Intelligent packaging equipment palletizing robot based on intelligent manufacturing equipment industry

Abstract

The invention provides an intelligent packaging equipment palletizing robot based on the intelligent manufacturing equipment industry, and relates to the technical field of intelligent manufacturing equipment, the intelligent packaging equipment palletizing robot comprises a moving seat, a lifting mechanism, a walking mechanism, a lifting mechanism and a rotary clamping device; the device has the advantages of being reasonable and simple in structure, low in production cost, convenient to install and complete in function, the walking component is driven by the specific motor, the device can accurately move to a to-be-stacked material area according to a preset path, the accurate positioning basis of follow-up grabbing operation is ensured, meanwhile, the height of the clamping device can be flexibly adjusted by means of a transmission structure of the lifting mechanism, and the working efficiency is improved. The requirement for being matched with the height of the to-be-grabbed material is met, and the convenience and accuracy of early-stage preparation of operation are improved; through the transmission design of the clamping mechanism, the clamping parts can be driven to move relatively to stably clamp materials, the clamping force can be adjusted through motor torque feedback, the materials are prevented from being damaged, meanwhile, the rotating mechanism is arranged, and the material placing angle can be flexibly adjusted according to the material stacking requirement.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, and in particular to an intelligent packaging equipment palletizing robot based on the intelligent manufacturing equipment industry. Background Technology

[0002] Against the backdrop of the rapid development of the intelligent manufacturing equipment industry, the packaging process, as a crucial end of the production chain, is facing an increasingly urgent need for automation, precision, and efficiency in palletizing operations. Traditional palletizing operations rely heavily on manual labor, which is not only labor-intensive and costly but also suffers from low palletizing accuracy and slow efficiency, making it difficult to keep up with the high-speed operation of modern production lines. Although some companies have introduced simple palletizing equipment, the existing equipment generally suffers from limited functionality—most can only perform basic material gripping and stacking, cannot flexibly adjust the clamping angle according to material specifications, and lack the ability to move pallets as a whole after palletizing. This requires additional handling equipment to assist in the operation, resulting in a fragmented production process and operational efficiency limited by equipment synergy.

[0003] Meanwhile, existing palletizing equipment suffers from insufficient positioning accuracy, relying on ordinary motors to drive the walking mechanism, which is prone to displacement deviations, affecting the neatness of material palletizing. Lifting mechanisms mostly use cylinder drives, making it difficult to precisely control the lifting height and adapt to palletizing requirements with different layer heights. Furthermore, while some equipment has lifting functions, the lateral adjustment flexibility of the lifting mechanism is poor, making it unable to quickly align with the pallet position, and the lifting stability is insufficient, easily causing material to tip over during transport. These problems not only restrict the improvement of automation levels in the packaging and palletizing process but also increase the risk of material loss during production, making it difficult to meet the high stability and high integration requirements of the intelligent manufacturing industry for the packaging process. Therefore, developing a fully integrated, precisely operated, and fully automated intelligent packaging equipment palletizing robot has become an inevitable requirement for industry development. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent packaging equipment palletizing robot based on the intelligent manufacturing equipment industry to solve the above-mentioned problems. It solves the problems of high labor intensity and low efficiency of traditional manual palletizing, single function of existing palletizing equipment, insufficient accuracy of movement positioning and lifting control, poor flexibility and stability of lifting mechanism, and inability to realize the overall transfer of pallet after palletizing, which leads to the disruption of production process and high risk of material loss.

[0005] To address the aforementioned problems, this invention provides a technical solution: an intelligent packaging equipment palletizing robot based on the intelligent manufacturing equipment industry, comprising a mobile seat, a lifting mechanism, a walking mechanism, a lifting mechanism, and a rotating clamping device; the mobile seat is provided with walking mechanisms at the front and rear positions on both the left and right sides, and a lifting mechanism is provided on the lower side of the mobile seat; the bottom of the lifting mechanism is fixedly connected to the upper right side of the mobile seat, and a rotating clamping device is fixedly connected to the lifting component on the right side of the lifting mechanism.

[0006] Preferably, the lifting mechanism includes a lateral movement mechanism and a traveling lifting mechanism; the lateral movement mechanism is located inside the lower side of the movable seat, and the bottom of the lower moving part of the lateral movement mechanism is fixedly connected to the traveling lifting mechanism at both the front and rear positions.

[0007] Preferably, the lateral movement mechanism includes a motor, a slide, a guide groove, and a screw. The motor is fixedly connected to the lower left side of the movable seat and is a geared motor with a brake. The guide groove is horizontally opened in the center of the bottom surface of the movable seat, and the screw is movably connected to the center of the guide groove. The center of the left side of the screw is fixedly connected to the right output shaft of the motor. The slide is horizontally movably connected to the inside of the guide groove. The threaded hole in the center of the slide is connected to the screw. The bottom of the slide is fixedly connected to a traveling lifting mechanism at both the front and rear.

[0008] Preferably, the walking lifting mechanism includes a movable seat, casters, a groove, a lifting seat, support one, support two, a hydraulic cylinder, support three, and a connecting rod; the upper left side of the movable seat is fixedly connected to the bottom of the lower moving part of the lateral movement mechanism; casters are provided inside the lower left and right sides of the movable seat; a groove is provided inside the upper side of the movable seat, and a lifting seat is movably connected inside the groove; there are several supports one, which are arranged horizontally and their bottoms are fixedly connected to the bottom surface of the groove; a connecting rod is movably connected to the upper side of each support one; there are several supports three, which are arranged horizontally and their tops are fixedly connected to the top surface inside the lifting seat; the lower sides of each support three are respectively hinged to the upper side of the corresponding connecting rod; the bottom of support two is fixedly connected to the bottom surface of the groove; the upper side of support two is hinged to the lower side of the hydraulic cylinder, and the end of the piston rod on the upper side of the hydraulic cylinder is hinged to the lower side of one of the supports three.

[0009] Preferably, the walking mechanism includes a second motor and wheels; the second motor is externally fixedly connected inside the moving base, and wheels are fixedly connected to the external output shaft of the second motor; the second motor is a servo motor or a stepper motor.

[0010] Preferably, the lifting mechanism includes a stand, a vertical guide groove, a second screw, a top cover, a third motor, and a lifting seat; the bottom of the stand is fixedly connected to the upper right side of the movable seat, and the right side of the stand has a vertical guide groove inside; the top cover is fixedly connected to the upper opening of the vertical guide groove, and the top of the top cover is fixedly connected to the third motor, which is a servo motor or a stepper motor; the second screw is movably connected to the center of the vertical guide groove, and the upper side of the second screw is fixedly connected to the lower output shaft of the third motor; the lifting seat is movably connected to the inside of the vertical guide groove, and the threaded hole in the center of the lifting seat is connected to the second screw, and a rotating clamping device is fixedly connected to the outside of the right side of the lifting seat.

[0011] Preferably, the rotating clamping device includes a connecting seat, a clamping mechanism, and a rotating mechanism; the clamping mechanism is provided on the right side of the connecting seat, and the rotating mechanism is provided in the center of the left side of the connecting seat, and the left side of the rotating mechanism is fixedly connected to the right lifting component of the lifting mechanism.

[0012] Preferably, the clamping mechanism includes a clamping arm, a second slide block, a third screw, a second guide groove, a first driving gear, a first driven gear, and a fourth motor. There are two second guide grooves, each located at the front and rear positions on the right side of the connecting seat. There are two third screws with opposite thread directions, each movably connected to the center of its corresponding second guide groove. The inner ends of each third screw are fixedly connected to a first driven gear. The fourth motor is fixedly connected to the inner front center of the right side of the connecting seat. The output shafts on both sides of the fourth motor are fixedly connected to first driving gears, which are respectively connected to their corresponding first driven gears. The fourth motor is a servo motor or a stepper motor. There are two second slide blocks, each movably connected to the interior of its corresponding second guide groove. The threaded holes in the center of each second slide block are connected to their respective third screws. The right ends of each second slide block are fixedly connected to a clamping arm.

[0013] Preferably, the rotating mechanism includes a motor, a driving gear, a driven gear, a rotating block, an annular block, a mounting base, and an annular groove. The motor is fixedly connected to the rear center of the connecting base, and the driving gear is fixedly connected to the output shaft on the left side of the motor. The motor is either a servo motor or a stepper motor. The rotating block is movably connected to the center of the left side of the connecting base on its right side. The driven gear is fixedly connected to the outside of the right side of the rotating block, and the driven gear is connected to the driving gear. The outside of the left side of the rotating block is fixedly connected to the center of the right side of the mounting base. An annular groove is formed around the center of the right side of the mounting base, and an annular block is movably connected inside the annular groove. The right side of the annular block is fixedly connected to the outside of the left side of the connecting base.

[0014] The beneficial effects of the present invention are: (1) The present invention has the characteristics of reasonable and simple structure, low production cost, convenient installation and complete functions. By driving the walking parts with a specific motor, it can move accurately to the area of ​​the material to be stacked according to the preset path, ensuring the accurate positioning basis of the subsequent grabbing operation. At the same time, the height of the clamping device can be flexibly adjusted by means of the transmission structure of the lifting mechanism to adapt to the height matching requirements of the material to be grabbed, and improve the convenience and accuracy of the pre-operation preparation.

[0015] (2) The present invention can drive the clamping components to move relatively and stably clamp the material through the transmission design of the clamping mechanism, and can adjust the clamping force through the motor torque feedback to avoid damage to the material. At the same time, it is equipped with a rotating mechanism, which can flexibly adjust the material placement angle according to the material stacking requirements. The sliding cooperation structure ensures the stability and reliability of the rotation process and meets the stacking angle requirements of different specifications of materials.

[0016] (3) After the material is clamped, the present invention can drive the equipment and material to the pallet area through the walking mechanism. During the movement, the clamping mechanism maintains the clamping state to prevent the material from loosening. The lifting mechanism can also adjust in real time according to the height of the palletized material to avoid material collision and realize accurate material placement and palletizing. The preset layer digital pallet can be completed by repeating the operation process, improving palletizing efficiency and neatness.

[0017] (4) After the pallet is full of materials, the present invention can drive the lifting component to move to the bottom of the pallet and lift the pallet through the transmission structure of the lifting mechanism. With the help of the casters, the weight is supported. At the same time, the lifting mechanism drives the clamping device to move down and press the material on the top of the pallet to prevent the material from tipping over during the transfer. Then the whole pallet is moved to the storage area to complete the pallet placement. No additional handling equipment is required. The whole pallet is transferred after stacking, avoiding the interruption of the production process and reducing the risk of material loss.

[0018] (5) After the pallet transfer is completed, the present invention can achieve reset through the reverse action of each mechanism. The lifting component lowers to release the pallet, the clamping device releases and rises, and the walking mechanism drives the equipment back to the initial position, quickly preparing for the next round of palletizing operation, forming a fully automated operation, greatly reducing manual intervention, reducing labor intensity, and adapting to the high stability and high integration requirements of the intelligent manufacturing industry for the packaging and palletizing process. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 for Figure 1 A sectional view.

[0021] Figure 3 This is a schematic diagram of the supporting mechanism.

[0022] Figure 4 This is a schematic diagram of the transverse movement mechanism.

[0023] Figure 5 This is a schematic diagram of the walking and lifting mechanism.

[0024] Figure 6 This is a schematic diagram of the walking mechanism.

[0025] Figure 7 This is a schematic diagram of the lifting mechanism.

[0026] Figure 8 This is a schematic diagram of the rotating clamping device.

[0027] Figure 9 This is a schematic diagram of the clamping mechanism.

[0028] Figure 10 This is a schematic diagram of the rotating mechanism.

[0029] 1-Moving seat; 2-Lifting mechanism; 3-Traveling mechanism; 4-Lifting mechanism; 5-Rotating clamping device; 21-Transverse movement mechanism; 22-Traveling lifting mechanism; 211-Motor 1; 212-Slide 1; 213-Guide groove 1; 214-Screw 1; 221-Moving seat; 222-Universal wheel; 223-Groove; 224-Lifting seat; 225-Support 1; 226-Support 2; 227-Hydraulic cylinder; 228-Support 3; 229-Connecting rod; 31-Motor 2; 32-Wheel; 41-Upright seat; 42 - Vertical guide groove; 43- Screw 2; 44- Top cover; 45- Motor 3; 46- Lifting seat; 51- Connecting seat; 52- Clamping mechanism; 53- Rotating mechanism; 521- Clamping arm; 522- Slide 2; 523- Screw 3; 524- Guide groove 2; 525- Driving gear 1; 526- Driven gear 1; 527- Motor 4; 531- Motor 5; 532- Driving gear 2; 533- Driven gear 2; 534- Rotating block; 535- Annular block; 536- Mounting seat; 537- Annular groove. Detailed Implementation

[0030] like Figure 1 and Figure 2As shown, this specific embodiment adopts the following technical solution: a palletizing robot for intelligent packaging equipment based on the intelligent manufacturing equipment industry, including a mobile base 1 as the basic load-bearing frame of the whole machine, a lifting mechanism 2 for pallet lifting and transfer, a walking mechanism 3 for realizing the movement and positioning of the whole machine, a lifting mechanism 4 for adjusting the material gripping height, and a rotating clamping device 5 that has both material clamping and angle adjustment functions; the mobile base 1 is provided with walking mechanisms 3 on both the left and right sides and the front and rear positions to ensure the stability and guidance of the whole machine during movement; the lifting mechanism 2 is provided on the lower side of the mobile base 1 to facilitate lifting the pallet from the bottom; the bottom of the lifting mechanism 4 is fixedly connected to the upper right side of the mobile base 1 to provide stable support for the lifting action; the rotating clamping device 5 is fixedly connected to the lifting component on the right side of the lifting mechanism 4 so that the height of the rotating clamping device 5 can be adjusted synchronously with the lifting component.

[0031] like Figure 3 As shown, the lifting mechanism 2 includes a lateral movement mechanism 21 for adjusting the lateral position and a walking lifting mechanism 22 for performing the pallet lifting action. The lateral movement mechanism 21 is located inside the lower side of the moving seat 1 to avoid the mechanism being exposed and interfered with by the outside. The bottom of the moving part of the lower side of the lateral movement mechanism 21 is fixedly connected to the walking lifting mechanism 22 at both the front and rear positions to ensure that the lateral movement mechanism 21 can drive the walking lifting mechanism 22 to move laterally synchronously and accurately align with the pallet position.

[0032] like Figure 4 As shown, the lateral movement mechanism 21 includes a motor 211 that provides power and has a position locking function, a slide 212 that supports the walking and lifting mechanism 22, a guide groove 213 that guides the movement of the slide, and a screw 214 that transmits power. The motor 211 is fixedly connected to the lower left side of the movable seat 1. The motor 211 is a geared motor with a brake, and its braking function can lock immediately after the slide moves into position to prevent displacement. The guide groove 213 is horizontally opened in the center of the bottom surface of the movable seat 1, providing a stable movement trajectory for the slide 212. The central part is connected to a screw 214, and the left center of the screw 214 is fixedly connected to the right output shaft of the motor 211, so that the motor 211 can directly drive the screw 214 to rotate. The slide block 212 is laterally movably connected to the inside of the guide groove 213. The threaded hole in the center of the slide block 212 is connected to the screw 214. The rotational motion of the screw is converted into the linear motion of the slide block through the meshing of the screw and the threaded hole. The bottom of the slide block 212 is fixedly connected to the front and rear of the walking lifting mechanism 22 to ensure that the two walking lifting mechanisms 22 move synchronously and are subjected to balanced force.

[0033] like Figure 5As shown, the walking lifting mechanism 22 includes a movable seat 221 connecting the lateral movement mechanism and the lifting component, casters 222 for auxiliary mechanism movement, a groove 223 for storing the lifting seat, a lifting seat 224 that directly contacts the tray, and supports 225, 226, a hydraulic cylinder 227, 228, and a connecting rod 229 constituting the lifting transmission structure. The upper left side of the movable seat 221 is fixedly connected to the bottom of the lower moving component of the lateral movement mechanism 21 to achieve a stable connection with the lateral movement mechanism. Casters 222 are provided on both the left and right sides of the lower side of the movable seat 221 to reduce friction with the ground when the mechanism moves. The upper side of the movable seat 221 has a groove 223 inside, and the lifting seat 224 is movably connected inside the groove 223. When not in operation, the lifting seat can be stored in the groove to avoid structural interference. There are several supports 225, and the supports 225 are arranged horizontally. Each of the supports 225 is arranged and fixedly connected to the bottom surface of the groove 223, serving as a fixed fulcrum for the connecting rod. Each of the supports 225 has a connecting rod 229 movably connected to its upper side, transmitting lifting power through the connecting rod. Several supports 228 are arranged horizontally and fixedly connected to the top surface inside the lifting seat 224, serving as a connection point between the connecting rod and the lifting seat. The lower sides of each support 228 are hinged to the upper sides of the corresponding connecting rod 229, allowing the connecting rod to drive the supports 228 and the lifting seat to rise and fall. The bottom of a second support 226 is fixedly connected to the bottom surface of the groove 223, serving as a fixed fulcrum for the hydraulic cylinder. The upper side of the second support 226 is hinged to the lower side of the hydraulic cylinder 227, and the end of the piston rod on the upper side of the hydraulic cylinder 227 is hinged to the lower side of one of the supports 228. The extension and retraction of the hydraulic cylinder piston rod provides power for the lifting action, driving the connecting rod and the supports 224 to move together, thus achieving the lifting of the lifting seat.

[0034] like Figure 6 As shown, the walking mechanism 3 includes a second motor 31 that provides precise power and wheels 32 that are in contact with the ground. The second motor 31 is externally fixedly connected inside the moving base 1 to prevent the motor from being damaged by external collisions. The wheels 32 are fixedly connected to the external output shaft of the second motor 31, so that the motor can directly drive the wheels to rotate. The second motor 31 is a servo motor or a stepper motor, which has high-precision speed and position control capabilities to ensure that the whole machine moves accurately along the preset path and meets the positioning requirements of palletizing operations.

[0035] like Figure 7As shown, the lifting mechanism 4 includes a stand 41 providing vertical support, a vertical guide groove 42 guiding the lifting seat, a screw 43 transmitting lifting power, a sealed and protective top cover 44, a motor 45 providing power, and a lifting seat 46 supporting a rotating clamping device. The bottom of the stand 41 is fixedly connected to the upper right side of the movable seat 1 to ensure stable support. The vertical guide groove 42 is provided inside the right side of the stand 41 to provide a vertical movement trajectory for the lifting seat. The top cover 44 is fixedly connected to the upper opening of the vertical guide groove 42 to prevent dust and debris from entering the guide groove and affecting the transmission. The top of the top cover 44 is fixedly connected to the motor 45, and the motor 45 is a servo motor. The motor or stepper motor has high-precision control capabilities. The second screw 43 is movably connected to the center of the vertical guide groove 42. The upper side of the second screw 43 is fixedly connected to the lower output shaft of the third motor 45, so that the third motor can directly drive the second screw to rotate. The lifting seat 46 is externally movably connected to the inside of the vertical guide groove 42. The threaded hole in the center of the lifting seat 46 is connected to the second screw 43. The rotational motion of the screw is converted into the vertical linear motion of the lifting seat through the meshing of the screw and the threaded hole. A rotating clamping device 5 is fixedly connected to the right side of the lifting seat 46, so that the height of the rotating clamping device can be adjusted synchronously with the lifting seat to adapt to the material gripping and stacking requirements of different heights.

[0036] like Figure 8 As shown, the rotary clamping device 5 includes a connecting seat 51 as a mechanism carrier, a clamping mechanism 52 for clamping materials, and a rotary mechanism 53 for adjusting the angle of the materials. The clamping mechanism 52 is provided on the right side of the connecting seat 51 to facilitate direct gripping of materials. The rotary mechanism 53 is provided in the center of the left side of the connecting seat 51, and the left side of the rotary mechanism 53 is fixedly connected to the right lifting component of the lifting mechanism 4, so that the angle of the entire rotary clamping device can be adjusted by the rotary mechanism, and the height can be adjusted by the lifting mechanism to achieve multi-posture palletizing.

[0037] like Figure 9As shown, the clamping mechanism 52 includes a clamping arm 521 that directly contacts the material, a second slide 522 that drives the clamping arm to move, a third screw 523 that transmits power, a second guide groove 524 that guides the slide, and a first driving gear 525, a first driven gear 526, and a fourth motor 527 that constitute the power transmission. There are two second guide grooves 524, each located at the front and rear positions on the right side of the connecting seat 51, providing independent and parallel movement trajectories for the two slides. There are two third screws 523, with opposite thread directions to ensure that the two slides can move synchronously relative to each other or in opposite directions. Each third screw 523 is movably connected to the center of its corresponding second guide groove 524. A driven gear 526 is fixedly connected to the inner end of each third screw 523 to receive power transmitted by the first driving gear. The fourth motor 527 is fixedly connected to the connecting seat. Inside the center front side of the right side of motor 51, power is provided for the clamping action. A drive gear 525 is fixedly connected to the output shafts on both sides of motor 4 527, and each drive gear 525 is connected to a corresponding driven gear 526. Through gear meshing, the motor power is synchronously transmitted to the two screws. Motor 4 527 is a servo motor or stepper motor, and the clamping force can be adjusted through torque feedback to avoid damaging the material. There are two slide blocks 522, each externally movably connected to the interior of a corresponding guide groove 524. The threaded holes in the center of each slide block 522 are connected to corresponding screws 3 523. The meshing of the screws with the threaded holes converts the screw rotational motion into linear motion of the slide blocks. Clamping arms 521 are fixedly connected to the right ends of each slide block 522, allowing the clamping arms to move synchronously with the slide blocks, thus achieving the clamping and releasing of the material.

[0038] like Figure 10As shown, the rotating mechanism 53 includes a motor 531 providing rotational power, a driving gear 532 transmitting power, a driven gear 533, a rotating block 534 serving as the rotation core, an annular block 535 providing auxiliary guidance, a mounting base 536 connecting the lifting mechanism, and an annular groove 537 cooperating with the annular block. The motor 531 is fixedly connected to the interior of the rear center of the connecting base 51 to prevent the motor from being exposed and damaged. The driving gear 532 is fixedly connected to the output shaft on the left side of the motor 531. The motor 531 is a servo motor or a stepper motor, possessing high-precision angle control capabilities to ensure accurate material rotation angle. The rotating block 534 is movably connected to the interior of the center left side of the connecting base 51. As the axis of rotation of the connecting seat, the right side of the rotating block 534 is fixedly connected to a driven gear 533, which is connected to the driving gear 532. The motor power is transmitted to the rotating block through gear meshing, causing the connecting seat to rotate around the rotating block. The left side of the rotating block 534 is fixedly connected to the center of the right side of the mounting base 536. The center of the right side of the mounting base 536 is provided with an annular groove 537, and an annular block 535 is movably connected inside the annular groove 537. The right side of the annular block 535 is fixedly connected to the left side of the connecting seat 51. Through the sliding cooperation between the annular block and the annular groove, radial support is provided for the rotation of the connecting seat, preventing the connecting seat from shifting during rotation and ensuring a stable and reliable rotation process.

[0039] The invention is used in the following way: It has a reasonable and simple structure, low production cost, convenient installation, and complete functions. In use, the operator first sends a start command through the control system. Then, the motors 31 (servo / stepper motors) on the left and right sides and front and rear positions of the moving seat 1 in the walking mechanism 3 start synchronously. Their external output shafts drive the wheels 32 to rotate, propelling the moving seat 1 to the storage area of ​​the material to be stacked according to a preset path. The servo characteristics of motor 31 ensure that the moving seat 1 stops precisely in front of the material, laying the positioning foundation for subsequent gripping operations. Simultaneously, the lifting mechanism 4 initiates its initialization action, and the motor 45 (servo / stepper motor) on the top of the upright seat 41 operates, driving the vertical guide groove. The screw 43 in the center of 42 rotates; because the threaded hole in the center of the lifting seat 46 meshes with the screw 43, and the lifting seat 46 is limited by the vertical guide groove 42, the rotation of the screw 43 is converted into the vertical movement of the lifting seat 46, which finally adjusts the rotating clamping device 5 connected to the right side of the lifting seat 46 to the initial position matching the height of the material to be gripped. When the rotating clamping device 5 reaches the material position, the clamping mechanism 52 starts to work, and the motor 527 (servo / stepper motor) inside the center front side of the right side of the connecting seat 51 operates, and its output shafts on both sides drive the drive gear 525 to rotate; the drive gear 525 meshes with the driven gear 526 inside the two guide grooves 524 respectively, and proceeds... The screws 523 (with opposite thread directions) in the center of the two guide grooves 524 rotate synchronously. Since the two slides 522 are connected to the corresponding screws 523 through threaded holes, and the slides 522 are limited by the guide grooves 524, the opposite rotation of the two screws 523 causes the two slides 522 to move relative to each other along the guide grooves 524. The clamping arm 521 on the right side of the slides 522 moves closer to the material until the material is stably clamped (the clamping force can be adjusted by the torque feedback of the motor 527). If the material to be stacked needs to be adjusted in angle, the rotating mechanism 53 is activated, and the motor 531 (servo / stepper motor) inside the rear center of the connecting seat 51 starts. The output shaft on the left side drives the second drive gear 532 to rotate; the second drive gear 532 meshes with the second driven gear 533 on the right side of the rotating block 534, driving the connecting seat 51 to rotate around the rotating block 534. At the same time, the annular groove 537 on the right side of the mounting seat 536 and the annular block 535 (the right side of the annular block 535 is fixed to the left side of the connecting seat 51) form a sliding fit to ensure the stability and reliability of the overall rotation of the connecting seat 51. After the material is clamped, the walking mechanism 3 starts again, driving the moving seat 1 and the clamped material to the area where the pallet is located. During this process, the rotating clamping device 5 maintains the clamping state, and the fourth motor 527 continuously outputs torque to prevent the material from loosening during movement.Meanwhile, the lifting mechanism 4 can adjust in real time according to the height of the stacked materials on the pallet to avoid collisions between the materials and the stacked layers. When the moving seat 1 reaches directly above the pallet, the motor 3 45 of the lifting mechanism 4 reverses its rotation, driving the screw 2 43 to rotate in the opposite direction. The lifting seat 46 slowly descends, lowering the materials to the preset position on the pallet. Subsequently, the motor 4 527 reverses its rotation, driving the two gripping arms 521 to move in the opposite direction along the guide groove 2 524, releasing the materials and completing one stacking action. The above "grab-move-lower" process is repeated until the materials on the pallet are stacked to the preset number of layers. When the pallet is full of materials, it needs to be moved to the warehouse storage area. At this time, the lifting mechanism... 2. Operation begins. The motor 211 (a geared motor with a brake) inside the lower left side of the moving seat 1 starts, and its right output shaft drives the screw 214 in the center of the guide groove 213 to rotate. The slide 212 engages with the screw 214 through the central threaded hole, and the slide 212 is limited by the guide groove 213. The rotation of the screw 214 causes the slide 212 to move laterally along the guide groove 213, thereby driving the traveling lifting mechanism 22 connected to the bottom of the slide 212 to move directly under the tray (the braking function of the motor 211 can lock immediately after the slide 212 reaches the designated position to prevent the traveling lifting mechanism 22 from deviating). The traveling lifting mechanism 22 reaches the tray. After the tray is lowered, the hydraulic cylinder 227 on the upper side of the movable seat 221 is activated. The lower side of the hydraulic cylinder 227 is hinged to the second support 226, and the end of the upper piston rod is hinged to one of the third supports 228. When the piston rod extends, it pushes the third support 228 upward. Since the top of the third support 228 is fixed to the inner top surface of the lifting seat 224, and the lower sides of multiple third supports 228 are all hinged to the first support 225 on the bottom surface of the groove 223 through the connecting rod 229, the rise of a single third support 228 drives the lifting seat 224 to lift upward as a whole until the lifting seat 224 lifts the tray. At this time, the caster 222 on the lower side of the movable seat 221 contacts the ground, assisting the lifting mechanism 22 in bearing the weight. To prevent To prevent material from tipping over during pallet transfer, the lifting mechanism 4 drives the rotating clamping device 5 to move downwards. Motor 3 45 operates, causing the lifting seat 46 to descend, which in turn causes the clamping mechanism 52 of the rotating clamping device 5 to press down on the material on top of the pallet. Subsequently, motor 2 31 of the traveling mechanism 3 starts again, moving the moving seat 1, the lifting mechanism 2 (lifting the pallet), and the rotating clamping device 5 (pressing down on the material) together to the warehouse storage area. Upon reaching the destination, the piston rod of the hydraulic cylinder 227 retracts, the lifting seat 224 descends, and the pallet is placed stably on the warehouse floor. Simultaneously, the rotating clamping device 5 releases and rises back, and the traveling mechanism 3 drives the moving seat 1 back to its initial position, preparing for the next round of palletizing operations.

[0040] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope. All such changes and modifications fall within the scope of the present invention as claimed, which is defined by the appended claims and their equivalents.

[0043] The control method of this invention is to control the device by manually starting and stopping the switch. The wiring diagram of the power element and the supply of power are common knowledge in the field. Since this invention is mainly used to protect mechanical devices, the control method and wiring layout will not be explained in detail.

Claims

1. A smart packaging equipment stacking robot based on the intelligent manufacturing equipment industry, characterized by: Including mobile seat (1), lift mechanism (2), walking mechanism (3), lifting mechanism (4) and rotary clamping device (5); The mobile seat (1) is provided with walking mechanism (3) on both sides of the front and rear positions, and the mobile seat (1) is provided with lifting mechanism (2) on the lower side; The lifting mechanism (4) is fixedly connected at the bottom of the right upper side of the mobile seat (1), and the rotary clamping device (5) is fixedly connected on the right side lifting part of the lifting mechanism (4).

2. The smart packaging equipment palletizing robot based on the smart manufacturing equipment industry according to claim 1, characterized in that: The lifting mechanism (2) comprises a horizontal moving mechanism (21) and a walking lifting mechanism (22); The horizontal moving mechanism (21) is arranged in the lower side of the mobile seat (1), and the horizontal moving mechanism (21) is fixedly connected at the bottom of the moving part on the lower side. 3.The smart packaging equipment palletizing robot based on the smart manufacturing equipment industry according to claim 2, characterized in that: The horizontal moving mechanism (21) comprises a motor (211), a sliding seat (212), a guide groove (213) and a screw (214); The motor (211) is fixedly connected to the left lower side of the mobile seat (1), and the motor (211) is a brake reduction motor; The guide groove (213) is horizontally arranged in the central bottom of the mobile seat (1), the screw (214) is movably connected to the central guide groove (213), and the left side center of the screw (214) is fixedly connected with the right side output shaft of the motor (211); The sliding seat (212) is movably connected to the inside of the guide groove (213), the threaded hole in the center of the sliding seat (212) is connected with the screw (214), and the walking lifting mechanism (22) is fixedly connected to the bottom of the sliding seat (212).

4. The smart packaging equipment palletizing robot based on the smart manufacturing equipment industry according to claim 2, characterized in that: The walking lifting mechanism (22) comprises a movable seat (221), a universal wheel (222), a groove (223), a lifting seat (224), a support (225), a support (226), an oil cylinder (227), a support (228) and a connecting rod (229); The movable seat (221) is fixedly connected to the bottom of the moving part on the lower side of the horizontal moving mechanism (21), the universal wheel (222) is arranged in the inside of the left and right sides of the lower side of the movable seat (221), and the groove (223) is arranged in the inside of the upper side of the movable seat (221). The support (225) is arranged in the horizontal direction and fixedly connected to the bottom of the groove (223), and the connecting rod (229) is movably connected to the upper side of the support (225). The support (228) is arranged in the horizontal direction and fixedly connected to the top of the inside of the lifting seat (224), and the connecting rod (229) is movably connected to the upper side of the support (228). The support (226) is fixedly connected to the bottom of the groove (223), the upper side of the support (226) is hingedly connected with the lower side of the oil cylinder (227), and the upper side of the oil cylinder (227) is hingedly connected with the lower side of one of the supports (228). 5.The smart packaging equipment palletizing robot based on the smart manufacturing equipment industry according to claim 1, characterized in that: The walking mechanism (3) comprises a motor (31) and a wheel (32). The motor two (31) is externally fixedly connected inside the moving seat (1), a wheel (32) is fixedly connected on the output shaft outside the motor two (31), and the motor two (31) is a servo motor or a stepping motor. 6.The smart packaging equipment palletizing robot based on the smart manufacturing equipment industry according to claim 1, wherein: The lifting mechanism (4) comprises a vertical seat (41), a vertical guide groove (42), a screw two (43), a top cover (44), a motor three (45) and a lifting seat (46); The vertical seat (41) is fixedly connected at the upper right side of the moving seat (1), and the vertical guide groove (42) is arranged inside the right side of the vertical seat (41); The top cover (44) is fixedly connected at the upper opening of the vertical guide groove (42), the motor three (45) is fixedly connected to the top of the top cover (44), and the motor three (45) is a servo motor or a stepping motor; The screw two (43) is movably connected in the center of the vertical guide groove (42), and the upper side of the screw two (43) is fixedly connected with the lower side output shaft of the motor three (45); The lifting seat (46) is movably connected inside the vertical guide groove (42), the threaded hole arranged in the center of the lifting seat (46) is connected with the screw two (43), and the rotating clamping device (5) is fixedly connected to the right side outside of the lifting seat (46). 7.The smart packaging equipment palletizing robot based on the smart manufacturing equipment industry according to claim 1, wherein: The rotating clamping device (5) comprises a connecting seat (51), a clamping mechanism (52) and a rotating mechanism (53); The connecting seat (51) is provided with the clamping mechanism (52) at the right side, and the rotating mechanism (53) is arranged at the left side center of the connecting seat (51), and the left side of the rotating mechanism (53) is fixedly connected with the lifting part at the right side of the lifting mechanism (4).

8. The smart packaging equipment palletizing robot based on the smart manufacturing equipment industry according to claim 7, characterized in that: The clamping mechanism (52) comprises a clamping arm (521), a sliding seat two (522), a screw three (523), a guide groove two (524), a driving gear one (525), a driven gear one (526) and a motor four (527); The guide groove two (524) is two, and the two guide grooves two (524) are respectively arranged at the front and rear positions of the right side of the connecting seat (51); The screw three (523) is two, the screw threads of the two screw threes (523) are opposite, the two screw threes (523) are movably connected in the centers of the corresponding guide grooves two (524), and the inner side end portions of the two screw threes (523) are fixedly connected with the driven gear one (526); The motor four (527) is fixedly connected at the right side center front inside of the connecting seat (51), the driving gear one (525) is fixedly connected on the output shaft at the two sides of the motor four (527), the driving gear one (525) is connected with the corresponding driven gear one (526), and the motor four (527) is a servo motor or a stepping motor; The sliding seat two (522) is two, the outer sides of the two sliding seat twos (522) are movably connected inside the corresponding guide grooves two (524), the threaded holes arranged in the centers of the two sliding seat twos (522) are respectively connected with the corresponding screw threes (523), and the right side end portions of the two sliding seat twos (522) are fixedly connected with the clamping arm (521). 9.The smart packaging equipment palletizing robot based on the smart manufacturing equipment industry according to claim 7, characterized in that: The rotating mechanism (53) comprises a motor five (531), a driving gear two (532), a driven gear two (533), a rotating block (534), an annular block (535), a mounting seat (536) and an annular groove (537); The motor five (531) is fixedly connected to the rear side of the central part of the connecting seat (51), a driving gear two (532) is fixedly connected to the output shaft on the left side of the motor five (531), and the motor five (531) is a servo motor or a stepping motor; The rotating block (534) is movably connected to the central part of the left side of the connecting seat (51) on the right side of the outer part, the driven gear two (533) is fixedly connected to the right side of the outer part of the rotating block (534), the driven gear two (533) is connected with the driving gear two (532), and the left side of the outer part of the rotating block (534) is fixedly connected with the right side of the central part of the mounting seat (536); The mounting seat (536) is provided with the annular groove (537) around the right side of the central part, the annular block (535) is movably connected to the inside of the annular groove (537), and the right side of the annular block (535) is fixedly connected with the outer part of the left side of the connecting seat (51).

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