CN115783789A - Automatic container stacking robot matched with logistics conveying and working method thereof - Google Patents

Abstract

The invention relates to an automatic container stacking robot matched with logistics conveying, which comprises a moving frame with traveling wheels at the bottom, wherein a horizontal rotary table is connected to the top of the moving frame, a front sliding frame and a rear sliding frame are connected to the top of the horizontal rotary table, lifting conveying belts are hinged to the front sliding frame and the rear sliding frame, and a loading and unloading actuator capable of being adjusted in a vertical and horizontal swinging mode is connected to the front ends of the lifting conveying belts. The invention has good adaptability to containers of different sizes; the invention carries out stacking by directly driving the lifting conveyer belt and the loading and unloading actuator; the stacking and unstacking range of the device mainly depends on the sweeping range of the length of the lifting conveying belt and the length of the tail end turning in the space; the sweeping range can be changed by changing the rotating angle, the distance between the rotating angle and the back-and-forth movement and the lifting distance; the range of palletising which differs from conventional palletising apparatus is limited by the size of the body frame of the palletising apparatus.

Description

A container automatic palletizing robot and its working method for logistics transportation

technical field

The invention relates to an automatic palletizing robot for cargo boxes coordinated with logistics transportation and a working method thereof.

Background technique

At present, manual loading and unloading is generally used for loading and unloading materials in freight containers; manual loading is labor-intensive and low-loading efficiency. Therefore, an automatic palletizing robot that cooperates with logistics transportation is proposed to solve the above problems.

Although there are already many automatic palletizing equipment in containers on the market; most of the automatic palletizing equipment in containers is not very applicable. A kind of palletizing equipment is generally only suitable for one size of container, and generally needs to be replaced with different sizes for containers of different sizes. The type of palletizing equipment greatly increases the cost; and most of the palletizing equipment is only suitable for the palletizing process and cannot be used for the depalletizing process.

At present, most container palletizing equipment has many palletizing processes, and the palletizing efficiency is not high; and too many process steps are likely to affect the reliability of the equipment and increase the cost of equipment manufacturing and maintenance.

Contents of the invention

In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an automatic palletizing robot and its working method for logistics transportation.

In order to solve the above-mentioned technical problems, the technical solution of the present invention is: an automatic palletizing robot for cargo boxes that cooperates with logistics transportation, including a mobile frame with walking wheels at the bottom, a horizontal turntable connected to the top of the mobile frame, and a horizontal turntable The top is connected with front and rear sliding frames, and the front and rear sliding frames are hinged with a lifting conveyor belt, and the front end of the lifting conveyor belt is connected with a loading and unloading actuator that can be adjusted by swinging up, down, left, and right.

Preferably, the traveling wheels at the bottom of the moving frame are composed of universal wheels and power wheels; the horizontal turntable is installed on the top of the moving frame through a rotating support bearing and driven to rotate by a motor; There is a slider slide rail assembly, and the front and rear carriages are driven by a ball screw pair or a rack and pinion assembly for front and rear translation adjustment; the rear end of the conveyor belt frame of the lifting conveyor belt is hinged on the front and rear slide frames, and the conveyor belt frame and An electric push rod is connected between the front and rear slide frames, the top of the piston rod of the electric push rod is hinged to the conveyor belt frame, and the bottom end of the cylinder body of the electric push rod is hinged to the front and rear slide frames.

Preferably, the lifting conveyor belt is connected to the loading and unloading actuator via a flexible conveyor belt.

Preferably, the flexible conveyor belt includes a rear-end connecting plate and a front-end connecting plate, the rear-end connecting plate is hinged at the front end of the conveyor frame body of the lifting conveyor belt, and the front-end connecting plate is hinged at the rear end of the rack of the loading and unloading actuator, Between the rear connecting plate and the front connecting plate, there are several intermediate connecting plates connected front and rear, wherein the intermediate connecting plate has a convex portion on the front side and a concave portion on the rear side, and the convex portion of the rear intermediate connecting plate is embedded in the concave portion of the front intermediate connecting plate , the front of the rear connecting plate is also embedded and connected with the concave part behind the adjacent intermediate connecting plate through the convex part, and the rear of the front connecting plate is also embedded and connected with the convex part in front of the adjacent intermediate connecting plate through the concave part, and the upper and lower parts of the concave part Both are provided with long grooves extending back and forth, above and below the convex part are provided with connecting pins embedded in the long groove, the height of the concave part is greater than the height of the convex part, and electric rollers are installed above the middle connecting plate.

Preferably, a connecting frame is provided between the front end of the lifting conveyor belt and the loading and unloading actuator, the connecting frame includes a fixed frame and a movable frame, the fixed frame is fixedly connected to the front end of the conveyor belt frame body of the lifting conveyor belt, and the front end of the movable frame is fixed. The side support plate is fixedly connected with the frame of the loading and unloading actuator. The front end of the fixed frame is equipped with a connecting shaft. The middle part of the connecting shaft is a stepped plane. The vertical rotating shaft is installed on the ladder plane, and the vertical rotating shaft is driven and rotated by a motor to control the left and right swing of the movable frame, and the movable frame and the bottom surface of the fixed frame are connected by an electric push rod to control the up and down swing of the movable frame; The top surface of the movable frame is fixedly supported with an auxiliary support plate located below the flexible conveyor belt.

Preferably, the loading and unloading actuator includes a frame, and the left and right sides of the frame are symmetrically equipped with conveyor belt mechanisms, and the middle part of the frame between the left and right conveyor belt mechanisms is provided with actuators for pushing and pulling the cargo box from front to back. The actuator is driven to translate back and forth by the first drive mechanism, and is driven up and down by the second drive mechanism. After the actuator is lowered, it is lower than the upper conveyor belt surface of the conveyor belt mechanism; a vacuum cup.

Preferably, there are several rotating shafts evenly distributed on the front and back of the frame, one of which is the active rotating shaft driven by a motor, and the rest are driven rotating shafts, and the conveyor belt mechanisms all include rotating shafts installed on the outside of the frame The pulleys at the end are wound with conveyor belts on several pulleys on the same side; the left and right inner sides of the frame are fixed with inner plates on the inner sides of the pulleys, and the left and right outer sides of the frame are fixed on the inner sides of the pulleys. The outer sides of each are fixed with outer plates; the first drive mechanism includes a moving plate located between the two inner plates, and the bottom of the moving plate is connected to the frame through a ball screw pair to drive the moving plate Translate back and forth, and the moving plate is connected to the actuator through the second driving mechanism.

Preferably, the second drive mechanism includes parallelogram mechanisms arranged symmetrically on the left and right sides of the moving plate, the parallelogram mechanisms are all located outside the inner plate on the same side, and the inner plates are provided with straight-through grooves extending back and forth. The rear ends of the straight-through slots are connected with oblique slots inclined upwards and backwards. The two hinge pins below the parallelogram mechanism pass through the straight-through slots on the same side and are connected to the side of the moving plate. The lower end side of the rear connecting rod is fixed with a rear extending connecting rod, and the rear end of the rear extending connecting rod is equipped with a guide pin to be embedded in the inclined or straight groove, and the front end of the upper connecting rod of the parallelogram mechanism A U-shaped actuator is installed between them, and the upper edge of the inner board is provided with a sinking gap of the actuator; the outer side of the outer board is fixedly connected with a rib; the top of the left and right inner boards is covered. There is a cover plate, and the cover plate gives way at the descending position of the actuator.

Preferably, a tensioner is provided between the rear end side of the inner side plate and the outer side plate, and each tensioner includes a swing arm, the bottom end of the swing arm is equipped with a tensioning wheel, and the top end of the swing arm is hinged on the inner side Between the plate and the outer plate, the side of the swing arm is equipped with a swing handle, and the outer plate is provided with an arc-shaped swing groove passing through the swing handle, wherein the side of the swing arm is provided with a radial Extended straight groove bar, the swing handle extends left and right through the straight groove bar and the degree of freedom in the left and right direction is limited, the center of the arc swing groove is located at the hinge point at the top of the swing arm and the arc edge of the arc swing groove is provided with There are several notches for snapping in the swing handle.

A working method of an automatic container palletizing robot that cooperates with logistics transportation. The material is conveyed to the lifting conveyor belt by the flexible telescopic steering conveyor belt. The horizontal turntable and the front and rear carriages provide a degree of freedom for horizontal rotation and a degree of freedom for horizontal translation. The lifting conveyor belt provides a degree of freedom for vertical rotation. , the movable frame provides a horizontal rotation degree of freedom and a vertical rotation degree of freedom. In total, the equipment has five degrees of freedom. By controlling the rotation angle and translation distance, the loading and unloading actuator can be moved to the target palletizing position, and the lifting and conveying The box-type materials on the belt are conveyed to the loading and unloading actuator through the flexible conveyor belt. The conveyor belt mechanism drives the box-type materials to run forward and cross the actuator to the pushing position. When the box-type materials run to the pushing position, all the conveyor belts Pause the operation, the executive part rises and moves forward to push out the box-type materials. After the material is pushed out, the executive part returns to the initial position and falls below the upper conveyor belt surface of the conveyor belt mechanism. All the conveyor belts continue to run for the next stacking; The equipment starts from the bottom of the box and stacks up one by one. After the innermost side of the container is stacked, the mobile frame moves back to the next side, and continues to stack up one by one. Repeat the same operation until the stacking of the whole box is completed; ( 2) The unstacking process is as follows: by controlling the rotation angle and translation distance, the loading and unloading actuator can be moved to the target unstacking position, all the conveyor belts run in reverse, the execution part rises and moves forward to the position of the material to be picked up, and the execution part goes up The vacuum suction cup sucks the box-type materials to be picked up, and then the actuator returns to the initial position and drops below the upper conveyor belt surface of the conveyor belt mechanism. At the same time, the actuator drags the box-type materials to the conveyor belt mechanism, and then the conveyor The belt mechanism is transported backwards to complete one unloading; the loading and unloading actuator starts from the outermost side of the container, and unstacks one row after another. After the outermost side of the container is unstacked, the mobile frame advances to the next side to continue unstacking , repeat the same operation until the complete unstacking of the whole box.

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

1: The present invention has good adaptability to containers of different sizes; the present invention performs stacking by directly driving the lifting conveyor belt and the loading and unloading actuator; the stacking and unstacking range of this equipment mainly depends on the lifting and conveying The length of the belt plus the length of the end steering sweeps the range in space; the range of the sweep can be changed by changing the rotation angle, the distance of forward and backward movement, and the lifting distance; the range of palletizing that is different from traditional palletizing equipment is limited Based on the size of the main frame of the palletizing equipment.

2: The present invention can increase the reliability of the equipment and reduce the maintenance cost; the present invention directly drives the lifting conveyor belt and the loading and unloading actuator for stacking; the material is directly run from the input end to the stacking position, and the material does not undergo other operations Mechanism; increase the reliability of palletizing, reduce the failure rate of equipment operation, and reduce maintenance costs.

3: The present invention has more functions than the traditional palletizing equipment; many existing container palletizing equipment generally only have the palletizing function, and need to use other depalletizing equipment for depalletizing; this equipment can be used for both depalletizing and For palletizing.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Description of drawings

Fig. 1 is a schematic view of the use state of the embodiment of the present invention.

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

FIG. 3 is a second schematic diagram of the structure of the embodiment of the present invention.

Figure 4 is a schematic diagram of the first structure of the flexible conveyor belt.

Figure 5 is a schematic diagram of the second structure of the flexible conveyor belt.

FIG. 6 is a first schematic diagram of the structure of the connecting frame.

Fig. 7 is a schematic diagram of the second structure of the connecting frame.

Figure 8 is a schematic diagram of the operation of the loading and unloading actuator.

Figure 9 is a schematic diagram of the structure of the loading and unloading actuator.

Figure 10 shows the internal structure of the loading and unloading actuator.

Figure 11 shows a partial internal view of the loading and unloading actuator.

Figure 12 shows the first structural diagram of the tensioner.

Figure 13 shows the second structural diagram of the tensioner.

Figure 14 shows the first structural diagram of the actuator.

Figure 15 shows the second structural diagram of the actuator.

Figure 16 is a perspective view of the process of pushing material movement.

FIG. 17 is a front view of FIG. 16 .

Fig. 18 is a schematic structural diagram of another embodiment of the second driving mechanism.

Fig. 19 is a perspective view of the process of pushing material under the embodiment of Fig. 18 .

Figure 20 is a front view of Figure 19.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.

As shown in Figures 1 to 20, the present embodiment provides a container automatic palletizing robot that cooperates with logistics transportation, including a mobile frame 28 with walking wheels at the bottom, and a horizontal turntable 29 connected to the top of the mobile frame. A front and rear carriage 30 is connected to the top of the horizontal turntable, and a lifting conveyor belt 31 is hingedly connected to the front and rear carriages. The front end of the lifting conveyor belt is connected with a loading and unloading actuator 32 that can be oscillated up, down, left, and right.

In the embodiment of the present invention, the traveling wheels at the bottom of the moving frame are composed of universal wheels 33 and power wheels 34; the horizontal turntable is installed on the top of the moving frame through a rotating support bearing 35 and driven to rotate by a motor; the front and rear slides A slider rail assembly 36 is arranged between the frame and the horizontal turntable, and the front and rear slide frames are driven by a ball screw pair or a rack and pinion assembly 37 for front and rear translation adjustment; the rear end of the conveyor frame body 38 of the lifting conveyor belt is hinged on On the front and rear carriages, an electric push rod 39 is connected between the conveyor belt frame body and the front and rear carriages, the piston rod top of the electric push rod is hinged to the conveyor belt frame body, and the cylinder body bottom of the electric push rod is hinged to the front and rear carriages.

In the embodiment of the present invention, the flexible conveyor belt 40 is connected between the lifting conveyor belt and the loading and unloading actuator.

In the embodiment of the present invention, the flexible conveyor belt includes a rear-end connecting plate 41 and a front-end connecting plate 42, the rear-end connecting plate is hinged on the front end of the conveyor belt frame body of the lifting conveyor belt, and the front-end connecting plate is hinged on the loading and unloading actuator At the rear end of the rack, several intermediate connecting plates 43 are arranged between the rear connecting plate and the front connecting plate, wherein the front side of the intermediate connecting plate has a convex portion, the rear side has a concave portion, and the rear intermediate connecting plate has a convex portion Embedded in the concave part of the front intermediate connecting plate, the front of the rear connecting plate is also connected to the concave part behind the adjacent intermediate connecting plate through the convex part, and the rear of the front connecting plate is also connected to the convex part in front of the adjacent intermediate connecting plate through the concave part Embedded connection, the upper and lower sides of the concave part are provided with long grooves 44 extending back and forth, and the upper and lower sides of the convex part are provided with connecting pins 45 embedded in the long grooves. Electric roller 46 is installed.

In the embodiment of the present invention, a connecting frame is provided between the front end of the lifting conveyor belt and the loading and unloading actuator. The connecting frame includes a fixed frame 47 and a movable frame 48, and the fixed frame is fixedly connected to the front end of the conveyor belt frame body of the lifting conveyor belt. The side support plate 49 fixed at the front end of the movable frame is fixedly connected with the frame of the loading and unloading actuator, the front end of the fixed frame is equipped with a connecting shaft 50, the middle part of the connecting shaft is a stepped plane 51, and the rear end of the movable frame has a stepped plane inserted into the connection Slot 52, and is installed on the step plane through the vertical shaft perpendicular to the connecting shaft, the vertical shaft is driven and rotated by motor 54 to control the left and right swing of the movable frame, and the movable frame and the bottom surface of the fixed frame are connected by an electric push rod , to control the up and down swing of the movable frame; the top surface of the movable frame is fixedly supported with an auxiliary support plate 55 located below the flexible conveyor belt.

The front end of the flexible conveyor belt can rotate horizontally and vertically relative to the rear end to a certain extent, and at the same time, the flexible conveyor belt can be contracted and extended in units. When the flexible conveyor belt turns horizontally, the turning radius inside the The distance between the intermediate connecting plates is reduced, and the distance between the intermediate connecting plates on the outside is increased to form a circular arc conveyor belt in the horizontal direction; when the flexible conveyor belt turns vertically, the connecting pins will middle swing; when the front end of the flexible conveyor belt swings upward relative to the vertical direction of the rear end, the connecting pins swing in the opposite position in the long groove, the distance between the upper sides of the adjacent middle connecting plates decreases, and the distance between the lower sides increases. Large, forming a vertical arc-shaped conveyor belt; the arc-shaped conveyor belt has a sufficient turning radius to ensure that materials can pass smoothly.

In the embodiment of the present invention, the loading and unloading actuator includes a frame 1, and conveyor belt mechanisms 2 are symmetrically installed on the left and right sides of the frame, and the middle part of the frame between the left and right conveyor belt mechanisms is provided with a front and back push-pull mechanism. The actuator 4 of the cargo box 3, the actuator is driven to translate back and forth by the first driving mechanism, and is driven up and down by the second driving mechanism. After the actuator is lowered, it is lower than the upper conveyor belt surface of the conveyor belt mechanism; the actuator Several vacuum chucks 18 are fixedly connected on the front end face.

In the embodiment of the present invention, several rotating shafts 5 are evenly distributed on the front and rear of the frame, one of which is the active rotating shaft driven by a motor, and the rest are driven rotating shafts. The pulley 6 at the end of the rotating shaft on the outer side is wound with conveyor belts 7 on several pulleys on the same side; the left and right inner sides of the frame are fixed with inner plates 8 on the inner sides of the pulleys. The left and right outer sides of the frame are fixed with outer plates 9 on the outer sides of the pulleys; the first drive mechanism includes a moving plate 10 located between the two inner plates, and the bottom of the moving plate and the frame are connected by balls. The screw pair 11 is connected to drive the moving plate to translate back and forth, and the moving plate is connected to the actuator through the second driving mechanism.

In the embodiment of the present invention, the second drive mechanism includes a parallelogram mechanism 12 symmetrically arranged on the left and right sides of the moving plate. The parallelogram mechanisms are all located outside the inner plate on the same side. Extended straight-through slot 13, the rear end of the straight-through slot is connected with an inclined slot 14 inclined upward and backward, and the two hinge pins below the parallelogram mechanism pass through the same-side straight-through slot and are connected to the side of the moving plate , the lower end side of the rear side link of the parallelogram mechanism is fixed with a rear extension link 15, and the rear end of the rear extension link is equipped with a guide pin 16 for embedding in an inclined slot or a straight slot. A U-shaped actuator is installed between the front ends of the upper connecting rods of the parallelogram mechanism, and the upper edge of the inner plate is provided with a sinking gap 17 of the actuator; the outer portion of the outer plate is fixedly connected with a rib 19; A cover plate 20 is provided between the tops of the left and right inner panels, and the cover plate makes way for the descending position of the actuator.

In the embodiment of the present invention, a tensioner 21 is provided between the rear ends of the inner side plate and the outer side plate, and each tensioner includes a swing arm 22, and a tension wheel 23 is installed at the bottom end of the swing arm. The tops of the swing arms are all hinged between the inner board and the outer board, the side parts of the swing arms are equipped with swing handles 24, and the outer boards are all provided with arc-shaped swing grooves 25 passing through the swing handles, wherein the side parts of the swing arms are Provide a straight groove bar 26 extending radially along the arc swing groove, the swing handle extends through the straight groove bar left and right and the degree of freedom in the left and right directions is limited, the center of the arc swing groove is located at the hinge point at the top of the swing arm and the arc The circumference of the arc edge of the swing groove is provided with several snap notches 27 for snapping in the swing handle. The conveyor belt is tensioned by adjusting the position where the swing handle is in contact with the card notch.

A working method of an automatic container palletizing robot that cooperates with logistics transportation. The material is conveyed to the lifting conveyor belt by the flexible telescopic steering conveyor belt 56, the horizontal turntable and the front and rear carriages provide a horizontal rotation degree of freedom and a horizontal translation degree of freedom, and the lifting conveyor belt provides a vertical rotation freedom The movable frame provides a horizontal rotation degree of freedom and a vertical rotation degree of freedom. In total, the equipment has five degrees of freedom. By controlling the rotation angle and translation distance, the loading and unloading actuator can be moved to the target stacking position, and the lifting The box-type materials on the conveyor belt are transported to the loading and unloading actuator through the flexible conveyor belt. The conveyor belt mechanism drives the box-type materials to run forward and cross the actuator to the pushing position. With pause operation, the moving plate moves forward, and the guide pin of the rear extension connecting rod enters the straight through groove from the inclined slot, which drives the parallelogram mechanism to expand, and the executive part rises and moves forward to push out the box-type material. After the material is pushed out, the executive part returns to the initial position And lowered to the surface of the upper conveyor belt of the conveyor belt mechanism, all the conveyor belts continue to run for the next stacking; this equipment starts from the bottom of the box, and stacks up one by one. After the stacking on the innermost side of the container is completed, The mobile rack retreats to the next side, continues to stack up one by one, and repeats the same operation until the whole box is stacked; (2) The unstacking process is: the loading and unloading actuator can be moved to the target by controlling the rotation angle and translation distance In the unstacking position, all conveyor belts run in reverse, the executive part rises and moves forward to the position of the material to be picked up, the vacuum suction cup on the executive part sucks the box-type material to be picked up, and then the executive part returns to the initial position and descends to the conveyor belt mechanism Under the surface of the upper conveyor belt, at the same time, the actuator drags the box-type materials to the conveyor belt mechanism, and then is conveyed by the conveyor belt mechanism backwards to complete one unloading; the loading and unloading actuator starts from the outermost side of the container and connects one line. Destacking goes down one by one. After the outermost side of the container is destacked, the mobile frame advances to the next side to continue destacking. The same operation is repeated until the destacking of the whole container is completed.

In the embodiment of the present invention, the flexible telescopic steering conveyor belt belongs to the prior art, and the existing market already exists, so no more details will be given here.

In another embodiment of the present invention, the second drive mechanism does not use a parallelogram mechanism, but includes a material-feeding side plate 57 fixed symmetrically on the left and right sides of the moving plate. The end of the actuator is fixedly provided with a vertical guide rod 58 and a lifting guide rail 59 that pass down the side plate of the material, wherein a guide pin is installed at the bottom of the lifting guide rail, and the guide pin is used to embed the newly opened under the straight-through groove. The guide groove is composed of a rear chute 60 and a front straight groove 61, and the rear chute extends obliquely towards the rear and downward.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention to other forms. Any skilled person who is familiar with this profession may use the technical content disclosed above to change or modify the equivalent of equivalent changes. Example. However, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (10)

1. The utility model provides an automatic pile up neatly machine people of packing box that cooperation commodity circulation was carried which characterized in that: the goods handling device is characterized by comprising a moving frame with walking wheels at the bottom, wherein a horizontal rotary table is connected to the top of the moving frame, a front sliding frame and a rear sliding frame are connected to the top of the horizontal rotary table, lifting conveying belts are hinged to the front sliding frame and the rear sliding frame, and the front ends of the lifting conveying belts are connected with a goods handling actuator capable of being adjusted in an up-down and left-right swinging mode.

2. Automatic palletizing robot for containers conveyed by logistics according to claim 1, characterized in that: the walking wheel at the bottom of the movable frame consists of a universal wheel and a power wheel; the horizontal rotary table is arranged at the top of the movable frame through a rotary supporting bearing and is driven to rotate by a motor; a sliding block sliding rail assembly is arranged between the front and rear sliding frames and the horizontal rotary table, and the front and rear sliding frames are driven by a ball screw pair or a gear rack assembly to translate and adjust front and rear; the rear end of the conveying belt frame body of the lifting conveying belt is hinged to the front and rear sliding frames, an electric push rod is connected between the conveying belt frame body and the front and rear sliding frames, the top end of a piston rod of the electric push rod is hinged to the conveying belt frame body, and the bottom end of a cylinder body of the electric push rod is hinged to the front and rear sliding frames.

3. Automatic palletizing robot for containers conveyed by logistics according to claim 1, characterized in that: the lifting conveying belt is connected with the loading and unloading actuator through a flexible conveying belt.

4. The logistics conveying coordinated automatic palletizing robot for containers as claimed in claim 3, wherein: the flexible conveying belt comprises a rear end connecting plate and a front end connecting plate, the rear end connecting plate is hinged to the front end of a conveying belt frame body of the lifting conveying belt, the front end connecting plate is hinged to the rear end of a frame of a loading and unloading actuator, a plurality of middle connecting plates which are connected and distributed front and back are arranged between the rear end connecting plate and the front end connecting plate, the front sides of the middle connecting plates are provided with convex portions, the rear sides of the middle connecting plates are provided with concave portions, the convex portions of the middle connecting plates at the rear sides are embedded into the concave portions of the middle connecting plates at the front sides, the front sides of the rear end connecting plates are also in butt-embedded connection with the concave portions at the rear sides of the adjacent middle connecting plates through the convex portions, long grooves extending front and back are arranged above and below the concave portions, connecting pins embedded into the long grooves are arranged above and below the convex portions, the height of the concave portions is larger than that of the convex portions, and electric rotating rollers are arranged above the middle connecting plates.

5. The logistics conveying coordinated automatic palletizing robot for containers as claimed in claim 3, wherein: a connecting frame is arranged between the front end of the lifting conveying belt and the goods loading and unloading actuator, the connecting frame comprises a fixed frame and a movable frame, the fixed frame is fixedly connected with the front end of a conveying belt frame body of the lifting conveying belt, a side supporting plate fixedly arranged at the front end of the movable frame is fixedly connected with a frame of the goods loading and unloading actuator, a connecting rotating shaft is arranged at the front end of the fixed frame, the middle part of the connecting rotating shaft is a stepped plane, a connecting slot in which the stepped plane is inserted is formed in the rear end of the movable frame, the connecting slot is arranged on the stepped plane through a vertical rotating shaft perpendicular to the connecting rotating shaft, the vertical rotating shaft is driven to rotate by a motor to control the left-right swinging of the movable frame, and the movable frame is connected with the bottom surface of the fixed frame through an electric push rod to control the up-down swinging of the movable frame; and an auxiliary supporting plate positioned below the flexible conveying belt is fixedly supported on the top surface of the movable frame.

6. Automatic palletizing robot for containers conveyed by logistics according to claim 1, characterized in that: the loading and unloading actuator comprises a rack, conveying belt mechanisms are symmetrically arranged on the left side and the right side of the rack, an executing piece used for pushing and pulling the container back and forth is arranged in the middle of the rack between the left conveying belt mechanism and the right conveying belt mechanism, the executing piece is driven by a first driving mechanism to translate back and forth and driven by a second driving mechanism to lift, and the executing piece is lower than the upper conveying belt surface of the conveying belt mechanism after falling; and the front end surface of the executing piece is fixedly connected with a plurality of vacuum chucks.

7. Automatic palletizing robot for containers coordinated with logistics transportation as in claim 6, characterized in that: the conveying belt mechanism comprises belt wheels arranged at the end part of the rotating shaft at the outer side of the rack, and conveying belts are wound on the belt wheels at the same side; inner side plates are fixed on the left inner side and the right inner side of the rack at the inner side of the belt wheel, and outer side plates are fixed on the left outer side and the right outer side of the rack at the outer side of the belt wheel; the first driving mechanism comprises a moving plate positioned between two inner side plates, the bottom of the moving plate is connected with the rack through a ball screw pair and used for driving the moving plate to move forwards and backwards, and the moving plate is connected with the executing piece through a second driving mechanism.

8. Automatic palletizing robot for containers with logistics transport according to claim 7, characterized in that: the second driving mechanism comprises parallelogram mechanisms symmetrically arranged on the left side and the right side of the movable plate, the parallelogram mechanisms are positioned on the outer sides of the inner side plates on the same side, the inner side plates are respectively provided with a straight through groove extending forwards and backwards, the rear ends of the straight through grooves are respectively communicated with an oblique through groove inclining backwards and upwards, two hinge pin shafts below the parallelogram mechanisms are respectively connected with the side parts of the movable plate after penetrating through the straight through grooves on the same side, the lower end side parts of the rear side connecting rods of the parallelogram mechanisms are respectively fixed with a rear extension connecting rod, the rear ends of the rear extension connecting rods are provided with guide pins used for being embedded into the oblique through grooves or the straight through grooves to move, a U-shaped executing part is arranged between the front ends of the upper connecting rods of the parallelogram mechanisms, and the upper edge of the inner side plate is provided with a sinking gap of the executing part; the outer side parts of the outer side plates are fixedly connected with flanges; the cover plate is covered between the tops of the left inner side plate and the right inner side plate and abduces at the descending position of the executive component.

9. Automatic palletizing robot for containers conveyed by logistics according to claim 8, characterized in that: all be provided with tensioning ware between the rear end side of interior plate and outer panel, tensioning ware all includes the swing arm, and the take-up pulley is all installed to the swing arm bottom, and the swing arm top all articulates between interior plate and outer panel, and swing handle is all installed to the lateral part of swing arm, all sets up the arc swinging groove that swing handle wore out on the outer panel, wherein sets up the straight flute strip along the radial extension of arc swinging groove on the lateral part of swing arm, and the swing handle is controlled and is passed the degree of freedom of extending straight flute strip and left and right sides direction and prescribe a limit, a plurality of card breach has been seted up to the arc edge circumference that the centre of a circle of arc swinging groove is located swing arm top pin joint and arc swinging groove for swing handle card is gone into.

10. A method of operating a logistics of coordinated automatic palletizing robot for containers as in any one of claims 1 to 9, characterised by the following steps: the stacking process comprises the following steps: the horizontal turntable and the front and rear sliding frames drive the lifting conveying belt to horizontally steer and adjust back and forth, box-type materials are conveyed to the lifting conveying belt through the flexible telescopic steering conveying belt, the horizontal turntable and the front and rear sliding frames provide a horizontal rotation degree of freedom and a horizontal translation degree of freedom, the lifting conveying belt provides a vertical rotation degree of freedom, the movable frame provides a horizontal rotation degree of freedom and a vertical rotation degree of freedom, the total number of five degrees of freedom of the equipment is total, the loading and unloading actuator can be moved to a target stacking position by controlling a rotation angle and a translation distance, the box-type materials on the lifting conveying belt are conveyed to the loading and unloading actuator through the flexible conveying belt, the conveying belt mechanism drives the box-type materials to move forwards to a pushing position after passing through the actuator, when the box-type materials are moved to the pushing position, all the conveying belts are suspended to operate, the actuator ascends and moves forwards to push the box-type materials, after the box-type materials are pushed out, the actuator returns to an initial position and descends to a position below an upper conveying belt surface of the conveying belt mechanism, and all the conveying belts continue to perform next stacking; the equipment is used for stacking upwards row by row from the bottom of the container, after the stacking of the innermost side of the container is finished, the movable frame moves back to the next side, the upward stacking is continued row by row, and the same operation is repeatedly executed until the stacking of the whole container is finished; (2) the unstacking process comprises the following steps: the loading and unloading actuator can be moved to a target unstacking position by controlling the rotation angle and the translation distance, all the conveying belts run reversely, the executing part rises and moves forwards to a material position to be taken, a vacuum chuck on the executing part sucks the box-type material to be taken, then the executing part returns to an initial position and descends to a position below the upper section conveying belt surface of the conveying belt mechanism, meanwhile, the executing part drags the box-type material to the conveying belt mechanism, and then the box-type material is conveyed backwards by the conveying belt mechanism, so that one-time unloading is completed; and the loading and unloading actuator unstacks downwards one line by one line from one side of the outermost side of the container, after the unstacking of the side of the outermost side of the container is finished, the movable frame advances to the next side to continue the unstacking, and the same operation is repeated until the unstacking of the whole container is finished.

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