CN115231332A

CN115231332A - Stacking robot

Info

Publication number: CN115231332A
Application number: CN202211028012.6A
Authority: CN
Inventors: 田彩军
Original assignee: Kuman Robot Wuhan Co ltd
Current assignee: Kuman Robot Wuhan Co ltd
Priority date: 2022-08-25
Filing date: 2022-08-25
Publication date: 2022-10-25

Abstract

The invention relates to the technical field of industrial robots, and discloses a palletizing robot, which solves the problem that the palletizing robot can only convey a single cargo and perform a single palletizing operation and simultaneously cannot clamp different cargos in the process of palletizing the cargos, so that the cargos topple or shake in the transferring process, and further the cargo palletizing efficiency is lower; this design is convenient for carry out the conveying of the logarithm and the stack operation to the goods, has improved the stack progress to the goods, and then has improved pile up neatly machine people's stack efficiency.

Description

Stacking robot

Technical Field

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

Background

When shifting the goods in the factory building, generally need use pile up neatly machine people to the cooperation manipulator shifts the goods from a position to another position, realizes the stack operation to the goods simultaneously.

At present, the pile up neatly machine people can only convey and carry out the single stack operation to single goods at the in-process to the goods stack, causes the goods stack 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 the goods conveying unstability, and then leads to goods stack efficiency lower.

Disclosure of Invention

Aiming at the situation, in order to overcome the defects of the prior art, the invention provides a palletizing robot, which effectively solves the problem that in the background technology, the palletizing robot can only convey a single cargo and perform single palletizing operation while being incapable of clamping different cargos, so that the cargos topple or shake in the transferring process, and further the cargo palletizing efficiency is lower.

In order to achieve the purpose, the invention provides the following technical scheme: a stacking robot comprises a robot body, wherein 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, the two lifting supporting plates are connected through a height adjusting mechanism and are of an L-shaped structure, clamping plates which are movably connected are symmetrically arranged on the lifting supporting plates, clamping wheel pieces are arranged on the two clamping plates at equal distances close to one side, the four clamping plates are connected through an interval adjusting mechanism, a placing groove is formed in one side, far away from the supporting seat, of each of the two lifting supporting plates, an electric push rod is arranged inside the placing groove, a push block is connected to the output end of each electric push rod, a push plate is connected to one end of each push block, and a sucker suction mechanism is arranged on one side, far away from each push plate;

height adjusting mechanism includes motor one, one-way lead screw, the stabilizer bar, the internal thread piece, slider and slide bar, the top of supporting seat is equipped with motor one and is located the stabilizer bar of motor one side, an output shaft of motor has one-way lead screw, one-way lead screw and stabilizer bar all are connected with the mounting panel, the cover is equipped with the internal thread piece on the one-way lead screw, the cover is equipped with sliding connection's slider on the stabilizer bar, one-way lead screw and internal thread piece threaded connection, the both sides of slider and internal thread piece all are equipped with the slide bar, the one end of slide bar all is connected with the lateral wall of lift backup pad.

Preferably, one side of each of the two lifting support plates, which is close to the lifting support plate, is connected with the other side of the lifting support plate through a connecting plate.

Preferably, one side of the lifting support plate, which is close to the support seat, is provided with a notch, one side of the lifting support plate, which is close to the clamping plate, is provided with a slide way, and the slide way is communicated with the notch.

Preferably, the interval adjusting mechanism comprises a moving block, a bidirectional screw rod, a first conical gear, a driver and a stabilizing piece, wherein the moving block which penetrates through the slide way and extends to the inside of the groove is arranged on one side, close to the lifting support plate, of the clamping plate, the bidirectional screw rod is arranged inside the groove, the two moving blocks are all sleeved outside the bidirectional screw rod and are in threaded connection with the bidirectional screw rod, the first conical gear is sleeved at the middle of the bidirectional screw rod, the two first conical gear is connected with the lifting support plate through the driver, and the clamping plate is connected with the lifting support plate through the stabilizing piece.

Preferably, the driver includes biax motor, axis of rotation, conical gear two and links up the seat, is equipped with the biax motor between stabilizer bar and the one-way lead screw, and the biax motor is installed on the top of connecting plate, and biax motor output shaft all is connected with the axis of rotation, and the both ends of axis of rotation all are equipped with conical gear two, and conical gear two is connected with conical gear one meshing, and the axis of rotation passes through conical gear two and is connected with two-way lead screw.

Preferably, the stabilizing part comprises a sliding seat and a sliding groove, the sliding seat is arranged at the bottom of one side, close to the support frame, of the clamping plate, the sliding groove connected with the sliding seat in a sliding mode is formed in the inner wall of the lifting support plate, and the sliding seat and the sliding groove are of T-shaped structures.

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

Preferably, sucking disc suction mechanism includes sucking disc, gas pocket, intercommunicating pore, holding tank, slide, rubber circle, impeller and slider, and the sucking disc is installed to the impartial distance in one side that the supporting seat was kept away from to the push pedal, has seted up the gas pocket on the sucking disc, and the holding tank has been seted up to the inside of push pedal, sets up the intercommunicating pore that is linked together with gas pocket and holding tank on the notch, and the inside sliding connection of holding tank has the slide, and the outer wall cover of slide is equipped with the rubber circle with holding tank inner wall sliding connection, and the slide is connected with the impeller, is connected through the slider between push pedal and the lift backup pad.

Preferably, the sliding part comprises a moving rod and a moving groove, the moving rod is arranged at the bottom end of the pushing plate, and the moving groove in sliding connection with the moving rod is formed in the top end of the lifting support plate.

Preferably, the impeller includes motor two, a rotation section of thick bamboo, the internal thread groove, outer spiral shell piece, the catch bar, gag lever post and spacing groove, the internally mounted of recess has motor two, rotate in the push pedal and install a rotation section of thick bamboo, a rotation section of thick bamboo and two output shaft of motor, the internal thread groove has been seted up to the inside of a rotation section of thick bamboo, the inside of a rotation section of thick bamboo is equipped with outer spiral shell piece, outer spiral shell piece and internal thread groove threaded connection, the inside interlude of a rotation section of thick bamboo has the catch bar of being connected with outer spiral shell piece lateral wall, the one end of catch bar is connected with the lateral wall of slide, the inner wall symmetry of holding tank is equipped with the gag lever post, the spacing groove with gag lever post sliding connection is seted up to the both sides of catch bar.

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

(1) During work, the height of the lifting support plate is convenient to adjust by arranging the support seat, 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, so that the lifting support plate can drive goods to lift, and convenience is effectively brought to stacking of the goods; through the design of the spacing adjusting mechanism, the clamping plates and the clamping wheel pieces, goods can be clamped conveniently according to the size width, and the goods can be movably clamped, so that the possibility of pushing the goods to move horizontally is effectively provided, the friction force of the side wall of the goods is further reduced, in addition, the clamping of the goods with the same size can be realized by avoiding repeatedly adjusting the spacing between the two clamping plates, the practicability of the device is further improved, the stacking efficiency of the goods is improved, meanwhile, the suction disc suction mechanism is matched for design, the goods can be conveniently adsorbed and connected, the moving stability of the goods is effectively improved, the goods are prevented from falling or shaking in the moving process, and the protection of the goods is further realized; and this design is convenient for carry out the conveying of the logarithm and the stack operation to the goods, has improved the stack progress to the goods, and then has improved pile up neatly machine people's stack efficiency.

(2) Through the design of the moving block, the bidirectional screw rod, the first conical gear, the driver and the stabilizing piece, the distance between two adjacent clamping plates can be conveniently adjusted, the clamping of the side wall of the goods can be conveniently realized according to the size of the goods, the transfer stability of the goods is improved, meanwhile, the goods can be conveniently stacked twice through the design, and further the working efficiency of the stacking robot is improved;

(3) Through the design of the rotating shaft, the notch and the clamping wheel, the movable clamping of the 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 the working efficiency of the stacking robot is further improved;

(4) The design through sucking disc, gas pocket, intercommunicating pore, holding tank, slide, rubber circle, impeller and slider is convenient for adsorb the connection to the goods, has improved the removal stationarity of goods, avoids the goods to appear empting or rocking at the removal in-process, and then realizes the protection to the goods.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

In the drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic side sectional view of FIG. 1 in accordance with the present invention;

FIG. 4 is an enlarged schematic view of the structure of FIG. 1 at A;

FIG. 5 is a schematic diagram of the sucking mechanism of the sucking disc of the present invention;

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

in the figure: 1. a supporting base; 2. a universal wheel; 3. mounting a plate; 4. a support frame; 5. lifting the supporting plate; 6. a clamping plate; 7. a placement groove; 8. an electric push rod; 9. pushing a block; 10. a groove; 11. pushing a plate; 12. a first motor; 13. a one-way screw rod; 14. a stabilizer bar; 15. an internal thread block; 16. a slider; 17. a slide bar; 18. a slide base; 19. a chute; 20. grooving; 21. a slideway; 22. a moving block; 23. a bidirectional screw rod; 24. a first bevel gear; 25. a double-shaft motor; 26. a rotating shaft; 27. a second bevel gear; 28. a linking seat; 29. a connecting plate; 30. a rotating shaft; 31. a recess; 32. a clamping wheel; 33. a travel bar; 34. a moving groove; 35. a suction cup; 36. air holes; 37. a communicating hole; 38. accommodating a tank; 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 limiting rod; 47. a limiting groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

As shown in 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 an L-shaped structure, clamping wheel members are symmetrically arranged on the lifting supporting plates 5 and movably connected with the clamping plates 6, it is noted that the lifting supporting plates 5 are slidably connected with 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, so as to facilitate the upgrading of the lifting supporting plates 5, clamping wheel members are arranged at equal distances at the sides of the two clamping plates 6, the four clamping plates 6 are connected through a distance adjusting mechanism, a placing groove 7 is arranged at one side of the two lifting supporting plates 5 far from the supporting seat 1, an electric push rod 8 is arranged inside the placing groove 7, the electric push rod 8 is connected with an output end of the push block 9, one end of the push plate 9, and a suction plate push 11 is arranged at one side far away from the suction plate push 11;

the height adjusting mechanism comprises a motor I12, a one-way screw rod 13, a stabilizer bar 14, an internal thread block 15, a sliding block 16 and a sliding rod 17, the top end of the supporting seat 1 is provided with the motor I12 and the stabilizer bar 14 positioned on one side of the motor I12, an output shaft of the motor I12 is connected with the one-way screw rod 13, the one-way screw rod 13 and the stabilizer bar 14 are both connected with the mounting plate 3, the one-way screw rod 13 is sleeved with the internal thread block 15, the stabilizer bar 14 is sleeved with the sliding connected sliding block 16, the one-way screw rod 13 is in threaded connection with the internal thread block 15, the sliding rod 17 is arranged on each of 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;

through a starter motor 12, motor 12 drives one-way lead screw 13 rotatory, through the threaded connection relation of one-way lead screw 13 and internal thread piece 15 and the sliding connection relation of cooperation lift backup pad 5 and 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 and slide at the outside of stabilizer bar 14, the effectual upgrading stationarity that improves lift backup pad 5, and then be convenient for make lift backup pad 5 drive the goods and go up and down to suitable stack height, and then facilitate for the goods stack.

The two lifting support plates 5 are connected between one sides close to each other through a connecting plate 29, one side of each lifting support plate 5 close to the support seat 1 is provided with a groove 20, one side of each lifting support plate 5 close to the clamping plate 6 is provided with a slide rail 21, the slide rail 21 is communicated with the groove 20, the spacing adjusting mechanism comprises a moving block 22, a bidirectional screw 23, a first conical gear 24, a driver and a stabilizing part, one side of each clamping plate 6 close to the lifting support plate 5 is provided with a moving block 22 which penetrates through the slide rail 21 and extends into the groove 20, the inside of the groove 20 is provided with the bidirectional screw 23, the two moving blocks 22 are sleeved outside the bidirectional screw 23 and are in threaded connection with the bidirectional screw 23, the middle parts of the bidirectional screw 23 are sleeved with the first conical gears 24, and the two first conical gears 24 are connected through the driver, the clamping plate 6 is connected with the lifting support plate 5 through a stabilizing piece, the driver comprises a double-shaft motor 25, a rotating shaft 26, a second bevel gear 27 and a connecting seat 28, the double-shaft motor 25 is arranged between the stabilizing rod 14 and the one-way screw rod 13, the double-shaft motor 25 is installed at the top end of the connecting plate 29, the output shaft of the double-shaft motor 25 is connected with the rotating shaft 26, two ends of the rotating shaft 26 are respectively provided with the second bevel gear 27, the second bevel gear 27 is meshed with the first bevel gear 24, the rotating shaft 26 is connected with the two-way screw rod 23 through the second bevel gear 27, the sliding seat 18 and the sliding groove 19 are arranged at the bottom of one side, close to the support frame 4, of the clamping plate 6, the inner wall of the lifting support plate 5 is provided with the sliding groove 19 in sliding connection with the sliding seat 18, and the sliding seat 18 and the sliding groove 19 are both in a T-shaped structure;

after the robot body drives the lifting support plate 5 to move to a proper position for stacking goods, the lifting support plate 5 is driven to be adjusted to a proper height through the height adjusting mechanism, then stacking goods 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 I24 can be made to rotate through the meshing connection relationship of the bevel gear II 27 and the bevel gear I24, the bevel gear I24 can drive the bidirectional lead screw 23 to rotate, through the threaded connection relationship between the bidirectional lead screw 23 and the moving block 22 and the sliding connection relationship between the matched slide rail 21 and the moving block 22, the two moving blocks 22 on the bidirectional lead screw 23 can be made to approach each other, then the two clamping plates 6 on the lifting support plate 5 can be made to drive the slide rail 18 in the sliding groove 19, further, the distance between the two clamping plates 6 can be adjusted, goods stacked conveniently can be clamped, meanwhile, the distance between the two clamping plates 6 can be adjusted, and the goods can be effectively and the size of the goods to be adjusted repeatedly.

The centre gripping wheel spare includes pivot 30, notch 31 and centre gripping wheel 32, two grip blocks 6 are close to one side impartial distance mutually and have 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, 6 removal can drive pivot 30 when the grip block, notch 31 and centre gripping wheel 32 synchronous motion, be convenient for make the centre gripping wheel 32 with treat the lateral wall in close contact with of stack goods, the realization is to the activity centre gripping of goods, this design is fastened when avoiding the goods centre gripping, effectual centre gripping for the same size goods facilitates, and then facilitate for the immigration and the shifting out of goods, avoid adjusting the interval of two adjacent grip blocks 6 repeatedly to the same size goods, and then improved the stack efficiency to the goods.

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

the second motor 41 is started to rotate forwardly, the second motor 41 drives the rotating cylinder 42 to rotate, the rotating cylinder 42 drives the inner threaded groove 43 to rotate, the outer threaded block 44 drives the push rod 45 to move horizontally through the threaded connection relationship between the inner threaded groove 43 and the outer threaded block 44 and the sliding connection relationship between the matching limiting rod 46 and the limiting groove 47, the push 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 communicating hole 37, then the gas in the accommodating groove 38 is discharged through the communicating hole 37 and the air hole 36, further the goods to be stacked are placed at the top end of the lifting support plate 5, the side wall of the goods is in close contact with the suction cup 35 on one side of the push plate 11, the second motor 41 is started to rotate reversely, the outer threaded block 44 moves reversely in the rotating cylinder 42, the outer threaded block 44 drives the sliding plate 39 to move reversely through the push rod 45, and the sliding plate 39 drives the rubber ring 40 to slide on the inner wall of the accommodating groove 38, and then the air in the contact surface of the suction cups 35 and the goods is pumped into the holding tank 38 through the air holes 36 and the communication holes 37, so that the plurality of suction cups 35 can tightly adsorb the side walls of the goods, the robot body can drive the goods to be stacked to stably move when moving, the moving stability of the goods is improved, the goods can be effectively prevented from toppling or shaking in the moving process, the goods are protected, after the goods are moved to the stacking position, the lifting support plate 5 is driven by the height adjusting mechanism to move to the proper stacking height of the goods, then the motor II 41 rotates forwards, the sliding plate 39 can drive the rubber ring 40 to slide in the holding tank 38, and further the air in the holding tank 38 can be released through the communication holes 37 and the air holes 36, further the adsorption connection of the suction cups 35 to the side walls of the goods is disconnected, and then the electric push rod 8 is started, electric putter 8 can drive ejector pad 9 and remove, ejector pad 9 can drive push pedal 11 and remove, push pedal 11 can drive carriage release 33 and slide on shifting chute 34, and then push pedal 11 can promote the goods and slide on lift backup pad 5, and then because be connected through a plurality of centre gripping wheels 32 between lift backup pad 5 and the grip block 6, the effectual frictional force that reduces the goods lateral wall, and then promote for the level of goods and facilitate, and then make things convenient for the goods to remove to the stack position, and then effectual completion goods stack operation, and then the stack efficiency of goods has been improved.

The working principle is as follows: when the robot works, after the robot body drives the lifting support plate 5 to move to a proper position of goods to be stacked, the motor I12 is started, the motor I12 drives the one-way screw rod 13 to rotate, the slide rods 17 can drive the two clamping plates 6 to slide on the side wall of the support frame 4 through the threaded connection relation between the one-way 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 in a matched mode, and then the other slide rod 17 can drive the slide block 16 to slide outside the stabilizing rod 14, so that the lifting stability of the lifting support plate 5 is effectively improved, and the lifting support plate 5 can be 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 inner thread groove 43 to rotate, the outer thread groove 44 drives the pushing rod 45 to move horizontally through the threaded connection relationship between the inner thread groove 43 and the outer thread block 44 and the sliding connection relationship between the matching limiting rod 46 and the limiting groove 47, and then the pushing rod 45 drives the sliding plate 39 and the rubber ring 40 to move horizontally, and the sliding plate 39 moves to one side of the communicating hole 37, so that the gas in the accommodating groove 38 is discharged through the communicating hole 37 and the air hole 36;

then, the goods to be stacked are placed on the top end of the lifting support plate 5 through an external manipulator, the side wall of the goods is in close contact with the sucker 35 on one side of the push plate 11, meanwhile, according to the size of the goods, 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 second bevel gear 27 to rotate, the first bevel gear 24 can be driven to rotate through the meshing connection relationship between the second bevel gear 27 and the first bevel gear 24, the first bevel gear 24 can drive the bidirectional screw rod 23 to rotate, through the threaded connection relationship between the bidirectional screw rod 23 and the movable block 22 and the sliding connection relationship between the matched slide rail 21 and the movable block 22, the two movable blocks 22 on the bidirectional screw rod 23 can be close to each other, and then the two clamping plates 6 on the lifting support plate 5 can drive the slide seat 18 to slide in the slide groove 19, so as to adjust the distance between the two clamping plates 6, the clamping device is convenient for the two clamping plates 6 to clamp the goods to be stacked, meanwhile, the clamping plates 6 can drive the rotating shaft 30, the notch 31 and the clamping wheel 32 to synchronously move, the clamping wheel 32 is convenient to be in close contact with the side wall of the goods, movable clamping of the goods is realized, the clamping device avoids fastening when the goods are clamped, convenience is effectively brought to clamping of the goods with the same size, further convenience is brought to moving in and out of the goods, the distance between every two adjacent clamping plates 6 is prevented from being repeatedly adjusted for the goods with the same size, further, the stacking efficiency of the goods is synchronously moved, the goods to be stacked are movably clamped, convenience is effectively brought to horizontal pushing of the goods to be stacked, meanwhile, the distance between every two clamping plates 6 can be prevented from being repeatedly adjusted to clamp the goods with the same size, 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 can move reversely in the rotating cylinder 42, the outer screw block 44 drives the sliding plate 39 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 suction cups 35 and the goods is sucked into the accommodating groove 38 through the air holes 36 and the communication holes 37, so that the suction cups 35 can be tightly adsorbed on the side walls of the goods, the robot body can drive the goods to be stacked to move stably 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 the goods to move to the stacking position, by starting the first motor 12, the first motor 12 drives the one-way screw rod 13 to rotate, the one-way screw rod 13 is connected with the internal thread block 15 through the screw thread, and the lifting support plate 5 is connected with the side wall of the support frame 4 in a sliding manner, the slide rod 17 can drive the two clamping plates 6 to slide on the side wall of the support frame 4, and further another slide rod 17 can drive the slide block 16 to slide outside the stabilizing rod 14, so that the lifting smoothness of the lifting support plate 5 is effectively improved, and further the lifting support plate 5 can drive the goods to move to a proper stacking height, and then the motor two 41 can rotate forwards, so that the slide plate 39 can drive the rubber ring 40 to slide in the accommodating groove 38, so that the gas inside the accommodating groove 38 can be released through the communicating hole 37 and the air hole 36, and further the suction connection of the suction disc 35 to the side wall of the goods is disconnected, then the electric push rod 8 is started, the electric push rod 8 can drive the push block 9 to move, the push block 9 can drive the push plate 11 to move, the push plate 11 can drive the moving rod 33 to slide on the moving groove 34, so that the push plate 11 can facilitate the goods to slide on the lifting support the goods to move on the lifting support plate 5, and further, the goods can reduce the lifting support the cargo lifting support plate 5, and further, the cargo lifting support the cargo.

It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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 appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments 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 pile up neatly machine people, includes the robot body, its characterized in that: the robot 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 an L-shaped structure, 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 sides, close to one sides, of the two clamping plates (6), the four clamping plates (6) are connected through an interval adjusting mechanism, a placing groove (7) is formed in one side, far away from the supporting seat (1), of the two lifting supporting plates (5), an electric push rod (8) is arranged inside the placing groove (7), the output end of the electric push rod (8) is connected with a push block (9), one end of the push block (9) is connected with a push plate (11), and a suction mechanism is arranged on one side, far away from the push plate (11);

height adjusting mechanism includes motor (12), one-way lead screw (13), stabilizer bar (14), internal thread piece (15), slider (16) and slide bar (17), the top of supporting seat (1) is equipped with motor (12) and is located stabilizer bar (14) of motor (12) one side, motor (12) output shaft has one-way lead screw (13), one-way lead screw (13) and stabilizer bar (14) all are connected with mounting panel (3), the cover is equipped with internal thread piece (15) on one-way lead screw (13), the cover is equipped with sliding connection's slider (16) on stabilizer bar (14), one-way lead screw (13) and internal thread piece (15) threaded connection, the both sides of slider (16) and internal thread piece (15) all are equipped with slide bar (17), the one end of slide bar (17) all is connected with the lateral wall of lift backup pad (5).

2. Palletizing robot according to claim 1, characterized in that: the two lifting support plates (5) are connected through a connecting plate (29) at the side close to each other.

3. Palletizing robot according to claim 1, characterized in that: one side of the lifting support plate (5) close to the support seat (1) is provided with a notch (20), one side of the lifting support plate (5) close to the clamping plate (6) is provided with a slide rail (21), and the slide rail (21) is communicated with the notch (20).

4. Palletizing robot according to claim 1, characterized in that: the interval adjusting mechanism comprises moving blocks (22), a bidirectional lead screw (23), first conical gears (24), a driver and a stabilizing piece, wherein the moving blocks (22) which penetrate through a slide way (21) and extend to the inside of a groove (20) are arranged on one side, close to a lifting support plate (5), of a clamping plate (6), the bidirectional lead screw (23) is arranged inside the groove (20), the two moving blocks (22) are all sleeved outside the bidirectional lead screw (23), the moving blocks (22) are in threaded connection with the bidirectional lead screw (23), the first conical gears (24) are all sleeved in the middle of the bidirectional lead screw (23), the two first conical gears (24) are connected through the driver, and the clamping plate (6) and the lifting support plate (5) are connected through the stabilizing piece.

5. Palletizing robot according to claim 4, characterized in that: the driver includes two-axis motor (25), axis of rotation (26), conical gear two (27) and link up seat (28), be equipped with two-axis motor (25) between stabilizer bar (14) and one-way lead screw (13), install in the top of connecting plate (29) two-axis motor (25), two-axis motor (25) output shaft all is connected with axis of rotation (26), the both ends of axis of rotation (26) all are equipped with conical gear two (27), conical gear two (27) are connected with conical gear (24) meshing, axis of rotation (26) are connected with two-way lead screw (23) through two (27) of conical gear.

6. Palletizing robot according to claim 4, characterized in that: the stabilizing part comprises a sliding seat (18) and a sliding groove (19), the sliding seat (18) is arranged at the bottom of one side, close to the support frame (4), of the clamping plate (6), the sliding groove (19) connected with the sliding seat (18) in a sliding mode is formed in the inner wall of the lifting support plate (5), and the sliding seat (18) and the sliding groove (19) are of T-shaped structures.

7. Palletizing robot according to claim 1, characterized in that: the clamping wheel piece comprises a rotating shaft (30), notches (31) and clamping wheels (32), the notches (31) are formed in the two clamping plates (6) close to one side of the clamping plates at equal distances, the clamping wheels (32) are arranged inside the notches (31), and the rotating shaft (30) connected with the side walls of the notches (31) is arranged on the clamping wheels (32).

8. Palletizing robot according to claim 1, characterized in that: sucking disc suction mechanism includes sucking disc (35), air hole (36), intercommunicating pore (37), holding tank (38), slide (39), rubber circle (40), impeller and slider, sucking disc (35) have been installed to the impartial distance in one side that supporting seat (1) were kept away from in push pedal (11), air hole (36) have been seted up on sucking disc (35), holding tank (38) have been seted up to the inside of push pedal (11), intercommunicating pore (37) that are linked together with air hole (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).

9. Palletizing robot according to claim 8, characterized in that: the sliding part comprises a moving rod (33) and a moving groove (34), the moving rod (33) is arranged at the bottom end of the push plate (11), and the moving groove (34) which is connected with the moving rod (33) in a sliding mode is formed in the top end of the lifting support plate (5).

10. Palletizing robot according to claim 8, characterized in that: the pusher comprises a second motor (41), a rotating cylinder (42), an internal thread groove (43), an external thread block (44), a push rod (45), a limiting rod (46) and a limiting groove (47), the second motor (41) is installed inside the groove (10), the rotating cylinder (42) is installed on the push plate (11) in a rotating mode, the rotating cylinder (42) is connected with an output shaft of the second motor (41), the internal thread groove (43) is formed in the rotating cylinder (42), the external thread block (44) is arranged inside the rotating cylinder (42), the external thread block (44) is in threaded connection with the internal thread groove (43), the push rod (45) connected with the side wall of the external thread block (44) is inserted into the rotating cylinder (42), one end of the push rod (45) is connected with the side wall of the sliding plate (39), the limiting rod (46) is symmetrically arranged on the inner wall of the accommodating groove (38), and the limiting grooves (47) in sliding connection with the limiting rod (46) are formed in two sides of the push rod (45).