Roadway type stacking robot

Abstract

The invention relates to the field of palletizing robots, in particular to a roadway type palletizing robot which comprises a base, a transverse adjusting frame is fixedly connected to the top of the base, a vertical adjusting frame is movably connected to the top of the transverse adjusting frame, and a bearing table is movably connected to the upper portion of the vertical adjusting frame. The transmission groove is formed in the middle of the bearing table. The roadway type palletizing robot is composed of a driving mechanism and a switching mechanism. After a plurality of articles are placed on the top of the bearing table, in the process that the driving mechanism drives the bearing table to move downwards from the position above the storage rack, under the action of the switching mechanism, when the bearing table falls to the position of the storage rack cavity corresponding to the storage rack, the unloading plate automatically pushes the goods on the bearing table into the corresponding storage rack cavity, and the goods on the corresponding storage rack cavity are unloaded. And along with continuous downward movement of the bearing table, stacking operation can be carried out in sequence, the situation that the stacked objects need to be clamped multiple times and conveyed to different heights for stacking operation is avoided, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of palletizing robots, specifically a lane-type palletizing robot. Background Technology

[0002] As a transportation tool, the main purpose of a stacker crane is to shuttle back and forth in the aisles of high-rise racks, storing packaging boxes located at the aisle entrance into storage compartments, or retrieving packaging boxes from storage compartments and transporting them to the aisle entrance.

[0003] The following problems exist in the existing technology and have not been well resolved: 1. Since shelving units are usually composed of multiple layers, existing aisle-type palletizing robots need to grip the items multiple times during the palletizing process, and then send the items to the corresponding height positions of the shelving units in sequence before unloading. Therefore, when palletizing each layer of items, the support platform needs to be lowered and loaded before palletizing, resulting in low work efficiency; 2. Since the storage space of different shelving units is different, when the height of the storage space inside the shelving unit is different, it is necessary to adjust the vertical movement position of the support platform, and it is difficult to automatically complete the unloading according to the different heights of the storage space, resulting in poor operation convenience. Summary of the Invention

[0004] The purpose of this invention is to provide a lane-type palletizing robot to solve the problems mentioned in the background art: 1. Existing lane-type palletizing robots have low palletizing efficiency during use; 2. Existing lane-type palletizing robots have difficulty automatically completing unloading operations according to different heights of the storage space. To achieve the above objectives, this invention provides the following technical solution: A lane-type palletizing robot, comprising:

[0005] The base has a horizontal adjustment frame fixedly connected to its top, a vertical adjustment frame movably connected to its top, and a support platform movably connected to its upper part.

[0006] Also includes:

[0007] A transmission groove is provided in the middle of the support platform. A drive mechanism is movably connected between the inside of the transmission groove and the side wall of the vertical adjustment frame. The drive mechanism is used to drive the support platform to move vertically.

[0008] The top of the support platform is slidably connected to an unloading plate, and the bottom of the unloading plate is movably connected to the inner wall of the transmission groove. A switching mechanism that cooperates with the drive mechanism is used to switch the transmission state of the drive mechanism so that the unloading plate pushes the item to unload.

[0009] Preferably, the driving mechanism includes a drive motor, which is fixedly connected inside the transmission groove. The rotating end of the drive motor is slidably connected to a limiting gear ring that cooperates with the switching mechanism, and the side wall of the limiting gear ring is rotatably connected to a transmission ring.

[0010] The drive motor is rotatably connected to a transmission rod at its rotating end. A limit ring is slidably connected to one end of the transmission rod near the drive motor. The limit ring engages with a limit toothed ring. A connecting ring frame is rotatably connected to the side wall of the limit ring. A transmission pin that cooperates with the switching mechanism is fixedly connected to both the connecting ring frame and the bottom of the outer ring of the transmission ring.

[0011] Limiting rods are fixedly connected to both sides of the connecting ring frame. A drive rack is fixedly connected inside the vertical adjustment frame. The end of the transmission rod away from the drive motor extends into the interior of the vertical adjustment frame and is fixedly connected to a drive gear. The side wall of the drive gear meshes with the side wall of the drive rack.

[0012] The side walls of the vertical adjustment frame are symmetrically provided with limiting grooves that cooperate with the limiting rods.

[0013] Preferably, the rotating end of the drive motor is symmetrically provided with main slide grooves, the inner ring of the limiting tooth ring is symmetrically fixedly connected with main sliders, the main sliders are slidably connected inside the corresponding main slide grooves, the side wall of the limiting tooth ring and the side wall of the transmission ring are fixedly connected with main connecting bearings, and the tooth end of the limiting ring sleeve near the limiting tooth ring is set as an inclined surface.

[0014] One end of the transmission rod is symmetrically provided with a sliding groove, and the inner ring of the limiting ring is symmetrically fixedly connected with a sliding block. The sliding block is slidably connected inside the corresponding sliding groove, and a connecting bearing is fixedly connected between the side wall of the limiting ring and the side wall of the connecting ring frame.

[0015] Preferably, a restoring spring is movably sleeved on the surface of the limiting rod, and the restoring spring is disposed between the inner wall of the transmission groove and the side wall of the connecting ring frame;

[0016] The end of the limiting rod away from the connecting ring frame is set as a rectangle that matches the limiting groove, and the end of the limiting rod away from and close to the vertical adjustment frame is chamfered;

[0017] Guide rods are fixedly connected to both sides of the vertical adjustment frame, and guide blocks are symmetrically fixedly connected to the side walls of the support platform. The two guide blocks are slidably connected to the surfaces of the two guide rods respectively.

[0018] Preferably, the switching mechanism includes a T-slot, which is formed inside the support platform. One end of the T-slot extends into the interior of the transmission groove. A U-shaped trigger plate is slidably connected inside the T-slot. Both ends of the U-shaped trigger plate extend to the outside of the support platform. A pressure plate is fixedly connected to the middle of the U-shaped trigger plate. One end of the pressure plate extends into the interior of the transmission groove and is movably connected to a T-shaped push rod. A compression spring is fixedly connected between the lower part of the T-shaped push rod and the bottom of the pressure plate.

[0019] An adjusting plate is slidably connected to the inner bottom surface of the transmission groove. The side wall of the adjusting plate overlaps with the lower part of the T-shaped push rod. The surface of the adjusting plate is symmetrically provided with inclined grooves. The two transmission pins are slidably connected to the inside of the two inclined grooves respectively.

[0020] The top of the support platform is provided with a movable groove that cooperates with the transmission groove. Inside the movable groove, a U-shaped toothed plate that cooperates with the limiting toothed ring is slidably connected. The top of the U-shaped toothed plate is fixedly connected to the bottom of the unloading plate. A wedge-shaped block that cooperates with the T-shaped push rod is symmetrically fixedly connected to the inner side of the U-shaped toothed plate. A trapezoidal block is symmetrically fixedly connected to the outer side of the U-shaped toothed plate. A guide mechanism that cooperates with the trapezoidal block is movably connected to the top of the support platform.

[0021] Preferably, the guiding mechanism includes guide plates, and two guide plates are provided. The two guide plates are symmetrically fixedly connected to the top of the support platform. A through groove is opened in the middle of the guide plate. A rocker plate is hinged inside the through groove. A friction plate that cooperates with the rocker plate is slidably connected inside the through groove. The two friction plates are arranged between the two rocker plates.

[0022] The support platform has grooves on both sides, and the lower part of the rocker extends into the interior of the corresponding groove. A pressure rod that cooperates with the trapezoidal block is movably inserted between the interior of the groove and the inner wall of the movable groove. One end of the pressure rod is attached to the side wall of the rocker.

[0023] Preferably, a pad is fixedly connected to the inner top surface of the through groove, a T-shaped pad is fixedly connected to the upper part of the side wall of the friction plate, the T-shaped pad is slidably connected inside the pad, a restoring spring that cooperates with the pad is movably sleeved on the surface of the T-shaped pad, and a chamfer is provided on the top of the friction plate.

[0024] Preferably, the top of the support platform is symmetrically provided with positioning grooves, and positioning rods are fixedly connected between the two sides of the inner wall of the positioning grooves. Positioning blocks are symmetrically fixedly connected to the bottom of the unloading plate. The positioning blocks are slidably connected to the surface of the positioning rods, and a return spring is movably sleeved on the surface of the positioning rods.

[0025] The top of the base is fixedly connected to a shelf that cooperates with the support platform, and the bottom of the vertical adjustment frame is fixedly connected to a fine-tuning bracket that cooperates with the shelf. The vertical adjustment frame is slidably connected to the top of the horizontal adjustment frame through the fine-tuning bracket.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] In this invention, through the coordinated use of components such as the support platform, drive mechanism, and switching mechanism, when multiple items are placed on top of the support platform, the drive mechanism moves the support platform down from above the shelf. Under the action of the switching mechanism, each time the support platform falls to the corresponding shelf chamber position, the unloading plate automatically pushes the goods on the support platform into the corresponding shelf chamber. As the support platform continues to move down, stacking operations can be performed sequentially, avoiding the need to clamp the stacked items multiple times and send them to different heights for stacking operations, thus improving work efficiency.

[0028] In this invention, through the coordinated use of components such as the support platform and the switching mechanism, when the support platform moves down the side wall of the shelf with items, the U-shaped trigger plate on the switching mechanism contacts the surface of the shelf, which automatically triggers the operation of the switching mechanism. This causes the switching mechanism to drive the unloading plate to perform unloading and stacking operations. Even if the height of the shelf chambers is different, the switching mechanism can still operate as the U-shaped trigger plate moves down to the inner bottom surface of the shelf chamber and is subjected to pressure, without the need to adjust the vertical unloading height of the support platform, thus improving the ease of operation. Attached Figure Description

[0029] Figure 1 This is a perspective view of the positions of the vertical adjustment frame and the support platform of the present invention;

[0030] Figure 2 This is a side sectional view of a partial location of the support platform of the present invention;

[0031] Figure 3 This is a cross-sectional view showing the positions of the support platform and the transmission groove in this invention;

[0032] Figure 4 This is a cross-sectional view showing the positions of the drive motor and transmission rod in this invention.

[0033] Figure 5 This is a cross-sectional view showing the positions of the pressure plate and the T-shaped push rod in this invention;

[0034] Figure 6 This is a cross-sectional view showing the positions of the T-shaped push rod and the adjusting plate of the present invention.

[0035] Figure 7 This is a cross-sectional view of a portion of the transmission groove and the movable groove of the present invention;

[0036] Figure 8 This is a perspective view of the limiting toothed ring and the limiting ring sleeve of the present invention in a separated state;

[0037] Figure 9 This is a cross-sectional view of a portion of the guide plate and through groove of the present invention.

[0038] In the diagram: 1. Base; 2. Horizontal adjustment frame; 3. Vertical adjustment frame; 4. Support platform; 5. Transmission groove; 6. Drive mechanism; 601. Drive motor; 602. Limiting gear ring; 603. Transmission ring; 604. Transmission rod; 605. Limiting ring sleeve; 606. Connecting ring frame; 607. Transmission pin; 608. Limiting rod; 609. Drive rack; 610. Drive gear; 611. Limiting groove; 7. Unloading plate; 8. Switching mechanism; 01. T-slot; 802. U-shaped trigger plate; 803. Pressure plate; 804. T-shaped push rod; 805. Compression spring; 806. Adjusting plate; 807. Inclined groove; 808. Movable groove; 809. U-shaped toothed plate; 810. Wedge block; 811. Trapezoidal block; 812. Guide mechanism; 8121. Guide plate; 8122. Through groove; 8123. Rocker; 8124. Friction plate; 8125. Groove; 8126. Pressure rod. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Please see Figures 1 to 9 The present invention provides a technical solution: a lane-type palletizing robot, comprising:

[0041] The base 1 has a horizontal adjustment frame 2 fixedly connected to its top, a vertical adjustment frame 3 movably connected to its top, and a support platform 4 movably connected to the upper part of the vertical adjustment frame 3.

[0042] Also includes:

[0043] The transmission groove 5 is located in the middle of the support platform 4. The interior of the transmission groove 5 is movably connected to the side wall of the vertical adjustment frame 3. The drive mechanism 6 is used to drive the support platform 4 to move vertically.

[0044] The top of the support platform 4 is slidably connected to the unloading plate 7. The bottom of the unloading plate 7 is movably connected to the inner wall of the transmission groove 5, and a switching mechanism 8 that cooperates with the drive mechanism 6 is used to switch the transmission state of the drive mechanism 6 so that the unloading plate 7 pushes the item to unload.

[0045] In this embodiment, as Figures 1 to 9As shown, the drive mechanism 6 includes a drive motor 601, which is fixedly connected inside the transmission groove 5. A limiting gear ring 602, which cooperates with the switching mechanism 8, is slidably connected to the rotating end of the drive motor 601. A transmission ring 603 is rotatably connected to the side wall of the limiting gear ring 602. It should be noted that the transmission ring 603 is movably sleeved on the rotating end surface of the drive motor 601. During the rotation of the drive motor 601, it can only rotate with the limiting gear ring 602, while the transmission ring 603 can translate with the limiting gear ring 602 at the rotating end position of the drive motor 601. The drive motor 601 is designed to have a self-locking function.

[0046] A transmission rod 604 is rotatably connected to the rotating end of the drive motor 601. A limiting ring 605 is slidably connected to the end of the transmission rod 604 near the drive motor 601. The limiting ring 605 engages with a limiting toothed ring 602. A connecting ring frame 606 is rotatably connected to the side wall of the limiting ring 605. Both the connecting ring frame 606 and the bottom of the outer ring of the transmission ring 603 are fixedly connected to a transmission pin 607 that cooperates with the switching mechanism 8. It should be noted that a mounting bearing is fixedly connected between the rotating end of the drive motor 601 and the transmission rod 604. The connecting ring frame 606 is movably sleeved on the surface of the transmission rod 604, so that the connecting ring frame 606 does not rotate with the transmission rod 604, but the connecting ring frame 606 can move translationally on the surface of the transmission rod 604 with the limiting ring 605.

[0047] Limiting rods 608 are fixedly connected to both sides of the connecting ring frame 606. A drive rack 609 is fixedly connected inside the vertical adjustment frame 3. The end of the transmission rod 604 away from the drive motor 601 extends into the vertical adjustment frame 3 and is fixedly connected to a drive gear 610. The side wall of the drive gear 610 meshes with the side wall of the drive rack 609. It should be noted that when the transmission rod 604 rotates, it can drive the drive gear 610 to mesh with the drive rack 609, and at this time, the support platform 4 can move up and down on the surface of the vertical adjustment frame 3.

[0048] The side walls of the vertical adjustment frame 3 are symmetrically provided with limiting grooves 611 that cooperate with the limiting rods 608. It should be noted that there are multiple sets of limiting grooves 611 on the side walls of the vertical adjustment frame 3, ensuring that when the support platform 4 is at different heights, the limiting rods 608 can pass through the support platform 4 and be inserted into the corresponding limiting grooves 611. Under the action of the switching mechanism 8, when the transmission rod 604 is disengaged, the limiting rods 608 can be inserted into the corresponding limiting grooves 611 to limit the position of the support platform 4.

[0049] In this embodiment, as Figures 1 to 9As shown, the rotating end of the drive motor 601 has symmetrically formed main slide grooves. The inner ring of the limiting gear ring 602 is symmetrically and fixedly connected to a main slider, which is slidably connected inside the corresponding main slide groove. A main connecting bearing is fixedly connected between the side wall of the limiting gear ring 602 and the side wall of the transmission ring 603. The tooth ends of the limiting ring sleeve 605 near the limiting gear ring 602 are set as inclined surfaces. It should be noted that, due to the inclined surface, when the limiting gear ring 602 and the limiting ring sleeve 605 move relative to each other, the limiting gear ring 602 can effectively engage with the limiting ring sleeve 605, realizing power transmission.

[0050] One end of the transmission rod 604 is symmetrically provided with a sliding groove, and the inner ring of the limiting ring 605 is symmetrically fixedly connected with a sliding block. The sliding block is slidably connected inside the corresponding sliding groove. A connecting bearing is fixedly connected between the side wall of the limiting ring 605 and the side wall of the connecting ring frame 606.

[0051] In this embodiment, as Figures 1 to 9 As shown, a restoring spring is movably sleeved on the surface of the limiting rod 608, and the restoring spring is disposed between the inner wall of the transmission groove 5 and the side wall of the connecting ring frame 606.

[0052] The end of the limiting rod 608 furthest from the connecting ring frame 606 is designed as a rectangle that mates with the limiting groove 611, and the end of the limiting rod 608 furthest from the vertical adjusting frame 3 has a chamfer. It should be noted that the rectangular structure ensures the stability of the limiting rod 608 during the limiting process after it is inserted into the limiting groove 611.

[0053] Guide rods are fixedly connected to both sides of the vertical adjustment frame 3, and guide blocks are symmetrically fixedly connected to the side wall of the bearing platform 4. The two guide blocks are slidably connected to the surfaces of the two guide rods respectively.

[0054] In this embodiment, as Figures 1 to 9As shown, the switching mechanism 8 includes a T-slot 801, which is formed inside the support platform 4. One end of the T-slot 801 extends into the transmission groove 5. A U-shaped trigger plate 802 is slidably connected inside the T-slot 801. Both ends of the U-shaped trigger plate 802 extend to the outside of the support platform 4. A pressure plate 803 is fixedly connected to the middle of the U-shaped trigger plate 802. One end of the pressure plate 803 extends into the transmission groove 5 and is movably connected to a T-shaped push rod 804. A compression spring 805 is fixedly connected between the lower part of the T-shaped push rod 804 and the bottom of the pressure plate 803. It should be noted that the bottom of both ends of the U-shaped trigger plate 802 is set as an inclined surface. When the support platform 4 moves the U-shaped trigger plate 802 down the side wall of the shelf, when the U-shaped trigger plate 802 moves to the bottom of the shelf cavity, the end of the U-shaped trigger plate 802 is pressed and moves into the T-shaped groove 801. As the U-shaped trigger plate 802 moves, it will drive the switching mechanism 8 to run. The T-shaped push rod 804 is vertically slidably connected to the surface of the pressure plate 803, and the T-shaped push rod 804 cannot rotate inside the pressure plate 803 to avoid affecting the use effect. The upper part of the T-shaped push rod 804 is fixedly sleeved with a positioning ring that cooperates with the compression spring 805.

[0055] An adjusting plate 806 is slidably connected to the inner bottom surface of the transmission groove 5. The side wall of the adjusting plate 806 overlaps with the lower part of the T-shaped push rod 804. The surface of the adjusting plate 806 is symmetrically provided with inclined grooves 807, and two transmission pins 607 are slidably connected inside the two inclined grooves 807 respectively. It should be noted that a return spring is fixedly connected between the inner wall of the transmission groove 5 and the side wall of the adjusting plate 806. When the T-shaped push rod 804 releases its pressure on the adjusting plate 806, the return spring moves the adjusting plate 806 back to its original position.

[0056] The top of the support platform 4 is provided with a movable groove 808 that cooperates with the transmission groove 5. The interior of the movable groove 808 is slidably connected with a U-shaped toothed plate 809 that cooperates with the limiting toothed ring 602. The top of the U-shaped toothed plate 809 is fixedly connected to the bottom of the unloading plate 7. The inner side of the U-shaped toothed plate 809 is symmetrically fixedly connected with a wedge block 810 that cooperates with the T-shaped push rod 804. The outer side of the U-shaped toothed plate 809 is symmetrically fixedly connected with a trapezoidal block 811. The top of the support platform 4 is movably connected with a guide mechanism 812 that cooperates with the trapezoidal block 811. It should be noted that a filter plate can be installed at the movable groove 808 position on the top of the support platform 4 to prevent foreign objects from falling into the transmission groove 5. When the T-shaped push rod 804 moves against the adjusting plate 806, during the sliding process of the inclined groove 807 and the transmission pin 607, the limiting tooth ring 602 and the limiting ring sleeve 605 move in opposite directions, causing the transmission rod 604 to stop rotating. At this time, the limiting ring sleeve 605, along with the limiting rod 608, inserts into the limiting groove 611, while the limiting tooth ring 602 moves to the bottom of the U-shaped toothed plate 809, so that the limiting tooth ring 602, which continues to rotate with the drive motor 601, continues to rotate. The U-shaped toothed plate 809 meshes with the unloading plate 7 and moves to perform stacking operations. During this process, the U-shaped toothed plate 809 is positioned below the shelf chamber to avoid interference. When the U-shaped toothed plate 809 moves to the limit position with the wedge block 810, the inclined surface of the wedge block 810 presses against the upper part of the T-shaped push rod 804, causing the T-shaped push rod 804 to rise on the surface of the pressure plate 803 and release its contact with the adjusting plate 806. At this time, the adjusting plate 806 can be reset, causing the limiting toothed ring 602 and the limiting ring sleeve 605 to reset and switch the transmission rod 604 to a rotating state.

[0057] In this embodiment, as Figures 1 to 9 As shown, the guiding mechanism 812 includes two guide plates 8121, which are symmetrically and fixedly connected to the top of the support platform 4. A through groove 8122 is formed in the middle of each guide plate 8121. A rocker arm 8123 is hinged inside the through groove 8122, and a friction plate 8124 that cooperates with the rocker arm 8123 is slidably connected inside the through groove 8122. Two friction plates 8124 are positioned between the two rocker arms 8123. It should be noted that friction pads are provided on the upper part of opposite sides of each guide plate 8121, which can reduce the speed at which items fall between the two guide plates 8121.

[0058] The support platform 4 has grooves 8125 on both sides. The lower part of the rocker plate 8123 extends into the corresponding groove 8125. A pressure rod 8126 that cooperates with the trapezoidal block 811 is movably inserted between the inside of the groove 8125 and the inner wall of the movable groove 808. One end of the pressure rod 8126 is attached to the side wall of the rocker plate 8123. It should be noted that: a retaining ring is fixedly sleeved on the surface of the pressure rod 8126, and a short spring that cooperates with the retaining ring is movably sleeved on the surface of the pressure rod 8126. The short spring drives the pressure rod 8126 to move back to its original position. When the U-shaped toothed plate 809 moves the trapezoidal block 811 into the movable groove 808, the trapezoidal block 811 presses against the end of the pressure rod 8126, causing the pressure rod 8126 to push the rocker plate 8123 to deflect. At this time, the upper part of the rocker plate 8123 presses against the friction plate 8124 extending from the through groove 8122. The friction plate 8124 presses against the side wall of the item in the middle of the support platform 4. After the unloading plate 7 unloads and stacks the item in the lower part of the support platform 4, the falling speed of the item in the middle of the support platform 4 is reduced, so that the item in the middle of the support platform 4 can fall completely after the unloading plate 7 is reset.

[0059] In this embodiment, as Figures 1 to 9 As shown, a pad is fixedly connected to the inner top surface of the through groove 8122, and a T-shaped pad is fixedly connected to the upper part of the side wall of the friction plate 8124. The T-shaped pad is slidably connected inside the pad, and a restoring spring that cooperates with the pad is movably sleeved on the surface of the T-shaped pad. A chamfer is provided on the top of the friction plate 8124.

[0060] In this embodiment, as Figures 1 to 9 As shown, the top of the support platform 4 is symmetrically provided with positioning grooves, and positioning rods are fixedly connected between the two sides of the inner wall of the positioning grooves. Positioning blocks are symmetrically fixedly connected to the bottom of the unloading plate 7. The positioning blocks are slidably connected to the surface of the positioning rods, and a return spring is movably sleeved on the surface of the positioning rods. It should be noted that after the unloading plate 7 completes unloading and stacking, the return spring can quickly return the unloading plate 7 to its original position.

[0061] A shelf that mates with the support platform 4 is fixedly connected to the top of the base 1. A fine-tuning bracket that mates with the shelf is fixedly connected to the bottom of the vertical adjustment frame 3. The vertical adjustment frame 3 is slidably connected to the top of the horizontal adjustment frame 2 via the fine-tuning bracket. It should be noted that the electric push rod on the fine-tuning bracket can finely adjust the position of the vertical adjustment frame 3 and the support platform 4 on the side wall of the shelf, so that the U-shaped trigger plate 802 will not contact the shelf surface when the support platform 4 rises, but will contact the shelf surface when the support platform 4 falls. A drive screw is movably installed inside the horizontal adjustment frame 2. When the drive screw runs, it will move the fine-tuning bracket and the vertical adjustment frame 3 laterally.

[0062] The method of use and advantages of this invention: The working process of this lane-type palletizing robot is as follows:

[0063] like Figures 1 to 9 As shown, in use, first place three items on top of the support platform 4, then start the drive motor 601 to rotate synchronously with the limiting ring 602 and the engaged limiting ring sleeve 605. The limiting ring sleeve 605 drives the transmission rod 604 and the drive gear 610 to rotate. During the engagement of the drive gear 610 with the drive rack 609 inside the vertical adjustment frame 3, the support platform 4, carrying the items, rises to the top of the shelf. Then, start the fine-tuning bracket to move the vertical adjustment frame 3 and the support platform 4 closer to the shelf. Then, reverse the drive motor 601 to move the support platform 4 downward. When the U-shaped trigger plate 802 on the side wall of the support platform 4 contacts the surface of the shelf chamber... When the bottom of the U-shaped trigger plate 802 is pressed, it moves into the T-shaped groove 801, causing the U-shaped trigger plate 802 to push the T-shaped push rod 804 on the pressure plate 803 against the adjusting plate 806. During the sliding process of the inclined groove 807 and the transmission pin 607, the transmission ring 603 and the connecting ring frame 606 move in opposite directions, causing the limiting tooth ring 602 and the limiting ring sleeve 605 between the transmission ring 603 and the connecting ring frame 606 to move in opposite directions and release the locking state. At this time, the transmission rod 604 is released from the rotation state, and the moving connecting ring frame 606, with the limiting rod 608, inserts into the limiting groove 611 on the side wall of the vertical adjusting frame 3, restricting the movement of the bearing platform 4.

[0064] When the transmission ring 603, carrying the limiting gear ring 602, moves horizontally at the rotating end of the drive motor 601, the limiting gear ring 602 moves to the position of the U-shaped gear plate 809. At this time, as the drive motor 601 rotates, the limiting gear ring 602 meshes with the bottom of the U-shaped gear plate 809, causing the U-shaped gear plate 809 to pull the unloading plate 7 towards the shelf, pushing the items under the support platform 4 into the shelf. When the U-shaped gear plate 809, carrying the wedge block 810, moves towards the shelf to the position of the T-shaped push rod 804, the wedge block 810 slides with the upper end of the T-shaped push rod 804, causing the T-shaped push rod 804 to move up on the surface of the pressure plate 803. At this time, the lower part of the T-shaped push rod 804 releases the pressure on the adjusting plate 806. Then, under the action of the return spring, the adjusting plate 806 slides through the inclined groove 807 and the transmission pin 607. The transmission ring 603 and the connecting ring frame 606 are reset and moved, so that the limiting tooth ring 602 and the limiting ring sleeve 605 are engaged again. During this process, as the connecting ring frame 606 is reset and moved, the connecting ring frame 606 and the limiting rod 608 are released from the insertion of the limiting groove 611. The rotating transmission rod 604 drives the drive gear 610 to mesh with the drive rack 609 and continues to move the support platform 4 downward. After the U-shaped trigger plate 802 is released from contact with the shelf, the U-shaped trigger plate 802 is reset and moved. As the support platform 4 continues to move downward and the U-shaped trigger plate 802 contacts the surface of the shelf cavity again, the support platform 4 stops moving downward and the unloading plate 7 automatically pushes the items on the support platform 4 into the corresponding stacking position of the shelf, completing the continuous stacking operation.

[0065] As the U-shaped toothed plate 809 moves toward the shelf, the trapezoidal block 811 on the U-shaped toothed plate 809 presses against the end of the pressure rod 8126 on the inner wall of the movable groove 808, causing the pressure rod 8126 to deflect against the rocker arm 8123. At this time, the rocker arm 8123, along with the friction plate 8124, extends from the side wall of the guide plate 8121. The friction plate 8124 contacts the side wall of the item in the middle of the support platform 4, increasing the frictional resistance of the item in the middle of the support platform 4 during its descent. This allows the unloading plate 7 to have sufficient time to reset after pushing the item out, while also reducing the risk of damage to the item in the middle of the support platform 4 during its descent.

[0066] 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 preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lane-type palletizing robot, comprising: The base (1) has a horizontal adjustment frame (2) fixedly connected to its top, a vertical adjustment frame (3) movably connected to its top, and a support platform (4) movably connected to the upper part of the vertical adjustment frame (3). Its characteristic is that it further includes: The transmission groove (5) is located in the middle of the support platform (4). The interior of the transmission groove (5) is movably connected to the side wall of the vertical adjustment frame (3) by a drive mechanism (6). The drive mechanism (6) is used to drive the support platform (4) to move vertically. The top of the support platform (4) is slidably connected to the unloading plate (7), and the bottom of the unloading plate (7) is movably connected to the inner wall of the transmission groove (5) to the switching mechanism (8) that cooperates with the drive mechanism (6). The switching mechanism (8) is used to switch the transmission state of the drive mechanism (6) so that the unloading plate (7) pushes the item to unload.

2. The lane-type palletizing robot according to claim 1, characterized in that: The driving mechanism (6) includes a driving motor (601), which is fixedly connected inside the transmission groove (5). The rotating end of the driving motor (601) is slidably connected to a limiting gear ring (602) that cooperates with the switching mechanism (8). The side wall of the limiting gear ring (602) is rotatably connected to a transmission ring (603). The drive motor (601) is rotatably connected to a transmission rod (604). A limiting ring sleeve (605) is slidably connected to one end of the transmission rod (604) near the drive motor (601). The limiting ring sleeve (605) is engaged with a limiting toothed ring (602). A connecting ring frame (606) is rotatably connected to the side wall of the limiting ring sleeve (605). The connecting ring frame (606) and the bottom of the outer ring of the transmission ring (603) are both fixedly connected with transmission pins (607) that cooperate with the switching mechanism (8). Limiting rods (608) are fixedly connected to both sides of the connecting ring frame (606). A drive rack (609) is fixedly connected inside the vertical adjustment frame (3). A drive gear (610) is fixedly connected to the end of the transmission rod (604) away from the drive motor (601) inside the vertical adjustment frame (3). The side wall of the drive gear (610) meshes with the side wall of the drive rack (609). The vertical adjustment frame (3) has symmetrically provided limiting grooves (611) on its side wall that cooperate with the limiting rod (608).

3. The lane-type palletizing robot according to claim 2, characterized in that: The rotating end of the drive motor (601) is symmetrically provided with main slide grooves. The inner ring of the limiting tooth ring (602) is symmetrically fixedly connected with main sliders. The main sliders are slidably connected inside the corresponding main slide grooves. The side wall of the limiting tooth ring (602) and the side wall of the transmission ring (603) are fixedly connected with main connecting bearings. The tooth end of the limiting ring sleeve (605) near the limiting tooth ring (602) is set as an inclined surface. One end of the transmission rod (604) is symmetrically provided with a sliding groove, and the inner ring of the limiting ring sleeve (605) is symmetrically fixedly connected with a sliding block. The sliding block is slidably connected inside the corresponding sliding groove, and a sliding bearing is fixedly connected between the side wall of the limiting ring sleeve (605) and the side wall of the connecting ring frame (606).

4. The lane-type palletizing robot according to claim 3, characterized in that: The surface of the limiting rod (608) is movably sleeved with a restoring spring, which is disposed between the inner wall of the transmission groove (5) and the side wall of the connecting ring frame (606); The end of the limiting rod (608) away from the connecting ring frame (606) is set as a rectangle that matches the limiting groove (611), and the end of the limiting rod (608) away from and close to the vertical adjustment frame (3) is provided with a chamfer; Guide rods are fixedly connected to both sides of the vertical adjustment frame (3), and guide blocks are symmetrically fixedly connected to the side wall of the bearing platform (4). The two guide blocks are slidably connected to the surfaces of the two guide rods respectively.

5. The lane-type palletizing robot according to claim 4, characterized in that: The switching mechanism (8) includes a T-slot (801), which is located inside the support platform (4). One end of the T-slot (801) extends into the transmission groove (5). A U-shaped trigger plate (802) is slidably connected inside the T-slot (801). Both ends of the U-shaped trigger plate (802) extend to the outside of the support platform (4). A pressure plate (803) is fixedly connected to the middle of the U-shaped trigger plate (802). A T-shaped push rod (804) is movably connected to one end of the pressure plate (803) extending into the transmission groove (5). A compression spring (805) is fixedly connected between the lower part of the T-shaped push rod (804) and the bottom of the pressure plate (803). An adjusting plate (806) is slidably connected to the inner bottom surface of the transmission groove (5). The side wall of the adjusting plate (806) overlaps with the lower part of the T-shaped push rod (804). The surface of the adjusting plate (806) is symmetrically provided with inclined grooves (807). The two transmission pins (607) are slidably connected to the inside of the two inclined grooves (807). The top of the support platform (4) is provided with a movable groove (808) that cooperates with the transmission groove (5). The inside of the movable groove (808) is slidably connected with a U-shaped toothed plate (809) that cooperates with the limiting toothed ring (602). The top of the U-shaped toothed plate (809) is fixedly connected to the bottom of the unloading plate (7). The inner side of the U-shaped toothed plate (809) is symmetrically fixedly connected with a wedge block (810) that cooperates with the T-shaped push rod (804). The outer side of the U-shaped toothed plate (809) is symmetrically fixedly connected with a trapezoidal block (811). The top of the support platform (4) is movably connected with a guide mechanism (812) that cooperates with the trapezoidal block (811).

6. The lane-type palletizing robot according to claim 5, characterized in that: The guiding mechanism (812) includes a guide plate (8121), and there are two guide plates (8121). The two guide plates (8121) are symmetrically fixedly connected to the top of the support platform (4). A through groove (8122) is provided in the middle of the guide plate (8121). A rocker plate (8123) is hinged inside the through groove (8122). A friction plate (8124) that cooperates with the rocker plate (8123) is slidably connected inside the through groove (8122). The two friction plates (8124) are arranged between the two rocker plates (8123). The support platform (4) has grooves (8125) on both sides. The lower part of the rocker (8123) extends into the interior of the corresponding groove (8125). A pressure rod (8126) that cooperates with the trapezoidal block (811) is movably inserted between the interior of the groove (8125) and the inner wall of the movable groove (808). One end of the pressure rod (8126) is attached to the side wall of the rocker (8123).

7. A lane-type palletizing robot according to claim 6, characterized in that: A pad is fixedly connected to the inner top surface of the through groove (8122), and a T-shaped pad rod is fixedly connected to the upper part of the side wall of the friction plate (8124). The T-shaped pad rod is slidably connected inside the pad, and a restoring spring that cooperates with the pad is movably sleeved on the surface of the T-shaped pad rod. A chamfer is provided on the top of the friction plate (8124).

8. A lane-type palletizing robot according to claim 7, characterized in that: The top of the support platform (4) is symmetrically provided with positioning grooves, and positioning rods are fixedly connected between the two sides of the inner wall of the positioning groove. The bottom of the unloading plate (7) is symmetrically fixedly connected with positioning blocks, the positioning blocks are slidably connected to the surface of the positioning rods, and a return spring is movably sleeved on the surface of the positioning rods. The top of the base (1) is fixedly connected to a shelf that cooperates with the support platform (4), and the bottom of the vertical adjustment frame (3) is fixedly connected to a fine adjuster bracket that cooperates with the shelf. The vertical adjustment frame (3) is slidably connected to the top of the horizontal adjustment frame (2) through the fine adjuster bracket.

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