CN104773517A - Robot whole-layer stacking terminal executing device - Google Patents
Robot whole-layer stacking terminal executing device Download PDFInfo
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- CN104773517A CN104773517A CN201510144928.1A CN201510144928A CN104773517A CN 104773517 A CN104773517 A CN 104773517A CN 201510144928 A CN201510144928 A CN 201510144928A CN 104773517 A CN104773517 A CN 104773517A
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- Prior art keywords
- robot
- chain
- shaft
- action
- flood
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention provides a robot whole-layer stacking terminal executing device. The robot whole-layer stacking terminal executing device comprises side plates, wherein a plurality of aluminum profile transverse beams A are arranged on the inner sides above the two symmetrical side plates; the lower ends of connection plates are mounted on the aluminum profile transverse beams A and the upper ends of the connection plates are connected with a robot; the robot whole-layer stacking terminal executing device further comprises a stopping plate A; air cylinders and guide rods are arranged on the outer surfaces of the two symmetrical side plates respectively; stopping plates B are mounted on the guide rods; the robot whole-layer stacking terminal executing device further comprises a swinging rod assembly fixed in front of the side plates, and further comprises a chain transmission assembly; the chain transmission assembly can realize bidirectional rotation under the action of a driving shaft and a driving assembly B; door opening and closing movements can be finished by a rolling chain fixed on a chain. According to the robot whole-layer stacking terminal executing device, the reliability and consistency of the robot can be improved, the movements are flexible and a stacking process is stable; the bidirectional rotary movement can be finished on each side by using the single chain; the grasping beat and production efficiency are effectively improved; the robot whole-layer stacking terminal executing device is safe and practical and can be widely popularized, and the production cost also can be greatly reduced.
Description
Technical field
The invention belongs to material handling transportation art, it relates to a kind of robot palletizer, and being specifically related to one can the end effector of robot of piling flood box (or Soft Roll bottling) material.
Background technology
Robot palletizer and delivery system thereof have now been widely used in the industry such as logistics, storage, it is simple to operate, work efficiency is high, save the features such as hydro-power energy source is subject to liking of vast enterprise, varied according to the robot palletizer end effector structures that different working condition requirements and product design feature are designed, still to capture the material such as packaging bag or single case, piling speed is relatively slow, and quick box manufacturing line cannot reach corresponding beat requirement.A kind of robot flood piling end effector that the present invention relates to, effectively can address this problem, be applied to the box stacking production line of speed, reach the performance requriementss such as efficient stable.
Summary of the invention
The object of this patent is for above-mentioned Problems existing and deficiency, by studying domestic and international similar box gripping structure, the advantages and disadvantages of more various handgrip, design a kind of robot palletizer end-effector capturing flood casing, can meet and enhance productivity and palletization stability, optimize structure simultaneously and maximizedly alleviate mechanical gripper weight, making robot palletizer capture more casings, piling speed at identical conditions faster more steady.
Specifically, the invention provides a kind of robot flood piling end effector, comprise handgrip component body, this handgrip component body comprises side plate, and below side plate, there is location round bar at two ends, inner side above two symmetrical side plates is provided with many aluminium section bar crossbeam A, aluminium section bar crossbeam B and Duo Gen and locates round bar, connecting panel lower end is arranged on aluminium section bar crossbeam A, and connecting panel upper end is connected with robot, also comprises baffle plate A, it is arranged on the rear of installing side plate, for locating individual layer material buttress; Cylinder and pilot bar is respectively arranged with at the lateral surface of described two symmetrical side plates, baffle plate B installs on the guide bar, air cylinder driven baffle plate B to the third side of described two blocks of side plates to movement, thus is convenient to arrange the left and right sides of fixing individual layer material buttress along described pilot bar; Also comprise the oscillating bar assembly being fixed on described side plate front, described oscillating bar assembly is driven by driven unit A, completes the action of swing, and described driven unit A is arranged on the crossbeam above side plate; Also comprise chain kit, chain kit, under the effect of imput shaft and driven unit B, can complete Double-directional rotary, and completes enabling and action of closing the door by the roller chain be fixed on chain, embraces the action of getting and placing with what complete individual layer material buttress.
Especially, described driven unit A is arranged on the top of described side plate, it comprises: motor plate, drive motor, synchronous pulley A, Timing Belt and synchronous pulley B, be fixed on the motor plate of aluminium section bar crossbeam B upper end for installing drive motor, the rotation of drive motor by driving active synchronization belt wheel A to drive Timing Belt, synchronous pulley B and imput shaft are rotated, and imput shaft drives fork axle drive shaft synchronous axial system, completes and drives oscillating bar assembly swing.
Further, described driven unit B is arranged on a described side plate side relative with described driven unit A, it comprises: motor plate, drive motor, synchronous pulley A, Timing Belt and synchronous pulley B, be fixed on the motor plate of aluminium section bar crossbeam B upper end for installing drive motor, the rotation of drive motor by driving active synchronization belt wheel A to drive Timing Belt, synchronous pulley B and imput shaft are rotated, and the further driving chain transmission component of described imput shaft completes Double-directional rotary action.
Further, described oscillating bar assembly forms primarily of fork, fork gear shaft and fork axle drive shaft, fork axle drive shaft is arranged on the outside of imput shaft with the form of quill shaft, so that two parts assembly respectively action time do not interfere with each other, and the fork gear shaft of two forks and bottom, under the drive of fork axle drive shaft, swing, completes the action of backstop or release individual layer material buttress front end.
Further, described chain kit forms primarily of chain, sprocket wheel, radius stay, rolling bearing units and compact heap, chain kit is driven by imput shaft, an one-sided chain is along each radius stay and be arranged in the guide groove of sprocket wheel composition of each key position, and compact heap can play the effect to rear end sprocket wheel compressing, guiding.
The present invention is compared with existing similar technique, of the present invention this can piling flood casing buttress end effector of robot, can effectively improve piling beat, and ensure resistance to overturning in handling process, can enhance productivity while handgrip loss of weight, the unmanned efficient piling of round Realization.
Accompanying drawing explanation
Fig. 1 is a kind of robot flood piling end effector constructional drawing of the embodiment of the present invention.
Fig. 2 is a kind of robot flood piling end effector palletization schematic perspective view of the embodiment of the present invention.
Fig. 3 is a kind of robot flood piling end effector front view of the embodiment of the present invention.
Fig. 4 is a kind of robot flood piling end effector chain kit structural representation of the embodiment of the present invention.
Fig. 5 is a kind of robot flood piling end effector driven unit structural representation of the embodiment of the present invention.
In figure: 1, side plate; 2, connecting panel; 3, aluminium section bar crossbeam A; 4, aluminium section bar crossbeam B; 5, location round bar; 6, baffle plate A; 7, baffle plate B; 8, cylinder; 9, pilot bar; 10, driven unit A; 11, oscillating bar assembly; 12, chain kit; 13, roller chain axle; 14, imput shaft; 15, driven unit B; 16, individual layer material is piled up neatly; 101, motor plate; 102, motor; 103, synchronous pulley A; 104, Timing Belt; 105, synchronous pulley B; 111, fork; 112, fork gear shaft; 113, fork axle drive shaft; 121, chain; 122, sprocket wheel; 123, radius stay; 124, rolling bearing units; 125, compact heap.
Detailed description of the invention
Below in conjunction with accompanying drawing, specifically set forth the present invention.
See Fig. 1 and 2, it illustrates a kind of robot flood piling end effector of the embodiment of the present invention, primarily of the parts composition such as side plate (1), connecting panel (2), aluminium section bar crossbeam A (3), aluminium section bar crossbeam B (4), location round bar (5), baffle plate A (6), baffle plate B (7), cylinder (8), guiding (9), driven unit A (10), oscillating bar assembly (11), chain kit (12), roller chain axle (13), imput shaft (14), driven unit B (15).
Connecting panel (2) upper end is connected with robot, its lower end is arranged on aluminium section bar crossbeam A (3), connecting panel (2) upper end is connected with robot palletizer wrist lower baffle plate, be fixed on side plate (1) top by aluminium section bar crossbeam A (3), fixation is played all in the apparatus in aluminium section bar crossbeam B (4) and location round bar (5).
Aluminium section bar crossbeam A (3), aluminium section bar crossbeam B (4) and many location round bar (5) are fixed on two symmetrical side plate (1) inner sides, play the effect of reinforcing in integral frame.Baffle plate A (6) fixedly mounts side plate (1), for locating the medial surface of individual layer material buttress (16), the symmetrical cylinder (8) in side plate (1) outside and two groups of pilot bars (9) are for driving the left and right pushing action of baffle plate B (7), be convenient to the left and right sides arranging fixing individual layer material buttress (16), and oscillating bar assembly (11) is mainly used in this individual layer material buttress (16) outermost end advance and fix, ensure stability overall in palletization.Wherein oscillating bar assembly (11) is driven by driven unit A (10), completes the action of swing.Chain kit (12) is under the effect of imput shaft (14) and driven unit B (15), Double-directional rotary can be completed, and complete enabling and action of closing the door by the roller chain be fixed on chain (13), to complete armful action of getting and placing of individual layer material buttress 16.
The midway location being fixed on this handgrip is piled up neatly in order to make flood casing, baffle plate A (6) is used in the present invention, baffle plate B (7) assembly of symmetrical installation and oscillating bar assembly (11), two ends are fixed on the baffle plate A (6) of side plate (1) medial surface, can be used for the location to flood material buttress rear side aspect, symmetry is arranged on the effect of baffle plate B (7) by cylinder (8) of side plate (1) inner side, the two-way location in two directions, left and right can be carried out to flood material buttress, relend the promotion helping oscillating bar assembly (11), flood material is piled up neatly the restriction of last degree of freedom, flood material is piled up neatly to be fixed on the relative position of this handgrip, to guarantee resistance to overturning in crawl process.
Driven unit A (10) in the embodiment of the present invention is identical with the main constituent elements of driven unit B (15), mainly consist of the following components: motor plate (101), motor (102), synchronous pulley A (103), Timing Belt (104) and synchronous pulley B (105), it is characterized in that: the motor plate (101) being fixed on aluminium section bar crossbeam B (4) upper end, for installing drive motor (102), by the driving of active synchronization belt wheel A (103) and the drive of Timing Belt (104), make synchronous pulley B (105) and fork axle drive shaft (113) synchronous axial system, complete the object driving oscillating bar assembly (11) swing.Be arranged on the driven unit B (15) in left side with same structure and principle, under the drive of motor (102) and Timing Belt assembly, complete Double-directional rotary action by imput shaft (14) driving chain transmission component (12).
Especially, be fixed on the motor (102) of aluminium section bar crossbeam B (4) upper end, by toothed belt transmission effect, the Double-directional rotary in left side assembly driving chain transmission component (12), and then drive roller chain axle (13) along chain (121) orbiting motion, to complete the opening and closing movement that roller chain axle (13) is organized; Be arranged on imput shaft (14) fork axle drive shaft outward by form of sleeve, under the driving on right side driven unit A (10), the action of swing can be completed, and guide-localization and release are carried out to material buttress.
Oscillating bar assembly (11) in the embodiment of the present invention, primarily of fork (111), fork gear shaft (112) and fork axle drive shaft (113) composition, refer to Fig. 5, it is characterized in that: be arranged on imput shaft (14) oscillating bar assembly outward (11), its fork axle drive shaft (113) is arranged on the outside of imput shaft (14) with the form of quill shaft, so that two parts assembly respectively action time do not interfere with each other, and the fork gear shaft (112) of two forks (111) and bottom, under the drive of fork axle drive shaft (113), swing, complete the action of backstop or release individual layer material buttress (16) front end.
See Fig. 3 and 4, chain kit (12) in the embodiment of the present invention, form primarily of chain (121), sprocket wheel (122), radius stay (123), rolling bearing units (124) and compact heap (125), chain kit (12) is driven by imput shaft (14), in the guide groove that an one-sided chain (121) forms along each radius stay (123) and the sprocket wheel (122) that is arranged in each key position (referring to Fig. 3 and Fig. 4), compact heap (125) can play the effect to rear end sprocket wheel compressing, guiding.The every side of ingehious design only uses single chain (121) in the present invention, completes the action of Double-directional rotary in left side driven unit B (15) and chain kit (12) combined action that is arranged symmetrically with; Oscillating bar assembly (11) is then driven by the driven unit A (10) being arranged in upper right side, completes the action of swing.This assembly ingenious use single-chain structure substitutes existing chain technology (the chain symmetry be namely arranged symmetrically with controls the action that the axial both sides of roller chain open or close), while saving consumptive material, solving the molar behavior that causes because two chains separate action can not the problem of the coordinating and unifying, while alleviating handgrip weight, effectively enhance productivity.
Molar behavior embodiment is: before this robot flood piling end effector performs grasping movement, roller chain axle (13) assembly is closed condition, and the fork gear shaft (112) of oscillating bar assembly (11) is for being retracted to handgrip internal state, and cylinder (8) piston rod is regained, and baffle plate B (7) opens, when robot gripper enters until crawl position, the fork gear shaft (112) of oscillating bar assembly (11) is opened so that casing material enters handgrip inside (as Fig. 3), flood casing material starts to be admitted under the conveying of roller line and the promotion of push rod in robot flood piling end effector, after casing material enters completely, the piston rod of cylinder (8) stretches out, baffle plate B (7) is driven to release, clamping casing buttress, fork gear shaft (112) is regained simultaneously, to advance whole buttress material, make material neat be placed in handgrip midway location, ensure its stability in crawl process.Material occupies and after having arranged, robot drives handgrip and flood material to deliver to above pallet, left side driven unit B (15) rotates backward, so that driving chain transmission component (12) and roller chain axle (13) assembly reverse opening, cylinder (8) piston rod is regained simultaneously, oscillating bar assembly reverse opening, to discharge handgrip upper box, when roller chain axle (13) assembly is opened completely, flood casing is all placed on pallet, namely complete a set of piling action, robot again drives flood piling end effector to return and waits to capture position, start next round piling.
Material used in the present invention uses as far as possible can alleviate the light-duty of clamp weight and strength reliability material, and in guarantee clamp mechanism firm foundations, alleviate structural burden and weight, improve machine human reriability and continuity, make its flexible movements, palletization stablizes; Every side uses single chain to complete Double-directional rotary action, effectively improve capture beat and production efficiency and safe and practical, productive costs can be reduced widely again, the advantage such as extensively can to promote.
Although describe in detail invention has been in conjunction with the embodiments; but those skilled in the art are with being to be understood that; the present invention is not limited only to specific embodiment; on the contrary; do not exceeding the various corrections of the application's spirit and essence, distortion and replacement all drop among the protection domain of the application.
Claims (5)
1. a robot flood piling end effector, comprise handgrip component body, this handgrip component body comprises side plate, below side plate, there is location round bar at two ends, and the inner side above two symmetrical side plates is provided with many aluminium section bar crossbeam A, aluminium section bar crossbeam B and Duo Gen and locates round bar, and connecting panel lower end is arranged on aluminium section bar crossbeam A, connecting panel upper end is connected with robot, also comprise baffle plate A, it is arranged on the rear of installing side plate, for locating individual layer material buttress; Cylinder and pilot bar is respectively arranged with at the lateral surface of described two symmetrical side plates, baffle plate B installs on the guide bar, air cylinder driven baffle plate B to the third side of described two blocks of side plates to movement, thus is convenient to arrange the left and right sides of fixing individual layer material buttress along described pilot bar; Also comprise the oscillating bar assembly being fixed on described side plate front, described oscillating bar assembly is driven by driven unit A, completes the action of swing, and described driven unit A is arranged on the crossbeam above side plate; Also comprise chain kit, chain kit, under the effect of imput shaft and driven unit B, can complete Double-directional rotary, and completes enabling and action of closing the door by the roller chain be fixed on chain, embraces the action of getting and placing with what complete individual layer material buttress.
2. a kind of robot flood piling end effector as claimed in claim 1, it is characterized in that: described driven unit A is arranged on the top of described side plate, it comprises: motor plate, drive motor, synchronous pulley A, Timing Belt and synchronous pulley B, be fixed on the motor plate of aluminium section bar crossbeam B upper end for installing drive motor, the rotation of drive motor by driving active synchronization belt wheel A to drive Timing Belt, synchronous pulley B and imput shaft are rotated, imput shaft drives fork axle drive shaft synchronous axial system, completes and drives oscillating bar assembly swing.
3. a kind of robot flood piling end effector as claimed in claim 1, it is characterized in that: described driven unit B is arranged on a described side plate side relative with described driven unit A, it comprises: motor plate, drive motor, synchronous pulley A, Timing Belt and synchronous pulley B, be fixed on the motor plate of aluminium section bar crossbeam B upper end for installing drive motor, the rotation of drive motor by driving active synchronization belt wheel A to drive Timing Belt, synchronous pulley B and imput shaft are rotated, and the further driving chain transmission component of described imput shaft completes Double-directional rotary action.
4. a kind of robot flood piling end effector as described in Claims 2 or 3 any one, it is characterized in that: described oscillating bar assembly forms primarily of fork, fork gear shaft and fork axle drive shaft, fork axle drive shaft is arranged on the outside of imput shaft with the form of quill shaft, so that two parts assembly respectively action time do not interfere with each other, and the fork gear shaft of two forks and bottom, under the drive of fork axle drive shaft, swing, completes the action of backstop or release individual layer material buttress front end.
5. a kind of robot flood piling end effector described in Claims 2 or 3 any one, it is characterized in that: described chain kit forms primarily of chain, sprocket wheel, radius stay, rolling bearing units and compact heap, chain kit is driven by imput shaft, an one-sided chain is along each radius stay and be arranged in the guide groove of sprocket wheel composition of each key position, and compact heap can play the effect to rear end sprocket wheel compressing, guiding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510144928.1A CN104773517A (en) | 2015-03-30 | 2015-03-30 | Robot whole-layer stacking terminal executing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510144928.1A CN104773517A (en) | 2015-03-30 | 2015-03-30 | Robot whole-layer stacking terminal executing device |
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| Publication Number | Publication Date |
|---|---|
| CN104773517A true CN104773517A (en) | 2015-07-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510144928.1A Pending CN104773517A (en) | 2015-03-30 | 2015-03-30 | Robot whole-layer stacking terminal executing device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108552121A (en) * | 2018-07-03 | 2018-09-21 | 山东省农业科学院植物保护研究所 | A kind of rotary bee card producing device |
| CN109178902A (en) * | 2018-11-06 | 2019-01-11 | 广东美的智能机器人有限公司 | It keeps off draw box mechanism and piles up device |
| CN109573431A (en) * | 2018-11-27 | 2019-04-05 | 中民筑友科技投资有限公司 | A kind of automatic access elevator and automatic access jacking system |
| CN110000765A (en) * | 2019-05-03 | 2019-07-12 | 江西制造职业技术学院 | The translation crawl robot mechanism of high speed two of toothed belt transmission structure |
| CN113787526A (en) * | 2021-09-08 | 2021-12-14 | 蓝锡龙 | Side-lift type intelligent manipulator for shaping and patting carton in four directions |
| CN114227730A (en) * | 2021-12-31 | 2022-03-25 | 合肥赛摩雄鹰自动化工程科技有限公司 | Box type gripper and stacking robot thereof |
| CN117104901A (en) * | 2023-10-25 | 2023-11-24 | 长沙润伟机电科技有限责任公司 | Be applied to automatic pile up neatly device of automatic packing production line |
-
2015
- 2015-03-30 CN CN201510144928.1A patent/CN104773517A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108552121A (en) * | 2018-07-03 | 2018-09-21 | 山东省农业科学院植物保护研究所 | A kind of rotary bee card producing device |
| CN108552121B (en) * | 2018-07-03 | 2023-09-29 | 安徽国援智能科技有限公司 | Rotary bee card manufacturing device |
| CN109178902A (en) * | 2018-11-06 | 2019-01-11 | 广东美的智能机器人有限公司 | It keeps off draw box mechanism and piles up device |
| CN109178902B (en) * | 2018-11-06 | 2024-05-31 | 广东美的智能机器人有限公司 | Box blocking mechanism and stacking device |
| CN109573431A (en) * | 2018-11-27 | 2019-04-05 | 中民筑友科技投资有限公司 | A kind of automatic access elevator and automatic access jacking system |
| CN109573431B (en) * | 2018-11-27 | 2021-04-20 | 中民筑友科技投资有限公司 | Automatic access elevator and automatic access lifting system |
| CN110000765B (en) * | 2019-05-03 | 2024-05-10 | 江西制造职业技术学院 | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure |
| CN110000765A (en) * | 2019-05-03 | 2019-07-12 | 江西制造职业技术学院 | The translation crawl robot mechanism of high speed two of toothed belt transmission structure |
| CN113787526A (en) * | 2021-09-08 | 2021-12-14 | 蓝锡龙 | Side-lift type intelligent manipulator for shaping and patting carton in four directions |
| CN114227730A (en) * | 2021-12-31 | 2022-03-25 | 合肥赛摩雄鹰自动化工程科技有限公司 | Box type gripper and stacking robot thereof |
| CN114227730B (en) * | 2021-12-31 | 2024-05-10 | 合肥赛摩雄鹰自动化工程科技有限公司 | Box tongs and pile up neatly machine people thereof |
| CN117104901B (en) * | 2023-10-25 | 2024-01-12 | 长沙润伟机电科技有限责任公司 | Be applied to automatic pile up neatly device of automatic packing production line |
| CN117104901A (en) * | 2023-10-25 | 2023-11-24 | 长沙润伟机电科技有限责任公司 | Be applied to automatic pile up neatly device of automatic packing production line |
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Application publication date: 20150715 |