CN101362329B - Stacking robot - Google Patents
Stacking robot Download PDFInfo
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- CN101362329B CN101362329B CN2008102004001A CN200810200400A CN101362329B CN 101362329 B CN101362329 B CN 101362329B CN 2008102004001 A CN2008102004001 A CN 2008102004001A CN 200810200400 A CN200810200400 A CN 200810200400A CN 101362329 B CN101362329 B CN 101362329B
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Abstract
The invention relates to a palletizing robot which is used for palletizing bag type packages. The palletizing robot comprises a wrist, an arm mechanism, a wrist posture adjusting mechanism, a machine frame, a servo drive system, a base seat and a bag grasper. The palletizing robot is characterized in that a bag grasper structure is provided, and the bag grasper comprises a top plate, a parallel guide rail, a left supporting plate, a right supporting plate, a finger mechanism and a clamping plate mechanism. A rectangular framework is formed by the parallel guide rail, the left supporting plate and the right supporting plate. The finger mechanism is composed of a left mechanism and a right mechanism which are mutually symmetrical, a plurality of L-shaped fingers, a plurality of connecting rods, a pair of bearing frames and a rotating shaft are arranged on one side. The L-shaped fingers are fixed on the connecting rods in parallel, a pair of bearing frames is fixed on the connecting rods, and the rotating shaft is arranged between the bearing frames. Two air cylinders are respectively fixed on the left and the right supporting plates, and the piston rod end is connected to the rotating shaft. The clamping plate mechanism is composed of a vertical air cylinder and a clamping plate. The palletizing robot can bear heavier weight, and can grasp the bag type packages on flat ground very easily.
Description
Technical field
The present invention relates to robot and make the field, it relates to a kind of robot palletizer, relates in particular to a kind of robot palletizer of grabs bag class packing.
Background technology
Robot palletizer is a kind of vertical articulated robot with specific function, and it is widely used in fields such as oil, chemical industry, food processing, beverage.Can the piling requirement that realize the different shaped packing be set according to parameters such as different material packages, stacking sequence, the numbers of plies by computer.
Robot palletizer is generally articulated robot, its driving mechanism mainly by servomotor, reductor direct connection at joint.Each arm end of arm can only be rotated motion around its joint motions pair, so just makes the operating position mechanism of robot have the nonlinear motion coupling.For making end effector be in required operating position, need to coordinate the driving servomotor in each joint of control arm, promptly must be compensated each joint motions in control algolithm, thereby strengthen operating position kinematic analysis of mechanisms difficulty, position control system is complicated more.
China Patent No. is that 200520020980.8 patent of invention discloses a kind of robot palletizer, see also Fig. 1, it is the structural representation of this robot palletizer, and it comprises servo-drive system of wrist 1, arm mechanism 2, wrist attitude-adjusting system 3, frame 4, base 12 and arm mechanism 2 etc.Arm mechanism 2 is made of AC, BF, four connecting rods of FD, CE, and wherein connecting rods such as the BC bar section of AC connecting rod and CD, DF, FB constitute parallelogram, and BC bar section is parallel with the DF connecting rod, and the CD connecting rod is parallel with the FB connecting rod, and the A end points of AC connecting rod is the live load bearing point.The F point of connecting rod BF is the level active joint of arm mechanism 2, and it is installed in and moves horizontally on the plate 19, and the E of connecting rod CE point is the vertical active joint of arm mechanism, and it is installed on the vertical movable plate 6.The drive system of arm mechanism 2 is installed on the frame 4, is made up of level, vertical two driving mechanisms.Horizontal drive mechanism by servomotor 13, driving pulley 14, ball screw assembly, 15, line slideway 16, be with 17 synchronously, driven pulley 18, movable plate 19 etc. form.By ball screw assembly, 15, rotatablely moving of servomotor 13 is converted into the rectilinear motion of movable plate 19, move in the horizontal direction thereby drive arm mechanism 2 levels active joint F, this moment, the live load bearing point A of arm mechanism 2 only moved in the horizontal direction.Vertical drive mechanism by servomotor 10, driving pulley 11, be with 9 synchronously, driven pulley 8, line slideway 7, ball screw assembly, 5, movable plate 6 etc. form.By ball-screw transmission 5, rotatablely moving of servomotor 10 is converted to the rectilinear motion of movable plate 6, thereby the vertical active joint F that drives arm mechanism 2 moves in vertical direction, this moment, the live load bearing point A of arm mechanism 2 only moved in vertical direction, utilize this parallelogram connection-rod arm mechanism and drive system collocation form thereof, realize the linear movement of the operating position point of arm mechanism very easily, thereby simplified the motion analysis and the control program of robot palletizer.
But the finger part of foregoing invention and unexposed robot palletizer, it is limited and be difficult to grasp the packed in flexible pouchy that places on the conveyer that existing robot palletizer still exists load-bearing for grabs bag class packing.
Summary of the invention
At above-mentioned defective, the object of the present invention is to provide a kind of robot palletizer handgrip, to bear weight of object limited and grasp and place the quite defective of difficulty of level land bag class packing to solve in the prior art handgrip.
The present invention proposes a kind of robot palletizer, it is used for bag class packing is carried out piling, it comprises wrist, arm mechanism, wrist attitude governor motion, frame, servo drive system, base and bag handgrip, wherein arm mechanism is by connecting rod AC, connecting rod BF, connecting rod FD, four connecting rods of connecting rod CE constitute, the attitude governor motion is connected by one three kinematic pair rod member by two parallel-crank mechanisms, connecting rod AB wherein, connecting rod BI, connecting rod IJ, four connecting rods of connecting rod AJ constitute a parallelogram, connecting rod BF, connecting rod FG, connecting rod GH, four connecting rods of connecting rod HB constitute another parallelogram, comprise vertical line guide rail and the vertical ball screw assembly, that matches with the vertical line guide rail in the frame, horizontal linear guide rail and the horizontal ball screw assembly, that matches with the horizontal linear guide rail, the F point of connecting rod BF is connected with horizontal ball screw assembly,, the E point of connecting rod CE is connected with vertical ball screw assembly,, and vertical ball screw assembly, and horizontal ball screw assembly, are connected to servo drive system and are connected to arm mechanism by rotating shaft.Its bag handgrip comprises top board, the pair of parallel guide rail, a pair of support plate, one countercylinder and finger mechanism, top board is erected on the closed slide, this constitutes a rectangular frame to closed slide and this to support plate, finger mechanism is made of two symmetrical mechanisms, wherein a side mechanism comprises some L shaped fingers, some connecting rods, pair of bearings frame and rotating shaft, the quantity of those L shaped fingers can increase and decrease according to the length of packaging bag, has a protuberance on its right-angle side, and offer screwed hole on the protuberance, those L shaped fingers by the screwed hole on the protuberance and nut secured in parallel on those connecting rods, and sensing the same side, this is fixed on the connecting rod bearing bracket stand, rotating shaft is arranged between bearing bracket stand, and cylinder is individually fixed on the support plate, and its tailpiece of the piston rod then is connected to rotating shaft.
According to the described robot palletizer of preferred embodiment of the present invention, its bag handgrip also comprises a press plate mechanism, and press plate mechanism comprises a pair of vertical cylinder and a pair of pressing plate, and vertical cylinder is vertically set on respectively on the described support plate, and pressing plate is separately fixed at the piston end of vertical cylinder.
According to the described robot palletizer of preferred embodiment of the present invention, its bag handgrip also comprises a buffer, and buffer is arranged on the support plate and is positioned at the bearing bracket stand top.
According to the described robot palletizer of preferred embodiment of the present invention, its bag handgrip also comprises a location mechanism, and detent mechanism comprises two positioning sliding blocks and a two-way threaded rod, positioning sliding block is arranged on the top with side rails, and offer screwed hole above the positioning sliding block, the bidirectional helical bar is located between two positioning sliding blocks.
According to the described robot palletizer of preferred embodiment of the present invention, its bag handgrip also comprises some in order to regulate the pressure regulator valve of cylinder, and pressure regulator valve is arranged on guide rail one side.
According to the described robot palletizer of preferred embodiment of the present invention, pressing plate is welded by some hollow steel tubes.
According to the described robot palletizer of preferred embodiment of the present invention, pressing plate is a resinae lightweight pressing plate.
The finger mechanism of robot palletizer handgrip part of the present invention is L shaped finger, its joint is not movable, therefore can bear bigger weight, and owing to grasping movement of the present invention is that armrest refers to that mechanism finishes around the rotating shaft rotation under the drive of cylinder, it places the packed in flexible pouchy on the conveyer also very light for extracting.
Description of drawings
Fig. 1 is the structural representation of existing robot palletizer;
Fig. 2 be the embodiment of the invention a kind of robot palletizer the bag handgrip stereogram;
Fig. 3 be the embodiment of the invention a kind of robot palletizer the bag handgrip front view;
Fig. 4 be the embodiment of the invention a kind of robot palletizer the bag handgrip side view;
Fig. 5 be the embodiment of the invention a kind of robot palletizer the bag handgrip vertical view;
Fig. 6 is the stereogram of finger mechanism of a kind of robot palletizer of the embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing, specify the present invention.
The arm of robot palletizer of the present invention and main body mechanism are prior art, just are not repeated at this.Introduce core of the present invention place below: it is exclusively used in grabs bag class packing, particularly the bag handgrip structure of bag class packing in the food industry.
See also Fig. 2, its stereogram for the bag handgrip of a kind of robot palletizer of the embodiment of the invention, please cooperate in addition referring to Fig. 3-Fig. 5, it is the three-view diagram of a kind of robot palletizer bag handgrip of the embodiment of the invention.The bag handgrip of this robot palletizer comprises top board 100, closed slide 200, left supported plate 300L, right supported plate 300R, finger mechanism and press plate mechanism.Top board 100 is erected at closed slide 200 upper surfaces by nut and spacers, and it is in order to link to each other with the robot palletizer mechanical arm.Closed slide 200, left supported plate 300L and right supported plate 300R then constitute a rectangular frame, body frame as this robot palletizer, be specifically, left supported plate 300L and right supported plate 300R are arranged on the two ends of closed slide 200 lower surfaces, in they and the sliding groove of establishing closed slide 200 into, can be along closed slide 200 move left and right.
See also Fig. 6, it is the stereogram of finger mechanism of bag handgrip of a kind of robot palletizer of the embodiment of the invention.This finger mechanism by about two symmetrical mechanisms constitute, wherein a side comprises some L shaped fingers 401, head rod 402, second connecting rod 403, clutch shaft bearing frame 404, second bearing bracket stand 405 and rotating shaft 406.Those L shaped finger 401 one right-angle sides have an outside protuberance, and offer screwed hole on this protuberance, their secured in parallel are on those connecting rods 402, and sensing the same side, be specifically, head rod 402 utilizes nut and pad that the protuberance of L shaped finger 401 is fixed thereon, and 403 of second connecting rods fix by nut and pad and right-angle sides above the protuberance equally, here in order to make finger mechanism more firm, can also add some connecting rods certainly.Clutch shaft bearing frame 404 and second bearing bracket stand, 405 fixed spans are located on the head rod 402 and second connecting rod 403, and its dead eye is positioned at the top.Rotating shaft 406 then is located in the dead eye of the clutch shaft bearing frame 404 and second bearing bracket stand 405, also is fixed with a cylinder connector 407 in the middle of it, in order to link to each other with cylinder piston rod.Two cylinders 501 symmetry respectively are fixed on left supported plate 300L and the right supported plate 300R, its piston end links to each other inwardly and with cylinder connector 407, be specifically, be to offer the hole of a strip on the left supported plate 300L so that cylinder connector 407 1 ends see through left supported plate 300L, because the piston end of cylinder 501 is the door shape, so cylinder connector 407 can block the piston end of establishing suction casig 501, and fix (right supported plate 300R in like manner) by nut.When cylinder 501 is done piston and done exercises, can drive finger mechanism around rotating shaft 406 motions, thereby the folding that realizes finger mechanism is grasped like this.Handgrip is caused damage when finger mechanism moves, the present invention also is provided with some dampers 600 above bearing bracket stand 404, it is fixed on the left and right support plate, this damper can be hydraulic damper, the one end is that rubber is made, and plays effective cushioning effect thereby can prop up bearing bracket stand 404 when finger mechanism moves.
The press plate mechanism of the embodiment of the invention comprises a pair of vertical cylinder 701 and a pair of pressing plate 702, vertical cylinder 701 is vertically fixed on respectively on the left and right support plate, its piston end is provided with down, pressing plate 702 then is fixed on the piston end of vertical cylinder 701 by nut etc., because the present invention mainly is a grabs bag class packing, so the pressing plate 702 of present embodiment can be welded by some hollow steel tubes, such with pure steel plate is compared the weight that can alleviate handgrip itself, and pressing plate 702 can also be resinae lightweight pressing plate in addition.
The bag handgrip of robot palletizer of the present invention, can also comprise a location mechanism, this detent mechanism comprises two positioning sliding blocks 801 and bidirectional helical bar 802, positioning sliding block 801 offers screwed hole, it is slidingly installed in in the groove of side rails 200 and be positioned at guide rail top, other two positioning sliding blocks 801 link to each other with left and right support plate respectively, and 802 on bidirectional helical bar is located in 801 of two positioning sliding blocks.Owing to be distributed with reverse screw thread on the bidirectional helical bar 802, institute moves thereby also drive left and right support plate synchronous backward so that two positioning sliding blocks can move by synchronous backward.So just can regulate distance between finger mechanism according to the size of bag class packing.
In addition, because the present invention exists some cylinders, so once also be provided with the pressure regulator valve 900 of each cylinder pressure of adjusting at guide rail.
In sum, the finger of finger mechanism of the present invention is L shaped finger, its joint is not movable, therefore can bear bigger weight, and owing to grasping movement of the present invention is that armrest refers to that mechanism finishes around the rotating shaft rotation under the drive of cylinder, it places the packed in flexible pouchy on the conveyer also very light for extracting.
More than disclosed only be several specific embodiment of the present invention, but the present invention is not limited thereto, any those skilled in the art can think variation, all should drop in protection scope of the present invention.
Claims (7)
1. robot palletizer, it is used for bag class packing is carried out piling, it comprises wrist, arm mechanism, wrist attitude governor motion, frame, servo drive system, base and bag handgrip, described arm mechanism is by connecting rod AC, connecting rod BF, connecting rod FD, four connecting rods of connecting rod CE constitute, described wrist attitude governor motion is connected by one three kinematic pair rod member by two parallel-crank mechanisms, connecting rod AB wherein, connecting rod BI, connecting rod IJ, four connecting rods of connecting rod AJ constitute a parallelogram, connecting rod BF, connecting rod FG, connecting rod GH, four connecting rods of connecting rod HB constitute another parallelogram, comprise vertical line guide rail and the vertical ball screw assembly, that matches with the vertical line guide rail in the frame, horizontal linear guide rail and the horizontal ball screw assembly, that matches with the horizontal linear guide rail, the F point of described connecting rod BF is connected with horizontal ball screw assembly,, the E point of described connecting rod CE is connected with vertical ball screw assembly,, described vertical ball screw assembly, and horizontal ball screw assembly, are connected to servo drive system and are connected to arm mechanism by rotating shaft, it is characterized in that:
Described bag handgrip comprises top board, the pair of parallel guide rail, a pair of support plate, one countercylinder and finger mechanism, described top board is erected on the described closed slide, described pair of parallel guide rail and described a pair of support plate constitute a rectangular frame, described finger mechanism is made of two symmetrical mechanisms, wherein a side mechanism comprises some L shaped fingers, some connecting rods, pair of bearings frame and rotating shaft, the quantity of described some L shaped fingers can increase and decrease according to the length of packaging bag, has a protuberance on its right-angle side, offer screwed hole on the described protuberance, described some L shaped fingers by the screwed hole on the protuberance and nut secured in parallel on described some connecting rods, and sensing the same side, described pair of bearings frame is fixed on the described connecting rod, described rotating shaft is arranged between described bearing bracket stand, described cylinder is individually fixed on the described support plate, and its tailpiece of the piston rod then is connected to described rotating shaft.
2. robot palletizer as claimed in claim 1, it is characterized in that, described bag handgrip also comprises a press plate mechanism, described press plate mechanism comprises a pair of vertical cylinder and a pair of pressing plate, described vertical cylinder is vertically set on respectively on the described support plate, and described pressing plate is separately fixed at the piston end of described vertical cylinder.
3. robot palletizer as claimed in claim 1 or 2 is characterized in that, described bag handgrip also comprises a buffer, and described buffer is arranged on the described support plate and is positioned at described bearing bracket stand top.
4. robot palletizer as claimed in claim 1 or 2, it is characterized in that, described bag handgrip also comprises a location mechanism, described detent mechanism comprises two positioning sliding blocks and a two-way threaded rod, described positioning sliding block is arranged on the top with side rails, and offer screwed hole above the described positioning sliding block, described bidirectional helical bar is located between described two positioning sliding blocks.
5. robot palletizer as claimed in claim 1 or 2 is characterized in that, described bag handgrip also comprises some in order to regulate the pressure regulator valve of cylinder, and described pressure regulator valve is arranged on described guide rail one side.
6. robot palletizer as claimed in claim 2 is characterized in that described pressing plate is welded by some hollow steel tubes.
7. robot palletizer as claimed in claim 2 is characterized in that, described pressing plate is a resinae lightweight pressing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102004001A CN101362329B (en) | 2008-09-24 | 2008-09-24 | Stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102004001A CN101362329B (en) | 2008-09-24 | 2008-09-24 | Stacking robot |
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| Publication Number | Publication Date |
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| CN101362329A CN101362329A (en) | 2009-02-11 |
| CN101362329B true CN101362329B (en) | 2010-04-21 |
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| CN2008102004001A Active CN101362329B (en) | 2008-09-24 | 2008-09-24 | Stacking robot |
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Cited By (2)
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| CN101890721A (en) * | 2010-07-07 | 2010-11-24 | 绍兴电力设备成套公司 | Air-sac type meter grabbing device |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
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| CN110877828A (en) * | 2019-12-09 | 2020-03-13 | 大连佳林设备制造有限公司 | A tongs structure that is used for automatic pile up neatly of plastics turnover basket |
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| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
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| CN101362329A (en) | 2009-02-11 |
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Owner name: SHANGHAI TRIOWIN TECH. CO., LTD. Free format text: FORMER OWNER: SHANGHAI TRIOWIN PACK TECHNOLOGY CO., LTD. Effective date: 20110421 |
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Effective date of registration: 20110421 Address after: Jinshan District Fengjing town Maple Road 201114 Shanghai City No. 2556 -1 Patentee after: Shanghai Triowin Tech. Co., Ltd. Address before: 200023, 201H, room 1, Lane 258, Dapu Road, Shanghai, Luwan District Patentee before: Shanghai TRIOWIN Packaging Technology Co., Ltd. |
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Owner name: SHANGHAI TRIOWIN AUTOMATION MACHINERY LIMITED Free format text: FORMER NAME: SHANGHAI TRIOWIN TECH. CO., LTD. |
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Address after: 201506 No. 5899 Ting Wei Road, Shanghai, Jinshan District Patentee after: Shanghai Aodi Automation Equipment Co., Ltd. Address before: Jinshan District Fengjing town Maple Road 201114 Shanghai City No. 2556 -1 Patentee before: Shanghai Triowin Tech. Co., Ltd. |