CN105382830A - Spindle stacking robot - Google Patents
Spindle stacking robot Download PDFInfo
- Publication number
- CN105382830A CN105382830A CN201510884570.6A CN201510884570A CN105382830A CN 105382830 A CN105382830 A CN 105382830A CN 201510884570 A CN201510884570 A CN 201510884570A CN 105382830 A CN105382830 A CN 105382830A
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- CN
- China
- Prior art keywords
- axis module
- axis
- fixed
- track
- spindle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spindle stacking robot. The spindle stacking robot comprises an X-axis ground rack, and a supporting board is mounted on the X-axis ground rack in a sliding mode. The supporting board is connected with a driving device, and the supporting board moves in the X direction along the X-axis ground rack under driving of the driving device. A vertical Z-axis module is fixed to the supporting board and provided with a cantilever, and the cantilever moves up and down under driving of the Z-axis module. A Y-axis module is fixed to the cantilever and provided with a vertical suspension board, and the suspension board moves in the Y direction along the Y-axis module under driving of the Y-axis module. A rotating device with an output shaft is fixed to the suspension board, the center line of the output shaft of the rotating device is parallel to the X axis, a grip is fixed to the output shaft of the rotating device, and the grip rotates in the plane perpendicular to the X axis under driving of the rotating device. Accordingly, the spindle stacking robot is simple in structure, fully automatic and convenient to use.
Description
Technical field
The invention belongs to textile manufacturing equipment technical field, specifically, particularly a kind of spindle robot palletizer.
Background technology
At present, in textile manufacturing, bobbin-winding machine has spinned the single cylinder sand of rear output, and the piling of cylinder sand needs to rely on artificial or other equipment to complete.If completely by manually carrying, not only cost is high, efficiency is low, and the winding easily destroying cylinder sand is complete, and the work under bad environment of spinning workshop, be extremely unfavorable for health.Also have the various gripper robot system of some enterprise developments, replace the manual operation of part, but all exist can not full automation, still need human assistance to operate, and the problem that complex structure, production cost are high.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of spindle robot palletizer full-automatic, easy to use.
Technical scheme of the present invention is as follows: a kind of spindle robot palletizer, comprise X-axis track, described X-axis track is slidably fitted with gripper shoe, described gripper shoe is connected with drive unit, under the driving of drive unit, described gripper shoe does the movement of X-direction along X-axis track; Described gripper shoe is fixed with vertical Z axis module, described Z axis module is provided with cantilever, under the drive of Z axis module, described cantilever moves up and down; Described cantilever is fixed with Y-axis module, described Y-axis module is provided with vertical link plate, under the drive of Y-axis module, described link plate does the movement of Y-direction along Y-axis module; Described link plate is fixed with the whirligig of band output shaft, the output shaft center line of described whirligig is parallel with X-axis, the output shaft of described whirligig is fixed with handgrip, and under the drive of whirligig, described handgrip is at the rotation with in surface vertical with X-axis.
The present invention passes through by X-axis track, Z axis module and Y-axis module build support body, Y-axis module installs handgrip by whirligig, thus make the position of handgrip can along X-axis, Y-axis and Z axis adjustment, and the angle of handgrip can be adjusted by whirligig, in actual use procedure, gripper shoe moves to the bobbin-winding machine side of having spinned along X-axis track, by Z axis module and Y-axis module, link plate is moved to suitable position, whirligig control handgrip be the level of state stretch into spindle central tube in spindle is picked up, by whirligig, handgrip is turned to vertical state again, thus piling is carried out to spindle.Whole like this process is full-automatic, does not need human assistance, very easy to use; And the structure of equipment simply, installs, it is all more convenient to safeguard.
In the below of described Y-axis module, suspension has sucker group.Sucker group is set like this, after every one deck spindle has been put, by sucker group, dividing plate can be placed on this layer of spindle, be convenient to the discharge carrying out lower one deck spindle.
Described sucker group comprises the sucker of four matrix distribution, described Y-axis module is provided with the suspension of two " Jiong " shapes side by side, wherein a side lever and the Y-axis module of suspension described in each are fixedly linked, described link plate, whirligig and handgrip all at suspension between another root side lever and corresponding side surface of Y-axis module, described sucker is fixed on the lower end of each side lever of suspension.The mounting structure of sucker is simple, and efficiently avoid the movement of sucker interference handgrip on Y-axis module.
Described whirligig is made up of rotary cylinder.The structure of whirligig is simple, and cost is low.
Described handgrip comprises three-jaw gas pawl and the strip pawl be fixed on each finger of three-jaw gas pawl refers to, all sides that three described pawls refer to are positioned on same taper seat.The structure of gas pawl is simple, is convenient to the spindle capturing tubular.
Described X-axis track comprises two row base plates, each arranges described base plate all uniformly at intervals, base plate described in each is all provided with leveling board by screw, each row leveling board is all equipped with aluminium section bar, and every row aluminium section bar is fixed with track respectively, and the section of described track is L-shaped, two row tracks are arranged dorsad, the horizontal segment of a row track wherein has groove, two relative row's rollers is installed in the below of described gripper shoe, often arranges described roller and be positioned on the horizontal segment of respective carter.The structure of track is simple, arrangement convenience.The section of track is arranged to " L " shape, and, the horizontal segment of an only row track wherein offers groove, thus make another row not have the roller on reeded track to float, roller on this track not only can float horizontal and vertical, and roller can rotate in this track, allow the differential seat angle in certain limit, so, floating of roller compensates automatically to installation accuracy, avoid that the depth of parallelism that long distance track installation precision causes not is low, fluctuation of service problem, make the laying of track simpler.
The drive unit that described gripper shoe connects comprises motor, the output shaft of described motor is connected with gear, and described gear is positioned at the below of gripper shoe, and the center line of gear is vertically arranged, described X-axis track is fixed with the tooth bar arranged along X-direction, described wheel and rack engagement.Driving and the drive mechanism of gripper shoe are simple.
Described Z axis module and Y-axis module are belt wheel and drive belt configuration, and the driving pulley of Z axis module and Y-axis module driving-belt is all connected with motor, and described cantilever and link plate are separately fixed on the driving-belt of Z axis module and Y-axis module.The structure of Z axis module and Y-axis module is simple.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the stereogram of Fig. 1.
Fig. 3 is the structural representation of track.
Fig. 4 is the structural representation of Y-axis module.
Fig. 5 is the mounting structure schematic diagram of handgrip.
Fig. 6 is the A-A sectional view of Fig. 5.
In figure, mark is as follows: X-axis track 1, base plate 111, leveling board 112, aluminium section bar 113, track 114, gripper shoe 2, Z axis module 3, cantilever 4, Y-axis module 5, sucker 6, suspension 7, whirligig 8, handgrip 9, three-jaw gas pawl 911, pawl refer to 912, link plate 10, roller 11, gear 12 and spindle 13.
Detailed description of the invention
Be exemplary below by embodiment is described with reference to the drawings, be intended to explain the present invention, and can not limitation of the present invention be interpreted as.Be described below in detail embodiments of the invention, described embodiment example is shown in the drawings, wherein represents same or similar element with same or similar label from start to finish or has element that is identical or similar functions.In describing the invention, it should be noted that, for the noun of locality, if any term " " center ", " transverse direction ", " longitudinal direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", " outward ", " clockwise ", indicating positions such as " counterclockwise " and position relationship are based on orientation shown in the drawings or position relationship, only for the ease of describing the present invention and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with particular orientation structure and operation, should not be construed as restriction concrete protection domain of the present invention.In addition, if any term " first ", " second " only for describing object, and instruction or hint relative importance can not be interpreted as or imply the quantity indicating technical characteristic.
In the present invention, except as otherwise clear stipulaties and restriction, should go to understand as broad sense if any the term such as term " assembling ", " being connected ", " connection ", " fixing ", such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Also can be mechanical connection, also can be electrical connection; Can be directly be connected, also can be connected by intermediary, can be that two element internals are connected.For those of ordinary skills, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
Below in conjunction with accompanying drawing, by being further described the specific embodiment of the present invention, make technical scheme of the present invention and beneficial effect thereof clearly, clearly.
As depicted in figs. 1 and 2, the present invention includes X-axis track 1, described X-axis track 1 is slidably fitted with gripper shoe 2.Described X-axis track 1 comprise side by side two row all along X-direction layout base plate 111, each arranges described base plate 111 all uniformly at intervals.Base plate 111 described in each is all provided with leveling board 112 by screw, distance leveling board 112 arranged between the position of screw and base plate 111 can be regulated by screw, be convenient to carry out leveling to leveling board 112.Each row leveling board 112 is all equipped with aluminium section bar 113, every row aluminium section bar 113 is fixed with track 114 respectively.The section of described track 114 is L-shaped, and two row tracks 114 are arranged dorsad, and the horizontal segment of a row track 114 wherein has groove.Two relative row's rollers 11 are installed in the below of described gripper shoe 2, often arrange described roller 11 and be positioned on the horizontal segment of respective carter 114.
As depicted in figs. 1 and 2, described gripper shoe 2 is connected with drive unit, under the driving of drive unit, described gripper shoe 2 does the movement of X-direction along X-axis track 1.The drive unit that described gripper shoe 2 connects comprises motor, and the output shaft of described motor is connected with gear 12, described gear 12 is positioned at the below of gripper shoe 2, and the center line of gear 12 is vertically arranged.Described X-axis track 1 is fixed with the tooth bar arranged along X-direction, and described gear 12 engages with tooth bar.
As depicted in figs. 1 and 2, described gripper shoe 2 is fixed with vertical Z axis module 3, described Z axis module 3 is provided with cantilever 4, under the drive of Z axis module 3, described cantilever 4 moves up and down.Described Z axis module 3 is belt wheel and drive belt configuration, and the driving pulley of Z axis module 3 driving-belt is connected with motor, and described cantilever 4 is fixed on the driving-belt of Z axis module 3, and cantilever 4 can be moved up and down with the driving-belt of Z axis module 3.
As shown in Figure 1, Figure 2 and Figure 4, described cantilever 4 is fixed with Y-axis module 5, described Y-axis module 5 is provided with vertical link plate 10, under the drive of Y-axis module 5, described link plate 10 does the movement of Y-direction along Y-axis module 5.Described Y-axis module 5 is also belt wheel and drive belt configuration, and the driving pulley of Y-axis module 5 driving-belt is also connected with motor, and described link plate 10 is fixed on the driving-belt of Y-axis module 5, makes link plate 10 can with the driving-belt transverse shifting of Y-axis module 5.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5 and Fig. 6, described link plate 10 is fixed with the whirligig 8 of band output shaft, and described whirligig 8 is made up of the rotary cylinder of standard, and the output shaft center line of described whirligig 8 is parallel with X-axis.The output shaft of described whirligig 8 is fixed with handgrip 9, and under the drive of whirligig 8, described handgrip 9 is at the rotation with in surface vertical with X-axis.Described handgrip 9 comprises three-jaw gas pawl 911 and the strip pawl be fixed on each finger of three-jaw gas pawl 911 refers to 912, and three described pawls refer to that all sides of 912 are positioned on same taper seat.Under the effect of three-jaw gas pawl 911, three described pawls refer to 912 mutually draw close or mutually away from.
As shown in Figure 1, Figure 2 and Figure 4, in the below of described Y-axis module 5, suspension has sucker group, described sucker group comprises the sucker 6 of four matrix distribution, described Y-axis module 5 is provided with the suspension 7 of two " Jiong " shapes side by side, wherein a side lever and the Y-axis module 5 of suspension 7 described in each are fixedly linked, described link plate 10, whirligig 8 and handgrip 9 all at suspension 7 between another root side lever and corresponding side surface of Y-axis module 5, described sucker 6 is fixed on the lower end of each side lever of suspension 7.
Operation principle of the present invention is as follows:
Several bobbin-winding machine is lined up row parallel with X-axis track 1, when one of them bobbin-winding machine has spinned, spindle 13 is placed on bracket in the state of droping to the ground by the auxiliary conveying appliance of bobbin-winding machine self, in X-axis track, under the effect of Z axis module and Y-axis module, handgrip 9 moves to this bobbin-winding machine side, the pawl controlling handgrip 9 by whirligig 8 refer to 912 be the level of state stretch into spindle 13 central tube in, three-jaw gas pawl 911 flatulence makes pawl refer to, and spindle 13 clamps by 912, again handgrip 9 is moved on the dividing plate putting spindle 13, and rotate handgrip 9 spindle 13 is vertically placed on dividing plate.
After the spindle 13 on dividing plate occupies, dividing plate for subsequent use is on one side placed on the spindle 13 set by the sucker 6 on Y-axis module, can putting of lower one deck spindle 13 be carried out, finally complete the piling of spindle 13.
Claims (8)
1. a spindle robot palletizer, is characterized in that: comprise X-axis track, described X-axis track is slidably fitted with gripper shoe, described gripper shoe is connected with drive unit, and under the driving of drive unit, described gripper shoe does the movement of X-direction along X-axis track; Described gripper shoe is fixed with vertical Z axis module, described Z axis module is provided with cantilever, under the drive of Z axis module, described cantilever moves up and down; Described cantilever is fixed with Y-axis module, described Y-axis module is provided with vertical link plate, under the drive of Y-axis module, described link plate does the movement of Y-direction along Y-axis module; Described link plate is fixed with the whirligig of band output shaft, the output shaft center line of described whirligig is parallel with X-axis, the output shaft of described whirligig is fixed with handgrip, and under the drive of whirligig, described handgrip is at the rotation with in surface vertical with X-axis.
2. spindle robot palletizer according to claim 1, is characterized in that: in the below of described Y-axis module, suspension has sucker group.
3. spindle robot palletizer according to claim 2, it is characterized in that: described sucker group comprises the sucker of four matrix distribution, described Y-axis module is provided with the suspension of two " Jiong " shapes side by side, wherein a side lever and the Y-axis module of suspension described in each are fixedly linked, described link plate, whirligig and handgrip all at suspension between another root side lever and corresponding side surface of Y-axis module, described sucker is fixed on the lower end of each side lever of suspension.
4. the spindle robot palletizer according to claim 1 or 2 or 3, is characterized in that: described whirligig is made up of rotary cylinder.
5. spindle robot palletizer according to claim 4, is characterized in that: described handgrip comprises three-jaw gas pawl and the strip pawl be fixed on each finger of three-jaw gas pawl refers to, all sides that three described pawls refer to are positioned on same taper seat.
6. spindle robot palletizer according to claim 5, it is characterized in that: described X-axis track comprises two row base plates, each arranges described base plate all uniformly at intervals, base plate described in each is all provided with leveling board by screw, each row leveling board is all equipped with aluminium section bar, every row aluminium section bar is fixed with track respectively, the section of described track is L-shaped, two row tracks are arranged dorsad, the horizontal segment of a row track wherein has groove, two relative row's rollers are installed in the below of described gripper shoe, often arrange described roller to be positioned on the horizontal segment of respective carter.
7. spindle robot palletizer according to claim 6, it is characterized in that: the drive unit that described gripper shoe connects comprises motor, the output shaft of described motor is connected with gear, described gear is positioned at the below of gripper shoe, and the center line of gear is vertically arranged, described X-axis track is fixed with the tooth bar arranged along X-direction, described wheel and rack engagement.
8. spindle robot palletizer according to claim 7, it is characterized in that: described Z axis module and Y-axis module are belt wheel and drive belt configuration, the driving pulley of Z axis module and Y-axis module driving-belt is all connected with motor, and described cantilever and link plate are separately fixed on the driving-belt of Z axis module and Y-axis module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510884570.6A CN105382830B (en) | 2015-12-03 | 2015-12-03 | spindle robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510884570.6A CN105382830B (en) | 2015-12-03 | 2015-12-03 | spindle robot palletizer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105382830A true CN105382830A (en) | 2016-03-09 |
| CN105382830B CN105382830B (en) | 2018-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510884570.6A Active CN105382830B (en) | 2015-12-03 | 2015-12-03 | spindle robot palletizer |
Country Status (1)
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| CN (1) | CN105382830B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107941378A (en) * | 2018-01-15 | 2018-04-20 | 山东大学 | A kind of refrigerator carriage system for detecting temperature and method of work |
| CN108356795A (en) * | 2018-01-04 | 2018-08-03 | 昆山天卓贸易有限公司 | A kind of robot palletizer with movable heat dissipation pedestal |
| CN108584451A (en) * | 2018-04-28 | 2018-09-28 | 杭州亚恩自动化科技有限公司 | Multistation stacking machine |
| CN108714888A (en) * | 2018-05-31 | 2018-10-30 | 四川省海瑞科汽车零部件有限公司 | A kind of right angle coordinate manipulator of high speed fine positioning |
| CN110760957A (en) * | 2018-07-25 | 2020-02-07 | 霍浦维（广东顺德）自动化设备有限公司 | Doffing robot group |
| CN111618900A (en) * | 2020-05-20 | 2020-09-04 | 天津扬天科技有限公司 | Multifunctional paw capable of taking and placing yarn and partition board |
| CN114734418A (en) * | 2022-04-29 | 2022-07-12 | 周奇 | Multi-track inspection robot |
| CN116130393A (en) * | 2022-12-14 | 2023-05-16 | 弥费科技(上海)股份有限公司 | Wafer box transfer mechanism, method, system and storage warehouse |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356795A (en) * | 2018-01-04 | 2018-08-03 | 昆山天卓贸易有限公司 | A kind of robot palletizer with movable heat dissipation pedestal |
| CN107941378A (en) * | 2018-01-15 | 2018-04-20 | 山东大学 | A kind of refrigerator carriage system for detecting temperature and method of work |
| CN108584451A (en) * | 2018-04-28 | 2018-09-28 | 杭州亚恩自动化科技有限公司 | Multistation stacking machine |
| CN108714888A (en) * | 2018-05-31 | 2018-10-30 | 四川省海瑞科汽车零部件有限公司 | A kind of right angle coordinate manipulator of high speed fine positioning |
| CN110760957A (en) * | 2018-07-25 | 2020-02-07 | 霍浦维（广东顺德）自动化设备有限公司 | Doffing robot group |
| CN111618900A (en) * | 2020-05-20 | 2020-09-04 | 天津扬天科技有限公司 | Multifunctional paw capable of taking and placing yarn and partition board |
| CN114734418A (en) * | 2022-04-29 | 2022-07-12 | 周奇 | Multi-track inspection robot |
| CN114734418B (en) * | 2022-04-29 | 2023-09-19 | 瓦力机器人科技（唐山）有限公司 | Multi-track inspection robot |
| CN116130393A (en) * | 2022-12-14 | 2023-05-16 | 弥费科技(上海)股份有限公司 | Wafer box transfer mechanism, method, system and storage warehouse |
| CN116130393B (en) * | 2022-12-14 | 2023-12-15 | 弥费科技(上海)股份有限公司 | Wafer box transfer mechanism, method, system and storage warehouse |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105382830B (en) | 2018-02-09 |
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