CN115231332B

CN115231332B - Palletizing robot

Info

Publication number: CN115231332B
Application number: CN202211028012.6A
Authority: CN
Inventors: 田彩军
Original assignee: Changzhou Komen Intelligent Equipment Co ltd
Current assignee: Changzhou Komen Intelligent Equipment Co ltd
Priority date: 2022-08-25
Filing date: 2022-08-25
Publication date: 2024-05-24
Anticipated expiration: 2042-08-25
Also published as: CN115231332A

Abstract

The invention relates to the technical field of industrial robots, and discloses a palletizing robot, which solves the problems that the palletizing robot can only convey single cargoes and can not clamp different cargoes in a single stacking operation in the stacking process of the cargoes, so that cargoes have dumping or shaking conditions in the transferring process, and further the stacking efficiency of the cargoes is lower; this design is convenient for carry out the even number conveying to the goods and stack operation, has improved the stack progress to the goods, and then has improved the stacking efficiency of palletizing robot.

Description

Palletizing robot

Technical Field

The invention belongs to the technical field of industrial robots, and particularly relates to a palletizing robot.

Background

When transferring goods in a factory building, a palletizing robot is generally required to be used, and the goods are transferred from one position to another position by matching with a manipulator, so that stacking operation of the goods is realized.

At present, the palletizing robot can only convey single goods and carry out single stacking operation to the in-process of goods stacking, causes goods stacking time longer, can not carry out the centre gripping to different goods simultaneously, and then causes the goods to have the condition of empting or rocking in the transfer process, leads to goods conveying unstable, and then leads to goods stacking efficiency lower.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the palletizing robot, which effectively solves the problems that the palletizing robot in the prior art can only convey single cargoes and carry out single palletizing operation in the process of palletizing cargoes and can not clamp different cargoes, so that the cargoes have the condition of toppling or shaking in the transferring process, and further the palletizing efficiency of the cargoes is lower.

In order to achieve the above purpose, the present invention provides the following technical solutions: the robot body comprises a supporting seat, universal wheels are symmetrically arranged at the bottom end of the supporting seat, a mounting plate is arranged above the supporting seat, two sides of the top end of the supporting seat are connected with the bottom end of the mounting plate through symmetrically arranged supporting frames, lifting supporting plates are symmetrically arranged at two sides of the supporting seat and are connected through a height adjusting mechanism, the lifting supporting plates are of L-shaped structures, clamping plates which are movably connected are symmetrically arranged on the lifting supporting plates, clamping wheel pieces are arranged at equal distances on one side, close to the two clamping plates, of each clamping plate, the four clamping plates are connected through a spacing adjusting mechanism, a placing groove is formed in one side, far away from the supporting seat, of each lifting supporting plate, an electric push rod is arranged in the placing groove, an output end of each electric push rod is connected with a push block, one end of each push block is connected with a push plate, and a sucker suction mechanism is arranged on one side, far away from the push plate;

the height adjusting mechanism comprises a motor I, a unidirectional screw rod, a stabilizer bar, an internal thread block, a sliding block and a sliding rod, wherein the top end of the supporting seat is provided with the motor I and the stabilizer bar positioned on one side of the motor I, the output shaft of the motor I is connected with the unidirectional screw rod, the unidirectional screw rod and the stabilizer bar are connected with the mounting plate, the unidirectional screw rod is sleeved with the internal thread block, the stabilizer bar is sleeved with the sliding block in sliding connection, the unidirectional screw rod is in threaded connection with the internal thread block, the sliding rod is arranged on two sides of the sliding block and the internal thread block, and one end of the sliding rod is connected with the side wall of the lifting supporting plate.

Preferably, two lifting support plates are connected through a connecting plate at one side close to each other.

Preferably, a slot is formed in one side, close to the supporting seat, of the lifting supporting plate, and a slide way is formed in one side, close to the clamping plate, of the lifting supporting plate and is communicated with the slot.

Preferably, the interval adjustment mechanism includes movable block, two-way lead screw, conical gear one, driver and stabilizing piece, and one side that the grip block is close to the lift backup pad all is equipped with runs through the slide and extends to the inside movable block of fluting, and grooved internally mounted has two-way lead screw, and the outside of two-way lead screw is all located to two movable blocks, and movable block and two-way lead screw threaded connection, and the middle part of two-way lead screw all overlaps and is equipped with conical gear one, connects through the driver between two conical gear one, connects through stabilizing piece between grip block and the lift backup pad.

Preferably, the driver comprises a double-shaft motor, a rotating shaft, a second conical gear and a connecting seat, wherein a double-shaft motor is arranged between the stabilizer bar and the unidirectional screw rod and is arranged at the top end of the connecting plate, the output shafts of the double-shaft motor are connected with the rotating shaft, the two ends of the rotating shaft are provided with the second conical gear, the second conical gear is meshed with the first conical gear, and the rotating shaft is connected with the bidirectional screw rod through the second conical gear.

Preferably, the stabilizing piece comprises a sliding seat and a sliding groove, the bottom of one side of the clamping plate, which is close to the supporting frame, is provided with the sliding seat, the inner wall of the lifting supporting plate is provided with the sliding groove which is in sliding connection with the sliding seat, and the sliding seat and the sliding groove are of T-shaped structures.

Preferably, the clamping wheel piece comprises a rotating shaft, a notch and clamping wheels, wherein the two clamping plates are provided with the notches at equal distances on one side close to each other, the clamping wheels are arranged in the notches, and the rotating shaft connected with the side walls of the notches is arranged on the clamping wheels.

Preferably, the sucking disc suction mechanism comprises a sucking disc, air holes, communication holes, a holding groove, a sliding plate, a rubber ring, a pusher and a sliding piece, wherein the sucking disc is installed on one side, far away from the supporting seat, of the push plate at equal distance, the air holes are formed in the sucking disc, the holding groove is formed in the push plate, the communication holes communicated with the air holes and the holding groove are formed in the notch, the sliding plate is connected to the holding groove in a sliding manner, the rubber ring is sleeved on the outer wall of the sliding plate and is connected with the inner wall of the holding groove in a sliding manner, and the sliding plate is connected with the pusher through the sliding piece.

Preferably, the sliding piece comprises a moving rod and a moving groove, the bottom end of the pushing plate is provided with the moving rod, and the top end of the lifting supporting plate is provided with the moving groove which is in sliding connection with the moving rod.

Preferably, the impeller comprises a motor II, a rotating cylinder, an internal thread groove, an external thread block, a pushing rod, a limiting rod and a limiting groove, wherein the motor II is arranged in the groove in an internally installed mode, the rotating cylinder is rotatably arranged on the pushing plate and connected with the motor II in an output shaft mode, the internal thread groove is formed in the rotating cylinder, the external thread block is arranged in the rotating cylinder and is in threaded connection with the internal thread groove, the pushing rod connected with the side wall of the external thread block is inserted in the rotating cylinder, one end of the pushing rod is connected with the side wall of the sliding plate, the limiting rod is symmetrically arranged on the inner wall of the accommodating groove, and the limiting grooves connected with the limiting rod in a sliding mode are formed in two sides of the pushing rod.

Compared with the prior art, the invention has the beneficial effects that:

(1) In operation, the lifting support plate, the universal wheel mounting plate, the support frame, the lifting support plate, the clamping plate, the placing groove, the electric push rod, the push block, the groove, the push plate, the motor I and the height adjusting mechanism are arranged, so that the height of the lifting support plate can be conveniently adjusted, the lifting support plate can conveniently drive cargoes to lift, and convenience is effectively provided for stacking the cargoes; through the design of interval adjustment mechanism, grip block and grip wheel spare, be convenient for carry out the centre gripping to the goods according to the size width, and realize carrying out movable centre gripping to the goods, effectually for promoting the goods translation and provide probably, and then reduced the frictional force of goods lateral wall, and this design can avoid adjusting the centre gripping to the same size goods with the interval realization of two grip blocks repeatedly, and then the practicality of device has been improved, and the stacking efficiency of goods has been improved, the design of cooperation sucking disc suction mechanism simultaneously, be convenient for adsorb the connection to the goods, the effectual removal stationarity that has improved the goods, avoid the goods to appear empting or rock in the removal process, and then realize the protection to the goods; and this design is convenient for carry out the even number transmission to the goods and stack operation, has improved the stack progress to the goods, and then has improved the stacking efficiency of palletizing robot.

(2) Through the design of the movable block, the bidirectional screw rod, the first bevel gear, the driver and the stabilizing piece, the distance between two adjacent clamping plates is convenient to adjust, the side wall of the goods is convenient to clamp according to the size of the goods, the transferring stability of the goods is improved, meanwhile, the design is convenient for carrying out double stacking on the goods, and the working efficiency of the stacking robot is further improved;

(3) Through the design of the rotating shaft, the notch and the clamping wheel, movable clamping of goods is realized, the repeated adjustment of the distance between the two clamping plates can be avoided when the goods with the same size are clamped, and further the working efficiency of the stacking robot is improved;

(4) Through the design of sucking disc, gas pocket, intercommunicating pore, holding tank, slide, rubber circle, impeller and slider, be convenient for adsorb the connection to the goods, improved the removal stationarity of goods, avoid the goods to appear empting or rocking in the removal in-process, and then realize the protection to the goods.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.

In the drawings:

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic diagram of the structure of the present invention;

FIG. 3 is a schematic side cross-sectional view of the present invention of FIG. 1;

FIG. 4 is an enlarged schematic view of the structure of FIG. 1A according to the present invention;

FIG. 5 is a schematic view of the suction cup suction mechanism of the present invention;

FIG. 6 is an enlarged schematic view of the structure of FIG. 5B according to the present invention;

In the figure: 1. a support base; 2. a universal wheel; 3. a mounting plate; 4. a support frame; 5. lifting the supporting plate; 6. a clamping plate; 7. a placement groove; 8. an electric push rod; 9. a pushing block; 10. a groove; 11. a push plate; 12. a first motor; 13. a unidirectional screw rod; 14. a stabilizer bar; 15. an internal thread block; 16. a slide block; 17. a slide bar; 18. a slide; 19. a chute; 20. slotting; 21. a slideway; 22. a moving block; 23. a two-way screw rod; 24. a first conical gear; 25. a biaxial motor; 26. a rotating shaft; 27. a second bevel gear; 28. a connecting seat; 29. a connecting plate; 30. a rotating shaft; 31. a notch; 32. a clamping wheel; 33. a moving rod; 34. a moving groove; 35. a suction cup; 36. air holes; 37. a communication hole; 38. a receiving groove; 39. a slide plate; 40. a rubber ring; 41. a second motor; 42. a rotating cylinder; 43. an internal thread groove; 44. an external screw block; 45. a push rod; 46. a limit rod; 47. and a limit groove.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention is given by fig. 1 to 6, the robot comprises a robot body, the robot body comprises a supporting seat 1, universal wheels 2 are symmetrically arranged at the bottom end of the supporting seat 1, a mounting plate 3 is arranged above the supporting seat 1, two sides of the top end of the supporting seat 1 are connected with the bottom end of the mounting plate 3 through symmetrically arranged supporting frames 4, lifting supporting plates 5 are symmetrically arranged at two sides of the supporting seat 1, the two lifting supporting plates 5 are connected through a height adjusting mechanism, the lifting supporting plates 5 are of L-shaped structures, clamping plates 6 which are movably connected are symmetrically arranged on the lifting supporting plates 5, the lifting supporting plates 5 are slidably connected on the side walls of the two supporting frames 4, the distance between the two supporting frames 4 at one side of the lifting supporting plates 5 is smaller than the width of the lifting supporting plates 5, further, the two clamping plates 6 are provided with clamping wheel pieces at equal distances at the side close to one side, the four clamping plates 6 are connected through a distance adjusting mechanism, a placing groove 7 is formed in one side of each of the two lifting supporting plates 5 far away from the supporting seat 1, an electric push rod 8 is internally arranged in each push rod 8, the output end of each electric push rod 8 is connected with a push block 9, and one end of each push rod 9 is connected with a suction plate 11 far away from the suction plate 11;

The height adjusting mechanism comprises a motor I12, a unidirectional screw rod 13, a stabilizer rod 14, an internal thread block 15, a sliding block 16 and a sliding rod 17, wherein the motor I12 and the stabilizer rod 14 positioned at one side of the motor I12 are arranged at the top end of the supporting seat 1, the unidirectional screw rod 13 is connected with the output shaft of the motor I12, the unidirectional screw rod 13 and the stabilizer rod 14 are both connected with the mounting plate 3, the internal thread block 15 is sleeved on the unidirectional screw rod 13, the sliding block 16 in sliding connection is sleeved on the stabilizer rod 14, the unidirectional screw rod 13 is in threaded connection with the internal thread block 15, the sliding rod 17 is arranged at both sides of the sliding block 16 and the internal thread block 15, and one end of the sliding rod 17 is connected with the side wall of the lifting supporting plate 5;

Through starting motor one 12, motor one 12 drives unidirectional screw rod 13 rotation, through unidirectional screw rod 13 and the threaded connection relation of internal thread piece 15 and cooperation lift backup pad 5 and the sliding connection relation of support frame 4 lateral wall, can make slide bar 17 drive two grip blocks 6 and slide at the lateral wall of support frame 4, and then can make another slide bar 17 drive slider 16 at the outside slip of stabilizer bar 14, the effectual upgrading stationarity that has improved lift backup pad 5, and then be convenient for make lift backup pad 5 drive the goods lift to suitable stack height, and then provide convenience for the goods stack.

The two lifting support plates 5 are connected through a connecting plate 29 on one side close to the lifting support plates 5, a slot 20 is formed in one side close to the support seat 1 of the lifting support plates 5, a slide way 21 is formed in one side close to the clamping plates 6 of the lifting support plates 5, the slide way 21 is communicated with the slot 20, the interval adjusting mechanism comprises a moving block 22, a bidirectional screw rod 23, a first conical gear 24, a driver and a stabilizing piece, the side close to the lifting support plates 5 of the clamping plates 6 is provided with the moving block 22 penetrating through the slide way 21 and extending to the inside of the slot 20, the bidirectional screw rod 23 is internally installed in the slot 20, the two moving blocks 22 are sleeved outside the bidirectional screw rod 23, the moving block 22 is in threaded connection with the bidirectional screw rod 23, the middle part of the bidirectional screw rod 23 is sleeved with a first conical gear 24, the two conical gears 24 are connected through the driver, the clamping plates 6 are connected with the lifting support plates 5 through the stabilizing piece, the driver comprises a double-shaft motor 25, a rotating shaft 26, a second conical gear 27 and a connecting seat 28 are arranged between the stabilizing rod 14 and the unidirectional screw rod 13, the double-shaft motor 25 is installed at the top end of the connecting plate 29, the double-shaft motor 25 is connected with the rotating shaft 26, two ends of the rotating shaft 26 are respectively provided with the conical gear 27, the second conical gear 27 is meshed with the sliding seat 18, the sliding seat 18 is connected with the sliding seat 18, and the sliding seat 18 is in the sliding seat 18, and the two conical gear 18 is connected with the sliding seat 18, and the two 18, and the slide seat 18 is connected with the slide seat 18 and the lifting support plate 18 and 18;

After the robot body drives the lifting support plate 5 to move to the proper position of goods to be stacked, the lifting support plate 5 is driven by the height adjusting mechanism to be adjusted to the proper height, and then the goods to be stacked are placed on the top end of the lifting support plate 5 through an external manipulator, then according to the size of the goods to be stacked, the double-shaft motor 25 is started, the double-shaft motor 25 drives the rotating shaft 26 to rotate, the rotating shaft 26 drives the bevel gear II 27 to rotate, the bevel gear II 27 and the bevel gear I24 are meshed and connected, the bevel gear I24 can rotate the bevel gear I24, the two-way screw rod 23 is driven by the bevel gear I24 to rotate, the two moving blocks 22 on the two-way screw rod 23 are mutually close through the threaded connection relation of the two-way screw rod 23 and the moving blocks 22 and the sliding connection relation of the matching slide rail 21 and the moving blocks 22, the two clamping plates 6 on the lifting support plate 5 can drive the slide seat 18 to slide in the slide groove 19, the distance between the two clamping plates 6 is adjusted, the goods to be stacked are convenient to clamp the goods to be stacked, the clamping wheel pieces can be driven by the clamping plates 6 to synchronously move, the goods to be stacked can be clamped, the goods to be clamped in a movable mode, the two clamping plates can be effectively pushed horizontally, and the two clamping plates can be conveniently and effectively clamped by the device with the same size, and the practical device can be prevented from being repeatedly clamped by the device.

The centre gripping wheel spare includes pivot 30, notch 31 and centre gripping wheel 32, the equal distance in one side that is close to mutually of two grip blocks 6 has seted up notch 31, the inside of notch 31 all is equipped with centre gripping wheel 32, be equipped with the pivot 30 of being connected with notch 31 lateral wall on the centre gripping wheel 32, can drive pivot 30 when grip block 6 removes, notch 31 and centre gripping wheel 32 synchronous movement, be convenient for make grip wheel 32 and wait the lateral wall in close contact with of stack goods, realize the activity centre gripping to the goods, fasten when this design avoids the centre gripping to the goods, effectually, for the centre gripping of same size goods convenience, and then for the moving in of goods and shift out convenience, avoid repeatedly adjusting the interval of two adjacent grip blocks 6 to same size goods, and then improved the stacking efficiency to the goods.

The sucking disc suction mechanism comprises a sucking disc 35, an air hole 36, a communication hole 37, a containing groove 38, a sliding plate 39, a rubber ring 40, a pusher and a sliding piece, wherein the sucking disc 35 is arranged on one side of the push plate 11 far away from the supporting seat 1 at equal distance, the sucking disc 35 is provided with the air hole 36, the inside of the push plate 11 is provided with the containing groove 38, the notch 31 is provided with the communication hole 37 communicated with the air hole 36 and the containing groove 38, the inside of the containing groove 38 is slidably connected with the sliding plate 39, the outer wall of the sliding plate 39 is sleeved with the rubber ring 40 which is slidably connected with the inner wall of the containing groove 38, the sliding plate 39 is connected with the pusher, the push plate 11 is connected with the lifting supporting plate 5 through the sliding piece, the sliding piece comprises a moving rod 33 and a moving groove 34, the bottom end of the push plate 11 is provided with the moving rod 33, the top end of the lifting supporting plate 5 is provided with the moving groove 34 which is slidably connected with the moving rod 33, the pusher comprises a motor II 41, a rotating cylinder 42, an internal thread groove 43, an external thread block 44, a pushing rod 45, a limiting rod 46 and a limiting groove 47, wherein the motor II 41 is arranged in the groove 10, the rotating cylinder 42 is rotatably arranged on the push plate 11, the rotating cylinder 42 is connected with an output shaft of the motor II 41, the internal thread groove 43 is formed in the rotating cylinder 42, the external thread block 44 is arranged in the rotating cylinder 42, the external thread block 44 is in threaded connection with the internal thread groove 43, the pushing rod 45 connected with the side wall of the external thread block 44 is inserted in the rotating cylinder 42, one end of the pushing rod 45 is connected with the side wall of the sliding plate 39, the limiting rods 46 are symmetrically arranged on the inner wall of the accommodating groove 38, and the limiting grooves 47 which are in sliding connection with the limiting rods 46 are formed in two sides of the pushing rod 45;

The second motor 41 is started to rotate positively, the second motor 41 drives the rotating cylinder 42 to rotate, the rotating cylinder 42 drives the inner thread groove 43 to rotate, the outer thread groove 44 drives the pushing rod 45 to move horizontally through the threaded connection relation between the inner thread groove 43 and the outer thread groove 44 and the sliding connection relation between the matched limiting rod 46 and the limiting groove 47, the pushing rod 45 drives the sliding plate 39 and the rubber ring 40 to move horizontally, the sliding plate 39 moves to one side of the communication hole 37, then the gas in the accommodating groove 38 is discharged through the communication hole 37 and the air hole 36, further the goods to be stacked are placed at the top end of the lifting supporting plate 5, the side wall of the goods is tightly contacted with the sucker 35 on one side of the push plate 11, then the second motor 41 is started to rotate reversely, the outer thread groove 44 moves reversely in the rotating cylinder 42, the sliding plate 39 moves reversely through the pushing rod 45, the sliding plate 39 drives the rubber ring 40 to slide on the inner wall of the accommodating groove 38, the air in the contact surface of the sucker 35 and the goods is pumped into the accommodating groove 38 through the air hole 36 and the communication hole 37, so that the tight adsorption of the plurality of suckers 35 on the side walls of the goods is realized, the robot body can be conveniently and stably driven to move the goods to be stacked during the movement, the moving stability of the goods is improved, the goods are effectively prevented from toppling or swaying during the movement process, the protection of the goods is realized, after the goods are moved to the stacking position, the lifting supporting plate 5 is driven to move to the proper stacking height of the goods through the height adjusting mechanism, the motor II 41 is driven to rotate positively, the sliding plate 39 is driven to slide in the accommodating groove 38, the gas in the accommodating groove 38 is released through the communication hole 37 and the air hole 36, the adsorption connection of the sucker 35 on the side walls of the goods is disconnected, the electric push rod 8 is started, the electric putter 8 can drive pusher 9 and remove, and pusher 9 can drive push pedal 11 and remove, and push pedal 11 can drive movable rod 33 and slide on removal groove 34, and then push pedal 11 can promote the goods and slide on lifting support board 5, and then because be connected through a plurality of grip wheels 32 between lifting support board 5 and the grip block 6, the effectual frictional force that has reduced the goods lateral wall, and then for the level promotion of goods is convenient, and then makes things convenient for the goods to remove to the stack position, and then the effectual goods stack operation of accomplishing, and then improved the stack efficiency of goods.

Working principle: when the lifting support plate 5 is driven by the robot body to move to a proper position of goods to be stacked, the motor I12 is started to drive the unidirectional screw rod 13 to rotate, and the sliding rod 17 drives the two clamping plates 6 to slide on the side wall of the support frame 4 through the threaded connection relation between the unidirectional screw rod 13 and the internal thread block 15 and the sliding connection relation between the lifting support plate 5 and the side wall of the support frame 4, so that the other sliding rod 17 drives the sliding block 16 to slide outside the stabilizing rod 14, the lifting stability of the lifting support plate 5 is effectively improved, and the lifting support plate 5 is conveniently moved to a proper height;

Then, the second motor 41 is started to rotate positively, the second motor 41 drives the rotating cylinder 42 to rotate, the rotating cylinder 42 drives the internal thread groove 43 to rotate, the external thread groove 44 drives the push rod 45 to move horizontally through the threaded connection relation between the internal thread groove 43 and the external thread groove 44 and the sliding connection relation between the matched limit rod 46 and the limit groove 47, the push rod 45 drives the slide plate 39 and the rubber ring 40 to move horizontally, the slide plate 39 moves to one side of the communication hole 37, and then the gas in the accommodating groove 38 is discharged through the communication hole 37 and the air hole 36;

Then the goods to be stacked are placed at the top end of the lifting support plate 5 through an external manipulator, the side wall of the goods is tightly contacted with the suction disc 35 at one side of the push plate 11, meanwhile, according to the size of the goods, the double-shaft motor 25 drives the rotating shaft 26 to rotate, the rotating shaft 26 drives the conical gear II 27 to rotate, the conical gear II 24 can rotate through the meshing connection relation between the conical gear II 27 and the conical gear II 24, the conical gear II 24 can drive the bidirectional screw rod 23 to rotate, the two moving blocks 22 on the bidirectional screw rod 23 can be mutually close through the threaded connection relation between the bidirectional screw rod 23 and the moving block 22 and the sliding connection relation between the matching slide way 21 and the moving block 22, the two clamping plates 6 on the lifting support plate 5 can drive the sliding seat 18 to slide in the sliding groove 19, and the distance between the two clamping plates 6 can be adjusted, the two clamping plates 6 are convenient to clamp cargos to be stacked, the clamping plates 6 can drive the rotating shaft 30, the notch 31 and the clamping wheels 32 to synchronously move, so that the clamping wheels 32 are in close contact with the side walls of the cargos, movable clamping of the cargos is realized, the clamping of the cargos is avoided, convenience is effectively provided for clamping the cargos with the same size, convenience is further provided for moving in and out of the cargos, the spacing between the two adjacent clamping plates 6 is avoided being repeatedly adjusted for the cargos with the same size, the synchronous movement of stacking efficiency of the cargos is further improved, movable clamping is performed on the cargos to be stacked, convenience is effectively provided for horizontal pushing of the cargos to be stacked, meanwhile, the clamping of the cargos with the same size can be realized by avoiding repeatedly adjusting the spacing between the two clamping plates 6, and the practicability of the device is effectively improved;

Then, the second motor 41 is started to rotate reversely, so that the outer screw block 44 moves reversely in the rotary cylinder 42, the sliding plate 39 is driven by the outer screw block 44 to move reversely through the pushing rod 45, the sliding plate 39 drives the rubber ring 40 to slide on the inner wall of the accommodating groove 38, and air in the contact surface of the sucking disc 35 and goods is pumped into the accommodating groove 38 through the air hole 36 and the communication hole 37, so that the tight adsorption of the sucking discs 35 on the side wall of the goods is realized, the robot body can be conveniently and stably driven to move the goods to be stacked when moving, the moving stability of the goods is improved, the goods are effectively prevented from toppling or shaking in the moving process, and the protection of the goods is realized;

After the robot body drives goods to move to the stacking position, through start motor one 12, motor one 12 drives unidirectional screw 13 rotatory, through unidirectional screw 13 and the threaded connection relation of internal thread piece 15 and cooperation lift backup pad 5 and the sliding connection relation of support frame 4 lateral wall, can make slide bar 17 drive two grip blocks 6 and slide at the lateral wall of support frame 4, and then can make another slide bar 17 drive slider 16 slide in the outside of stabilizer bar 14, the effectual lift stationarity that has improved lift backup pad 5, and then be convenient for make lift backup pad 5 drive goods remove to suitable stacking height, make motor two 41 forward rotation then, and then can make slide 39 drive rubber circle 40 slide in holding tank 38, and then can make the inside gas of holding tank 38 release through intercommunicating pore 37 and air vent 36, and then break sucking disc 35 and to the adsorption connection of goods lateral wall, then start electric putter 8, push rod 8 can drive push block 9 and remove, push plate 11 can drive movable rod 33 and slide on the travelling groove 34, and then push plate 11 can promote the goods and slide on lift backup pad 5, and then the lift backup pad 5 can promote goods and then carry out the good through a plurality of carrier wheels 32, and then the convenient stack position is accomplished to the goods through the convenient for the stack position of lift backup pad is further improved.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a palletizing robot, includes the robot body, its characterized in that: the robot body comprises a supporting seat (1), universal wheels (2) are symmetrically arranged at the bottom end of the supporting seat (1), a mounting plate (3) is arranged above the supporting seat (1), supporting frames (4) which are symmetrically arranged are connected with the bottom end of the mounting plate (3) at the two sides of the top end of the supporting seat (1), lifting supporting plates (5) are symmetrically arranged at the two sides of the supporting seat (1), the two lifting supporting plates (5) are connected through a height adjusting mechanism, the lifting supporting plates (5) are of L-shaped structures, clamping plates (6) which are movably connected are symmetrically arranged on the lifting supporting plates (5), clamping wheel pieces are arranged at equal distances on one side, which is close to each other, of the two clamping plates (6) through a distance adjusting mechanism, a placing groove (7) is formed in one side, which is far away from the supporting seat (1), of each placing groove (7) is internally provided with an electric push rod (8), the output ends of the electric push rods (8) are connected with push plates (9), one ends of the push plates (9) are connected with push plates (11), and suction cups are arranged on one sides, which are far away from the push plates (11);

The height adjusting mechanism comprises a motor I (12), a unidirectional screw rod (13), a stabilizer bar (14), an internal thread block (15), a sliding block (16) and a sliding rod (17), wherein the motor I (12) and the stabilizer bar (14) positioned at one side of the motor I (12) are arranged at the top end of the supporting seat (1), the unidirectional screw rod (13) is connected with an output shaft of the motor I (12), the unidirectional screw rod (13) and the stabilizer bar (14) are connected with the mounting plate (3), the internal thread block (15) is sleeved on the unidirectional screw rod (13), the sliding block (16) in sliding connection is sleeved on the stabilizer bar (14), the unidirectional screw rod (13) is in threaded connection with the internal thread block (15), the sliding rod (17) is arranged at two sides of the sliding block (16) and the internal thread block (15), and one end of the sliding rod (17) is connected with the side wall of the lifting supporting plate (5);

The space adjusting mechanism comprises a moving block (22), a bidirectional screw rod (23), first conical gears (24), a driver and a stabilizing piece, wherein the moving block (22) penetrating through a slideway (21) and extending to the inside of a slot (20) is arranged on one side, close to a lifting support plate (5), of a clamping plate (6), the bidirectional screw rod (23) is installed in the slot (20), the two moving blocks (22) are sleeved outside the bidirectional screw rod (23), the moving blocks (22) are in threaded connection with the bidirectional screw rod (23), first conical gears (24) are sleeved in the middle of the bidirectional screw rod (23), the first conical gears (24) are connected through the driver, and the clamping plate (6) is connected with the lifting support plate (5) through the stabilizing piece;

The driver comprises a double-shaft motor (25), a rotating shaft (26), a conical gear II (27) and a connecting seat (28), wherein the double-shaft motor (25) is arranged between the stabilizer bar (14) and the unidirectional screw rod (13), the double-shaft motor (25) is arranged at the top end of the connecting plate (29), the output shafts of the double-shaft motor (25) are connected with the rotating shaft (26), the conical gear II (27) is arranged at the two ends of the rotating shaft (26), the conical gear II (27) is meshed with the conical gear I (24), and the rotating shaft (26) is connected with the bidirectional screw rod (23) through the conical gear II (27);

the stabilizing piece comprises a sliding seat (18) and a sliding groove (19), the bottom of one side, close to the supporting frame (4), of the clamping plate (6) is provided with the sliding seat (18), the inner wall of the lifting supporting plate (5) is provided with the sliding groove (19) which is in sliding connection with the sliding seat (18), and the sliding seat (18) and the sliding groove (19) are of T-shaped structures.

2. A palletizing robot as in claim 1, wherein: the two lifting support plates (5) are connected with one another at the side close to each other through a connecting plate (29).

3. A palletizing robot as in claim 1, wherein: a slot (20) is formed in one side, close to the supporting seat (1), of the lifting supporting plate (5), a slide way (21) is formed in one side, close to the clamping plate (6), of the lifting supporting plate (5), and the slide way (21) is communicated with the slot (20).

4. A palletizing robot as in claim 1, wherein: the clamping wheel piece comprises a rotating shaft (30), a notch (31) and a clamping wheel (32), wherein the notch (31) is formed in one side, close to the other side, of the two clamping plates (6) at equal distance, the clamping wheel (32) is arranged in the notch (31), and the rotating shaft (30) connected with the side wall of the notch (31) is arranged on the clamping wheel (32).

5. A palletizing robot as in claim 4, wherein: sucking disc suction mechanism includes sucking disc (35), gas pocket (36), intercommunicating pore (37), holding tank (38), slide (39), rubber circle (40), impeller and slider, sucking disc (35) are installed to one side equal distance that supporting seat (1) was kept away from to push pedal (11), gas pocket (36) have been seted up on sucking disc (35), holding tank (38) have been seted up to the inside of push pedal (11), communication hole (37) that are linked together with gas pocket (36) and holding tank (38) have been seted up on notch (31), the inside sliding connection of holding tank (38) has slide (39), the outer wall cover of slide (39) is equipped with rubber circle (40) with holding tank (38) inner wall sliding connection, slide (39) are connected with the impeller, be connected through the slider between push pedal (11) and lift backup pad (5).

6. A palletizing robot as in claim 5, wherein: the sliding piece comprises a moving rod (33) and a moving groove (34), the bottom end of the push plate (11) is provided with the moving rod (33), and the top end of the lifting supporting plate (5) is provided with the moving groove (34) which is in sliding connection with the moving rod (33).

7. A palletizing robot as in claim 5, wherein: the impeller comprises a motor II (41), a rotating cylinder (42), an inner thread groove (43), an outer thread block (44), a pushing rod (45), a limiting rod (46) and a limiting groove (47), wherein the rotating cylinder (42) is rotatably arranged on a push plate (11), the rotating cylinder (42) is connected with an output shaft of the motor II (41), the inner thread groove (43) is formed in the rotating cylinder (42), the outer thread block (44) is arranged in the rotating cylinder (42), the outer thread block (44) is in threaded connection with the inner thread groove (43), a pushing rod (45) connected with the side wall of the outer thread block (44) is inserted in the rotating cylinder (42), one end of the pushing rod (45) is connected with the side wall of a sliding plate (39), the limiting rod (46) is symmetrically arranged on the inner wall of a containing groove (38), and the limiting groove (47) which is in sliding connection with the limiting rod (46) is formed in two sides of the pushing rod (45).