401. The use of this drive assembly 401 is conventional and will not be described in detail here. This drive assembly 401 can also use an electric telescopic cylinder to directly drive the transverse pin to reciprocate along the transverse groove trajectory.

[0058] In this embodiment, Figures 1 to 15 As shown, a wedge-shaped groove is provided in the middle of the groove rod 409 to match the convex strip 411 , and 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 408 .

[0059] A return spring is movably connected between the side wall of the telescopic toothed sleeve 410 and the side wall of the support ring. The teeth of the telescopic toothed sleeve 410 are arranged in a trapezoidal shape. The teeth thereof are retracted and expanded inside the telescopic toothed sleeve 410, and a retractable spring is fixedly connected between the teeth and the inner wall of the telescopic toothed sleeve 410. It should be noted that when the protrusion 411 moves leftward along with the corresponding clamping claw rod 407, the protrusion 411 gradually releases contact with the wedge-shaped groove on the corresponding groove rod 409, allowing the return spring to press the groove rod 409, which has been released from the restricted state, and the telescopic toothed sleeve 410 to move toward the outside of the clamping sleeve 403. When the protrusion 411 moves rightward again along with the clamping claw rod 407, the protrusion 411 inserts into the wedge-shaped groove on the groove rod 409, and the groove rod 409 carries the telescopic toothed sleeve 410 toward the inside of the sink 408.

[0060] In this embodiment, Figures 1 to 15As shown, the upper portion of the transmission gear rod 420 is provided with twelve teeth, and the twelve teeth correspond 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, and the outer ring of the damping bearing is fixedly connected to a main pad, and one end of the main pad is fixedly connected to the side wall of the corresponding support plate 2. It should be noted that: when the connecting bracket 402 moves to the position of the transmission gear rod 420 with the clamping sleeve 403 and the extended telescopic gear sleeve 410, the three telescopic gear sleeves 410 extending from the inside of the clamping sleeve 403 engage with the transmission gear rod 420 for transmission, and can engage with the three teeth on the transmission gear rod 420 and rotate it 90 degrees. After the clamping sleeve 403 moves back and forth four times, the transmission gear rod 420 can rotate one circle, so that the transmission gear rod 420 that rotates one circle drives the toggle rod 422 with the transmission pin 419 to move to the Move left once to adjust the height of the guide bar 416, so that when the three telescopic gear sleeves 410 are extended, the clamping sleeve 403 can automatically switch the stacking height by clamping four metal plates; the damping bearing is set here to prevent the clamping sleeve 403 from driving the transmission gear rod 420 to rotate during the reverse translation process of the telescopic gear sleeve 410, so that when the tooth inclined surface of the telescopic gear sleeve 410 that is moving in the reverse reset direction contacts the transmission gear rod 420, the teeth will be retracted into the extended gear sleeve. The damping bearing can also use a friction resistance ring to increase friction.

[0061] The top of the toggle rod 422 and the bottom of the transmission gear rod 420 are fixedly connected to a synchronous wheel, and the synchronous belt 421 is installed between the two synchronous wheels. The top of the toggle rod 422 is rotatably connected to a slave pad, and one end of the slave pad is fixedly connected to the side wall of the corresponding support plate 2.

[0062] In this embodiment, Figures 1 to 15 As shown, the sidewall of support plate 2 is provided with an inclined groove that mates with notch 414. Connecting shaft 415 is slidably mounted within the inclined groove. A synchronization groove parallel to the inclined groove is provided on the surface of notch 414. A synchronization pin is fixedly connected to the surface of guide bar 416, which is slidably mounted within the synchronization groove. It should be noted that the coordination between the synchronization groove and the inclined groove enables guide bar 416 to move up and down along the trajectory of notch 414. Specifically, when the oblique positioning sleeve 418 moves to the left, connecting shaft 415 slides between the oblique positioning sleeve 418 and the inclined groove, causing connecting shaft 415 to move upward along the trajectory of the synchronization groove, carrying guide bar 416 with it.

[0063] The top of the guide bar 416 is configured as a tapered surface that matches the inclined groove 417 at the bottom of the telescopic guide pin 413 .

[0064] In this embodiment, Figures 1 to 15As shown, the return mechanism 5 includes a return groove 501, which is opened at the side wall position of the support plate 2. The bottom of the transmission pin 419 is fixedly connected with a return block 502, and 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.

[0065] The side wall of the support plate 2 is provided with a strip groove 504, within which an L-shaped pull rod 505 is slidably connected, engaging with the transmission pin 419. 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 groove 504. It should be noted that the damping spring rod 506 is provided so that the L-shaped pull rod 505 can slowly return to its original position after being pressed by the transmission pin 419, while the return spring 503 can quickly return the transmission pin 419 to its original position after being released from its restraint.

[0066] The right end of the L-shaped pull rod 505 is fixedly connected to a U-shaped adjustment plate 507. A limit sleeve 508 is movably installed on the right side of the inner wall of the strip groove 504. The surface of the limit sleeve 508 is slidably arranged in the middle of the U-shaped adjustment plate 507. The inner portion of the limit sleeve 508 is slidably connected to the limit tooth block 509. The side wall of the transmission pin 419 is provided with a limit tooth groove 510 that cooperates with the limit tooth block 509. It should be noted that when the transmission pin 419 moves to the left, it will engage with the limit tooth block 509 through the limit tooth groove 510, limiting the reset movement of the transmission pin 419. When the L-shaped pull rod 505 moves to the left with the U-shaped adjustment plate 507, the U-shaped adjustment plate 507 will drive the limit sleeve 508 to move inside the adjustment groove, so that the limit sleeve 508 and the limit tooth block 509 are released from the limit tooth groove 510, and the transmission pin 419 can now reset.

[0067] In this embodiment, Figures 1 to 15 As shown, the surface of the U-shaped adjustment plate 507 is symmetrically provided with adjustment slots, and the surface of the limiting sleeve 508 is symmetrically fixedly connected to an adjustment pin, with the two adjustment pins slidingly disposed within the two adjustment slots. A slide slot is symmetrically fixedly disposed on the right side of the inner wall of the strip groove 504, with the opposing ends of the two adjustment pins slidingly disposed within the two slide slots. It should be noted that when the U-shaped adjustment plate 507 moves horizontally to the right, the adjustment slots and the adjustment pins slide in conjunction, causing the adjustment pins to translate longitudinally with the limiting sleeve 508. At this point, the limiting sleeve 508, along with the limiting tooth block 509, releases its engagement with the limiting tooth groove 510.

[0068] The use method and advantages of the present invention: The industrial robot capable of automatic palletizing has the following working process:

[0069] like Figures 1 to 15As shown, when in use, the driving assembly 401 on the two support plates 2 drives the manipulator bracket 3 to move back and forth 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 carry the clamping sleeve 403 to move back and forth along the track of the U-shaped guide plate 412, so that the clamping claw rod 407 on the clamping sleeve 403 clamps the metal plate from the left side of the sheet material conveying rack 1 and transfers it to the inside of the stacking box on the right side for stacking;

[0070] When the driving motor 405 on the clamping sleeve 403 drives the driving gear 406 to mesh with the two clamping claw rods 407, the two clamping claw rods 407 move relative to each other to clamp the metal plate. Since the clamping claw rod 407 moves to different positions inside the sink groove 408 with the protruding strip 411 when clamping metal plates of different widths, the position of the clamping claw rod 407 with the protruding strip 411 is also different. When the protruding strip 411 disengages from the corresponding groove rod 409, the return spring presses the groove rod 409 with the corresponding telescopic gear sleeve 410 to extend from the inside of the clamping sleeve 403. When the manipulator bracket 3 and the connecting bracket 402 move with the clamping sleeve 403 to the position of the transmission gear rod 420, the teeth of the extended telescopic gear sleeve 410 mesh with the transmission gear rod 420 for transmission. At this time, the transmission gear rod 420 drives the toggle rod 422 to rotate once through the synchronous belt 421. Since the number of the extended telescopic gear sleeve 410 and the teeth of the transmission gear rod 420 appear in the form of a common divisor;

[0071] Specifically, for example, in the current state, there are three telescopic gear sleeves 410 extending from the side wall of the clamping sleeve 403. Since the number of teeth of the transmission gear rod 420 is twelve, after the clamping sleeve 403 moves back and forth four times, four metal plates are stacked in one layer inside the stacking box. At this time, the transmission gear rod 420 just rotates one circle, and during the process of the transmission gear rod 420 rotating one circle, it will bring the toggle rod 422 to rotate one circle synchronously, and the toggle rod 422 toggles the transmission pin bar 419 to move left once, so that the transmission pin bar 419 pulls the guide bar 416 along the trajectory direction of the notch 414 and the inclined slot 417 through the connecting shaft 415, so that the next time the manipulator bracket 3 and the connecting bracket 402 move to the right of the U-shaped guide plate 412 When the notch 414 on the side moves, after the telescopic guide pin 413 oblique slot 417 on the connecting bracket 402 contacts the top of the guide bar 416 after the notch 414 is raised, the telescopic guide pin 413 contracts and continues to slide along the track of the top of the guide bar 416. At this time, the telescopic guide pin 413 no longer moves to the lowest end position on the right side of the U-shaped guide plate 412, so that when the connecting bracket 402 moves to the right with the clamping sleeve 403 to the extreme position, it can be at the height position adjusted by the guide bar 416, ensuring that the clamping sleeve 403 on the manipulator bracket 3 automatically switches the stacking height as the height of the guide bar 416 changes after laying a layer of metal plates inside the stacking box, thereby improving ease of use;

[0072] When the transmission pin 419 moves to the left once, the limiting tooth block 509 on the support plate 2 is engaged with the limiting tooth groove 510 to limit the movement of the transmission pin 419 in one direction. Since the transmission pin 419 will move to the left once, it will bring the guide bar 416 up 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 419 also moves to the left to the limit position. At this time, the transmission pin 419 presses against the end position of the L-shaped pull rod 505, so that the L-shaped pull rod 505 is compressed and slides with the U-shaped adjustment plate 507 and the limiting sleeve 508, so that the limiting sleeve 50 8 moves with the limiting tooth block 509 toward the inside of the strip groove 504. At this time, the limiting tooth block 509 releases the engagement with the limiting tooth groove 510, and the damping spring rod 506 slowly resets with the L-shaped pull rod 505, while the return spring 503 quickly moves the transmission pin bar 419 to the right and resets, so that the transmission pin bar 419 resets with the oblique positioning sleeve 418. At this time, the guide bar 416 can move down to the initial position, so that the next time the manipulator bracket 3 and the connecting bracket 402 move to the right end position of the U-shaped guide plate 412 with the clamping sleeve 403, palletizing starts from the bottom layer of the palletizing box again, so that the palletizing robot automatically returns to the initial palletizing position.

[0073] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the present invention. The scope of protection claimed in 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 portion of the manipulator bracket (3) and the side wall of the support plate (2), for switching the stacking height of the manipulator; The surface of the support plate (2) is movably connected to a return mechanism (5) that cooperates with the height switching mechanism (4) and is used to initialize the stacking height of the manipulator; The height switching mechanism (4) comprises: a driving assembly (401) movably mounted on the 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 to the bottom thereof. A movable groove (404) is provided inside the clamping sleeve (403), and a driving motor (405) is fixed in the movable groove (404). The rotating end of the driving motor (405) is fixedly connected to a driving gear (406), and both sides of the driving gear (406) are meshed with clamping claw rods (407); A sink groove (408) is provided 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 gear sleeve (410), and is linked to 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 slidingly 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) is fixed with a guide bar (416), and the bottom of the telescopic guide pin (413) is provided with an inclined groove (417) that cooperates with the guide bar (416); The oblique positioning sleeve (418) and the transmission pin (419) are movably connected to the oblique positioning sleeve (418) in the middle of the connecting shaft (415), 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).

2. The industrial robot capable of automatic palletizing according to claim 1, characterized in that: The driving assembly (401) comprises an electric telescopic rod, the electric telescopic rod being fixedly connected to the surface of the support plate (2), one end of the electric telescopic rod being fixedly connected to a driving rack, the surface of the support plate (2) being rotatably connected to a driving rack, and the side wall of the driving rack being engaged with the surface of the driving rack; One end of the driving gear rod is fixedly connected to a driving protrusion, and the side wall of the support plate (2) is rotatably connected to a swing plate, and 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 to the interior of the transverse groove, one end of the transverse pin is fixedly connected to the end portion 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.

3. The industrial robot capable of automatic palletizing according to claim 2, 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 telescopic 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).

4. The industrial robot capable of automatic palletizing according to claim 3, characterized in that: The upper portion of the transmission gear rod (420) is provided with twelve teeth, and the twelve teeth correspond 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, and the outer ring of the damping bearing is fixedly connected to 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 to synchronous wheels, and the synchronous belt (421) is installed between the two synchronous wheels. The top of the toggle rod (422) is rotatably connected to a slave pad, and one end of the slave pad is fixedly connected to the side wall of the corresponding support plate (2).

5. The industrial robot capable of automatic palletizing according to claim 4, characterized in that: The side wall of the support plate (2) is provided with an inclined groove that matches 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 bar (416) is configured as a tapered surface that matches the inclined groove (417) at the bottom of the telescopic guide pin (413).

6. The industrial robot capable of automatic palletizing according to claim 5, 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 bar (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 the limiting tooth groove (510) on the side wall of the transmission pin bar (419).

7. The industrial robot capable of automatic palletizing according to claim 6, characterized in that: The surface of the U-shaped adjustment plate (507) is symmetrically provided with adjustment grooves, the surface of the limit sleeve (508) is symmetrically fixedly connected with adjustment pins, and the two adjustment pins are respectively slidably arranged inside the two adjustment grooves, and the right side of the inner wall of the strip groove (504) is symmetrically fixedly connected with a slide groove, and the opposite ends of the two adjustment pins are respectively slidably arranged inside the two slide grooves.

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