CN106926263A - A kind of robot device and Palletizer and palletizing method - Google Patents
A kind of robot device and Palletizer and palletizing method Download PDFInfo
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- CN106926263A CN106926263A CN201710177865.9A CN201710177865A CN106926263A CN 106926263 A CN106926263 A CN 106926263A CN 201710177865 A CN201710177865 A CN 201710177865A CN 106926263 A CN106926263 A CN 106926263A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000000463 material Substances 0.000 claims abstract description 145
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000003825 pressing Methods 0.000 claims description 74
- 230000033001 locomotion Effects 0.000 claims description 34
- 230000010354 integration Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001483 mobilizing effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention provides a kind of robot device and Palletizer and palletizing method.The robot device includes：Mechanical arm, is provided with crawl section；First travel mechanism, is connected with the mechanical arm, drives the mechanical arm to be moved along desired trajectory；And, telescopic fork plate, it is flexibly connected with the crawl section, relative to the crawl section can linear extendible move, when the telescopic fork plate contracts to the crawl section, the crawl section closes the receiving space to form material, and when the telescopic fork plate away from the crawl section to stretching out, the material of the release receiving space is opened in the crawl section.What the device effectively shortened mechanical arm moves integrally distance, and the utilization rate to space is high, can realize crawl, stacking using the Palletizer and palletizing method of the device and press the operation of steady material, and stacking efficiency high, automation, integration degree are high.
Description
Technical field
The present invention relates to palletizing mechanical technical field, and in particular to a kind of robot device and Palletizer and stacking side
Method.
Background technology
At present, the stacking in a certain order of elongated material is molded using fork plate formula manipulator more than in the market, existing skill
In art, the fork plate relative mechanical arm of fork plate formula manipulator is fixed, and when using, manipulator is by material handling to set-point and by material
Need to extract fork plate after stacking, manipulator need to be moved integrally and forked and carried material, rather than only by the side of mobile fork plate
Formula extracts fork plate, and when fork plate is extracted, whole manipulator both participates in movement, under the limited environment in space, this manipulator
Using can be limited；Meanwhile, the stacking machine using this manipulator is long in the direction up stroke that manipulator is moved integrally, and takes
Unnecessary space, causes the structure of palletizing mechanical equipment more complicated, and wastes the energy；Additionally, existing Palletizer
Though can to a certain extent meet elongated material it is slotting take, the requirement of the two procedures such as stacking, equipment operation is not good enough, code
Pile stability is undesirable, for example, when elongated material by stacking to certain altitude when material upper strata can be more open, loose is upper
Layer material can be impacted to the stacking of new one layer of material again, when elongated material is slightly inclined in the longitudinal direction, can also be made
There is entanglement and superposition in length direction into by the elongated material of stacking, so as to cause stacking to fail, further result in production line
Interruption, be unfavorable for the production operation of orderly stabilization.
Therefore, the invention provides a kind of robot device and Palletizer and palletizing method.
The content of the invention
A kind of robot device and Palletizer and palletizing method are the embodiment of the invention provides, prior art is can solve the problem that
Middle manipulator by space using being limited, and Palletizer stroke is more long, stacking stability difference and the low problem of efficiency.
According to an aspect of the invention, there is provided a kind of robot device, it is characterised in that including：Mechanical arm, first
Travel mechanism and telescopic fork plate, wherein, the mechanical arm is provided with crawl section；First travel mechanism is connected and drives described
Mechanical arm is moved along desired trajectory；The telescopic fork plate is flexibly connected with the crawl section, and can relative to the crawl section
Linear extendible is moved, and the telescopic fork plate contracts during to the crawl section, and the crawl section closes the receiving space to form material,
When the telescopic fork plate away from the crawl section to stretching out, the material of the release receiving space is opened in the crawl section.
According to an aspect of the present invention, the telescopic fork plate includes the expansion link and the fork plate that are connected, described flexible
Bar is flexibly connected with the crawl section, and when driving the fork plate to be moved relative to the crawl section linear extendible, makes the appearance
Receive space closure or openness.
According to an aspect of the present invention, the expansion link is provided with tooth bar, and the crawl section is provided with gear, the gear
The expansion link linear reciprocal movement is engaged and driven with the tooth bar.
According to an aspect of the present invention, the crawl section includes crawl main body and baffle plate, and the crawl main body is provided with
Guided way, one end of the expansion link coordinate with the guided way and can along the guided way linear movement, the expansion link
The other end is fixedly connected with the fork plate, the crawl main body, the baffle plate and the fork plate is formed the receiving sky of closing
Between.
According to an aspect of the present invention, the guided way uses blind hole structure, the expansion link to stretch into the guided way
Vestibule in can along it is described guiding track linear linear reciprocating motion, make the fork plate relative to it is described crawl main body linear telescopic
It is mobile.
According to an aspect of the present invention, the baffle plate is located in the crawl main body by the first pin joint, the gear
Plate can be rotated around first pin joint, the receiving space is opened and closure.
According to an aspect of the present invention, the crawl section also includes the first pressing plate and longitudinal moving mechanism, described first
Connecting rod is movably hinged between pressing plate and the baffle plate, the longitudinal moving mechanism is located at first pressing plate and the crawl master
Between body, the longitudinal moving mechanism can drive first pressing plate to be vertically moved relative to the crawl main body, and described first
Pressing plate can drive the baffle plate to be rotated around first pin joint by the connecting rod, open the receiving space of the crawl section
With closure.
According to an aspect of the present invention, the connecting rod is connected with first pressing plate by sliding block, first pressing plate
Guide chute is provided with, the sliding block is movably arranged in the guide chute, first pressing plate is driven the baffle plate
Open and close the receiving space, and the position of the sliding block is locked in unlatching and closure.
According to an aspect of the present invention, the guide chute is skewed slot.
According to an aspect of the present invention, the guide chute includes straight trough portion and the chute portion of connection.
According to an aspect of the present invention, the crawl main body is provided with the horizontal slide rail matched with the sliding block, described
Sliding block is connected by the horizontal slide rail with the crawl main body, and the sliding block is laterally moved under the constraint of the horizontal slide rail
It is dynamic, draw the baffle plate and open and closure.
According to an aspect of the present invention, guide rail structure is provided between the crawl bottom part body and the fork plate, institute
Guide rail structure connection crawl main body and the fork plate is stated, makes the fork plate along the guide rail structure relative to the crawl master
Body is moved.
According to an aspect of the present invention, the end of the baffle plate is provided with draw-in groove, and the draw-in groove can be with the fork plate clamping.
According to a further aspect of the invention, additionally providing a kind of Palletizer includes the manipulator dress in terms of any of the above
Put, also including supporter and the second pressing plate being located on the supporter and the second travel mechanism, second travel mechanism
Second pressing plate can be driven relative to the supporter longitudinal shift and transverse shift, second pressing plate is used to press steady described
The material of robot device stacking.
According to a further aspect of the invention, second travel mechanism includes being connected with each other and vertical transverse shifting pair
With vertically move pair, it is described vertically move it is secondary drive second pressing plate to be vertically moved relative to the supporter, the transverse direction
Prismatic pair drives second pressing plate to be moved relative to the stacking material and supporter transversal stretching.
According to a further aspect of the invention, described being vertically moved connected by mounting bracket between secondary and described transverse shifting pair
Connect, it is described to vertically move secondary the first mounting surface for connecting the supporter and the mounting bracket, the secondary connection institute of the transverse shifting
The second mounting surface of the second pressing plate and the mounting bracket is stated, the first mounting surface of the mounting bracket is vertical with the second mounting surface.
According to a further aspect of the invention, a kind of stacking material method is additionally provided, above-mentioned Palletizer code is used
The method of pile material, comprises the following steps：
Crawl material, operates first travel mechanism to drive the mechanical arm to move at material to be captured, and operation is described
Telescopic fork plate contracts to the crawl section, while forking the material into the receiving space of crawl section, is then shut off the appearance
Receive space, material is transferred to stacking position；
Stacking material, operates the telescopic fork plate to cross out, and opens the receiving space of crawl section, the material that will be captured
Discharged to stacking position from the receiving space；
Steady material is pressed, the second travel mechanism is operated, the second pressing plate is moved into stacking position and the material top of stacking is pressed in
Press steady material.
To sum up, in robot device of the invention, using telescopic fork plate, telescopic fork plate is linearly stretched relative to mechanical arm
Contracting motion, can form manipulator crawl section is turned on and off state, only needs telescopic fork plate linear extendible motion, without
Manipulator integrally participate in movement can capture with stacking material, using unrestricted in the limited environment in space；Code of the invention
Pile equipment, employ above-mentioned robot device for capture with stacking material, and by the second pressing plate by the material pressure of stacking
Surely, make stacking material regular compact, the whole machine displacement of the equipment is shorter, improves the stability and economy of material stacking
Property；Palletizing method of the invention, can accordingly realize capturing material, stacking material and press the operation requirement of steady material, operation is flexible
It is convenient, improve automation, the integration degree of production.
Brief description of the drawings
The schematic diagram of fork plate opening when Fig. 1 is a kind of robot device crawl material of the embodiment of the present invention one；
The schematic diagram of fork plate closure state when Fig. 2 is the crawl section crawl material of the embodiment of the present invention one；
The schematic diagram of fork plate opening when Fig. 3 is a kind of robot device crawl material of the embodiment of the present invention two；
The schematic diagram of fork plate closure state when Fig. 4 is the crawl section crawl material of the embodiment of the present invention two；
Fig. 5 is the sliding block and horizontal slide rail scheme of installation of the embodiment of the present invention two；
Fig. 6 is the intersubjective guide rail structure schematic diagram of fork plate of the invention and crawl section；
Fig. 7 is baffle plate end groove position schematic diagram of the invention；
Fig. 8 is a kind of Palletizer stacking of the embodiment of the present invention and schematic diagram when pressing steady material；
Schematic diagram when Fig. 9 is a kind of Palletizer stacking material of the embodiment of the present invention.
In figure, 1：First travel mechanism；2：Mechanical arm；3 connecting rods；4 first pressing plates；5：Sliding block；6：Crawl main body；7：Longitudinal direction
Slide rail；8：Horizontal slide rail；9：Baffle plate；10：Telescopic fork plate；11：Expansion link；12：Fork plate；13：Guided way；14：Material；15：
Second pressing plate；16：Mounting bracket；17：Transverse shifting pair；18：Vertically move pair；19：First pin joint；20：Guide chute；21：
Mobile arm；22：Crawl section；23：Draw-in groove；24：Supporter.
Specific embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following examples it is detailed
Thin description and accompanying drawing are used to exemplarily illustrate principle of the invention, but are not limited to the scope of the present invention, i.e., the present invention is not
It is limited to described preferred embodiment, the scope of the present invention is defined by the claims.
, it is necessary to explanation, unless otherwise indicated, " vertical ", " parallel " are more than in the description of the embodiment of the present invention
Absolute sense in mathematical meaning, it can be understood as " substantially vertical ", " almost parallel ".
When Fig. 1 and Fig. 2 schematically show the robot device crawl material of the embodiment of the present invention one, telescopic fork plate
10 unlatching and closure state, robot device of the invention, the material for capturing material and will be captured are placed on stacking
Position.The device includes mechanical arm 2, the first travel mechanism 1 and telescopic fork plate 10, and mechanical arm 2 is provided with crawl section 22, crawl section
22 and telescopic fork plate 10 can form receiving space, for capturing material 14, the first travel mechanism 1 is connected and drives with mechanical arm 2
Dynamic whole mechanical arm 2 is moved along desired trajectory.
Telescopic fork plate 10 is flexibly connected with crawl section 22, and telescopic fork plate 10 can linear extendible relative to crawl section 22
Motion, only operates the stretching motion of telescopic fork plate 10 to be formed crawl section 22 and opens and closure state, when telescopic fork
Plate 10 contracts during to crawl section 22, can close crawl section 22, forms the receiving space of material 14, in telescopic fork plate 10 from stretching out
During retraction, material 14 is forked to receiving space, be capable of achieving crawl and transport the operation of material to stacking position
It is required that；When telescopic fork plate 10 away from crawl section 22 to stretching out, can open crawl section 22 and discharge the material of receiving space
14, the material 14 of crawl can be placed on predetermined stacking position, realize the operation requirement of stacking material.
It is understood that mechanical arm 2 is also provided with the mobile arm 21 being connected with crawl section 22, specifically, first
Travel mechanism 1 can by connecting and drive mobile arm 21 drive crawl section 22 move, electric power, fluid power or mechanical force can be used
The first travel mechanism 1 is driven to move as power source etc. mode, and according to actual code pile locational requirement, by the first moving machine
Structure 1 is connected and drives mechanical arm 2 to drive crawl section 22 to be moved at least two freedom degree planes, such as transverse shifting and/or vertical
To movement, the first travel mechanism 1 can use cross slid platform or similar means, as long as can realize making crawl section 22 in material 14
Moved freely between crawl position and stacking position.
Therefore, robot device according to embodiments of the present invention, by setting the structure of telescopic fork plate 10, crawl and
During stacking material, need to only drive telescopic fork plate 10 to be moved relative to the linear extendible of crawl section 22, without whole mechanical arm 2 all
Movement is participated in, displacement is shortened, and in the case where space is limited, can also meet the use requirement of crawl and stacking,
And saving the energy, robot device of the invention has the advantages that compact conformation, easy to operate, energy-saving.
Telescopic fork plate 10 includes the expansion link 11 being connected and fork plate 12, and activity connects between expansion link 11 and crawl section 22
Connect and can be movable relatively, by expansion link 11 relative to the mobilizing exercises of crawl section 22, expansion link 11 can drive coupled fork
Plate 12 does linear linear telescopic motion relative to crawl section 22, while so that the receiving space of crawl section 22 is realized opening and closed
Conjunction state, specifically, the connected mode between expansion link 11 and crawl section 22 can be being slidably connected or engaging connection for contact,
Can also be that contactless sensing is connected or electricly connected, in the protection domain of the present invention program.
Preferably, between expansion link 11 and crawl section 22 by the way of being slidably connected, can be by fluid power, electric power or machinery
The type of drive such as power, specific attachment structure mode is as described below：
Crawl section 22 includes crawl main body 6 and baffle plate 9, and crawl main body 6 is provided with guided way 13, one end of expansion link 11 with
Guided way 13 coordinates, and expansion link 11 can move along a straight line along guided way 13, and the other end of expansion link 11 is fixedly connected with fork plate 12,
Crawl main body 6, baffle plate 9 and fork plate 12 is set to form the receiving space of closing.In specific implementation, expansion link 11 can be flat with fork plate 12
Row is set, and height of the interval more than forked material 14 between the two, and in the present embodiment, fork plate 12 uses L-type structure,
One end connection expansion link 11, the other end can be similar, it is also possible to which that expansion link 11 is designed into l-shaped using steel plate to fork part,
One end of expansion link 11 of L-type coordinates with the guided way 13 on crawl section 22, expansion link 11 is movably coupled to crawl section 22,
When expansion link 11 is moved along guided way 13, fork plate 12 can be driven to open and close relative to crawl section 22, by expansion link 11
With the guiding of guided way 13 with relative movement is merged, drive fork plate 12 to move, realize the Linear telescopic movement of fork plate 12, enter
One step realizes unlatching of the fork plate 12 relative to crawl section 22 and closure state.
Baffle plate 9 forks end near fork plate 12, makes baffle plate 9 that the receiving space of closing can be formed with fork plate 12, crawl section 22.
In specific implementation, baffle plate 9 can be fixedly installed relative to crawl section 22, also movable setting, during using mode is fixedly installed, gear
Plate 9 can be integrally formed with crawl section 22, connector can also be used and is fixedly connected；During using movable set-up mode, baffle plate 9 with crawl
Can be flexibly connected using articulated manner between portion 22.
Guided way 13 uses blind hole structure, expansion link 11 to stretch into the vestibule of guided way 13, and expansion link 11 can be along guided way
13 linear reciprocating motions, so as to drive fork plate 12 to be moved relative to crawl main body linear telescopic.It should be noted that can be according to stretching
Between contracting bar 11 and guided way 13 it is connected mode or contactless connection and uses different power sources.As shown in Fig. 2 this
Invention is slidably connected preferably by contact, and expansion link 11 is stretched into the vestibule of guided way 13, can form plunger hydraulic
Pump, the stretching motion in the cavity of guided way 13 of expansion link 11 is promoted using hydraulic coupling, therefore, expansion link 11 and guided way 13
Concrete structure can refer to the structure type design of pluger type hydraulic pump, while settable control valve, is used to adjust hydraulic flow,
Make constrictor 11 in the presence of hydraulic coupling along the linear reciprocating motion of guided way 13, so as to drive fork plate 12 relative to crawl section 22
The movement of line reciprocal telescopic formula is stretched, using the structure of this pluger type hydraulic pump, motion process can be made more steady reliable.
Alternatively, using the engagement system drive connection of gear and tooth bar between expansion link 11 and crawl section 22.Wherein, stretch
Contracting bar 11 is provided with tooth bar, and crawl section 22 is provided with gear, and the gear on crawl section 22 is engaged and driven with the tooth bar on expansion link 11
The linear reciprocating motion of dynamic expansion link 11, expansion link 11 drives fork plate 12 to move, realizes unlatching and the closure of crawl section 22.Behaviour
When making, the tooth bar energy linear reciprocating motion that is engaged with of driving while gear positive and negative rotation, it is achieved thereby that fork plate 12 is stretched
Contracting motion.
Also referring to Fig. 3 and Fig. 4, the robot device of the embodiment of the present invention two, for capturing material and will be captured
Material be placed on stacking position.
Embodiment two is with the structure difference of the robot device of embodiment one：Baffle plate 9 passes through the first pin joint
19 are located in crawl main body 6, and baffle plate 9 can be rotated around the first pin joint 19, as long as controlling baffle plate 9 is rotated relative to crawl main body 6,
The receiving space of crawl section 22 can be made to open and closure.
Crawl section 22 also includes the first pressing plate 4 and longitudinal moving mechanism, and main body 6 is connected with arm 21 is moved, and both can be with
It is to be integrally formed, or split is fixedly connected.Connecting rod 3, the first pressing plate 4 are movably hinged between first pressing plate 4 and baffle plate 9
The transverse shifting of drive link 3, connecting rod 3 drive baffle plate 9 rotated around the first pin joint 19, make crawl section 22 receiving space open with
Closure.As figure shows, baffle plate 9, the pressing plate 4 of connecting rod 3 first and main body 6 constitute linkage, by the first pressing plate 4 as driving link,
Traction link 3 drives baffle plate 9 to be rotated relative to main body 6 relative to the transverse shifting of main body 6.Decline in the first pressing plate 4 and compress material
When 14, baffle plate 9 is gradually in closure state, can firmly capture material 14 and be transported to stacking position, rises in the first pressing plate 4
When unclamping material 14, baffle plate 9 is gradually in opening, can unclamp the material 14 of crawl and be placed on stacking position.Using connecting rod
Stress and the principle of motion transmission, realize being synchronized with the movement for baffle plate 9 and the first pressing plate 4 in mechanism, stabilization crawl material with
During stacking material, the stability that the first pressing plate 4 had both realized material while binder and blowing also synchronously realizes drive
The function of the dynamic automatic shutter of baffle plate 9, makes the receiving space of material be closed and open, and improves crawl material and stacking material work
The stability and automaticity of sequence.
Connecting rod 3 is connected with the first pressing plate 4 by sliding block 5, and the first pressing plate 4 is provided with guide chute 23, and the activity of sliding block 5 is installed
In guide chute 20.First pressing plate 4 constrains sliding block 5 transverse shifting of drivening rod 3 by gathering sill 20, and traction baffle plate 9 is opened
Open with closure, and in unlatching and closure lock slider 5 position, due to being limited by longitudinal moving mechanism in longitudinal direction and
By guide chute 20 guiding and laterally limit effect, the motion track of sliding block 5 is limited, and sliding block 5 is locked in extreme position,
Baffle plate 9 and the timing of distance one of the pin joint and the first pin joint of connecting rod, can be such that baffle plate 9 is locked in unlatching and closure, carry
The stability of operation high.
It is each between sliding block 5 and connecting rod 3 and between the pressing plate 4 of connecting rod 3 and first it should be noted that in the present embodiment
From flexible connection, under the solution of the present invention principle, sliding block 5 can also be a part for connecting rod 3, specifically can be in connecting rod 3
End bends out the part matched with guide chute 20, in the solution of the present invention protection domain.
Alternatively, as a kind of implementation method, guide chute 20 is skewed slot, and sliding block 5 is received the skew force of guide chute 20
Decompose, sliding block 5, because the first pressing plate 4 is limited by longitudinal moving mechanism, can make first relative to the transverse shifting of the first pressing plate 4
Pressing plate 4 is laterally fixed relative to main body 6, i.e., relative to the transverse shifting of main body 6, the drivening rod 3 of sliding block 5 is relative to main body for sliding block 5
6 transverse shiftings, make baffle plate 9 be rotated around the first pin joint 19, realize unlatching and the closure of baffle plate, and guide chute 20 is designed to skewed slot
Structure, makes device of the invention just to meet baffle plate automatically open and close using simple structure, and locked in corresponding state
Positioning is put, and integrated operation is easy, and reliability is high.
Alternatively, as another embodiment, guide chute 20 includes straight trough portion and the chute portion of connection.When the first pressure
When plate 4 is moved longitudinally through the horizontally extending well section mechanism and presses to material 14, sliding block 5 is risen to by the pressure effect of chute portion relative to the first pressing plate 4
During straight trough portion, baffle plate 9 progressivelyes reach closed mode, and sliding block 5 is limited by the transverse shifting of guide chute 20, while by longitudinal mechanism
Vertically move limitation, closed mode can be locked in straight trough portion, due to the first pressing plate 4 compress material, capture material 14
It is more firm, and stacking position can be transported to by the stabilization of mechanical arm 1.When the first pressing plate 4 is moved longitudinally through the horizontally extending well section mechanism lifts to de-
During from material 14, sliding block 5 enters chute portion by the straight trough portion of guide chute 20 first, and sliding block 5 is acted on by the pressure of chute portion
When dropping to chute portion relative to the first pressing plate 4, baffle plate 9 progressivelyes reach opening, horizontal limit of the sliding block 5 by guide chute 20
System, while being vertically moved limitation, sliding block 5 can lock opening in chute portion so that the first pressing plate 4 departs from material simultaneously certainly
It is dynamic to open baffle plate, it is easy to for material 14 to be placed on stacking position, operation shape body stabilization, and, with good operability and automatic
Property.
With reference to shown in Fig. 3, Fig. 4 and Fig. 5, main body 6 is provided with the horizontal slide rail 8 matched with sliding block 5, and sliding block 5 is by laterally
Slide rail 8 is connected with main body 6, the transverse shifting under the constraint of horizontal slide rail 8 of sliding block 5, and traction baffle plate 9 is opened and closure.
As shown in fig. 6, being provided with guide rail structure between the bottom of the main body 6 of crawl section 22 and fork plate 12, guide rail structure connects
The main body 6 and fork plate 12 of crawl section 22 are connect, fork plate 12 is moved relative to crawl section 22 along guide rail structure, further make fork plate
12 relative to the steady telescopic moving in crawl section 22.Guide rail structure has played connection supporting role, fork plate 12 is formed with crawl section 22
Rock-steady structure, is conducive to capturing the stability of material, and in specific implementation, guide rail structure can use guide rail and guide type structure, example
Such as, the guide rail of projection is set in fork plate, the guide groove matched with projection is set in the bottom of crawl section 22, the projection of fork plate 12
Guide rail can gently be slided along the guide groove of crawl section 22.
As shown in fig. 7, baffle plate 9 is being provided with draw-in groove 23 in the end near fork plate 12, when baffle plate 9 is closed, fork plate 12 is forked
End and the clamping of draw-in groove 23, further strengthen baffle plate closure state and stability, make material capture and transport it is more stable can
Lean on.
According to a further aspect of the invention, a kind of Palletizer is additionally provided, is mainly used in that material is captured and transported
To stacking position and again that the good material pressure of stacking is steady, Fig. 8 and Fig. 9 schematically shows Palletizer of the present invention in stacking
Embodiment during with the steady material of pressure.
As shown in Figure 8 and Figure 9, a kind of robot device of Palletizer of present invention offer, including foregoing invention scheme.
Supporter 1 is provided with the second pressing plate 15 and the second travel mechanism, and the second travel mechanism drives the second pressing plate 15 relative to supporter 1
Longitudinal shift and transverse shift, the second pressing plate 15 is used to press the material 14 of steady robot device stacking.By the second moving machine
Structure is moved in horizontal and vertical two freedom degree planes, drives the second pressing plate 15 to be moved to stacking position and to the material of stacking
14 carry out pressing steady operation.While stability, automaticity and the economy of material crawl and material stacking is realized, moreover it is possible to will
The material pressure of stacking is steady and regular arrangement, the material of final stacking is more neatly stablized, it is to avoid because material loosening loses stacking
The problem that production line is interrupted caused by losing.Palletizer automation of the invention and integrated level are high, improve stacking efficiency.
Second travel mechanism includes being connected with each other and vertical transverse shifting secondary 17 and vertically moves secondary 18, vertically moves pair
18 the second pressing plates 15 of driving are vertically moved relative to supporter 1, and transverse shifting secondary 17 drives the second pressing plate 15 relative to stacking
Material 14 and the transversal stretching of supporter 1 are moved.Wherein, transverse shifting secondary 17 can use chute slide rail type with vertically moving secondary 18
Prismatic pair, can be also driven using rack-and-pinion, as long as the second pressing plate can be driven orthogonal in horizontal and vertical two frees degree
Moved freely in plane, be all contained in the solution of the present invention principle.
Vertically move and connected by mounting bracket 16 between pair and transverse shifting pair, vertically move secondary 18 and connect the He of supporter 1
First mounting surface of mounting bracket 16, transverse shifting secondary 17 connects the second mounting surface of the second pressing plate 15 and mounting bracket 16, mounting bracket
The first mounting surface it is vertical with the second mounting surface.By two vertical mounting surfaces, the fixation of the second travel mechanism was both realized,
Also enable the second pressing plate 15 that arrival is moved freely in orthogonal two planes by the position of stacking, to realize that pressure is steady regular
Operation, with the flexible simple advantage of operation.
According to a further aspect of the invention, a kind of stacking material method is additionally provided, including uses foregoing invention scheme
Palletizer, refer to Fig. 8 and Fig. 9, the method for the stacking material is comprised the following steps：
Crawl material, the first travel mechanism of operation drives mechanical arm to move at material to be captured, and operates telescopic fork plate straight
Line contracts to the crawl section, while forking the material into the receiving space of crawl section, is then shut off the receiving space, will
Material is transferred to stacking position；
Stacking material, operates the telescopic fork plate to cross out, and opens the receiving space of crawl section, the material that will be captured
Discharged to stacking position from the receiving space；
Steady material is pressed, the second travel mechanism is operated, the second pressing plate is moved into stacking position and the material top of stacking is pressed in
Press steady material.
As shown in figure 8, crawl material 14, including the step of fork material, closed baffle plate and mobile material：
First travel mechanism drives the transverse shifting of mechanical arm 2 and/or longitudinally moves to the top of material 14 to be captured, and makes
Fork plate 12 is concordant with the bottom of material 14, operation fork plate 12 relative to the cross-direction shrinkage of crawl section 22, and fork material 14 enter grab
Take the receiving space in portion 22；
Operation longitudinal moving mechanism drives the longitudinal direction of the first pressing plate 4 to press to material 14, and sliding block 5 is limited by guide chute 20,
Relative to the transverse shifting of the first pressing plate 4, drive baffle plate 9 to rotate and form closure state, the position of lock slider 5 with fork plate 12；
The first travel mechanism is operated to drive mechanical arm 2 to move, the material 14 for being forked is moved to stacking position with mechanical arm 2
Put.
As shown in figure 9, stacking material 14, including the step of unlatching baffle plate 9 and placement material 14：
Operation longitudinal moving mechanism drives the longitudinal direction of the first pressing plate 4 to climb away material 14, and sliding block 5 is limited by guide chute 20
System, relative to the transverse shifting of the first pressing plate 4, drives baffle plate 9 to rotate and forms opening, the position of lock slider 5 with fork plate 12
Put；
Operation fork plate 12 is crossed out relative to crawl section 22, and the receiving space of crawl section 22 is in opening, material
14 are placed on stacking region；
With reference to Fig. 8 and Fig. 9, steady material 14 is pressed, the second travel mechanism of operation drives the second pressing plate 15 to be moved to stacking region
The top of material 14, pushing the second pressing plate 15 makes the second pressing plate 15 press steady material 14, when material is placed again, operation second
Travel mechanism drives the second pressing plate 15 to leave by pressure material 14.
By using stacking material method of the invention, material crawl is steady, and stacking efficiency high has saved the energy, both contracts
The short displacement of whole machine, simplifies device structure, has saved using energy source, and can stablize crawl and transport material, improves
The stacking efficiency of material, in addition, capturing and transporting material simultaneously, also achieving will be steady by the material of stacking pressure, it is ensured that by code
The regularity of pile material, further increases stacking efficiency, the method is particularly suited for the elongated material of stacking, it is to avoid elongated thing
Expect the loose caused stacking failure problem of stacking in the longitudinal direction.
In sum, there is a kind of robot device of the invention structure to simplify, simple operation, in crawl material, stacking
Material and when pressing steady material, need to only operate fork plate relative to mechanical arm stretching motion, effectively shorten the movement of mechanical arm away from
From, overall equipment displacement shortens, and simplifies equipment configuration, has saved the energy, and to the practical of environment；Furthermore, this
A kind of Palletizer of invention, moreover it is possible to realize the effect of the steady regular material of pressure, further improve stacking efficiency；Finally, the present invention
A kind of stacking material method, process operations are easy, and automation, integration degree are high, and applicability is good, can be flexibly applied to production
Crawl, transport, stacking and the regular requirement of variety classes material on line, improve stacking efficiency, reduce production cost.
Although by reference to preferred embodiment, invention has been described, is not departing from the situation of the scope of the present invention
Under, various improvement can be carried out to it and part therein can be replaced with equivalent.Especially, as long as in the absence of structure punching
Prominent, the every technical characteristic being previously mentioned in each embodiment can combine in any way.The invention is not limited in text
Disclosed in specific embodiment, but all technical schemes including falling within the scope of the appended claims.
Claims (17)
1. a kind of robot device, it is characterised in that including：
Mechanical arm, is provided with crawl section；
First travel mechanism, is connected with the mechanical arm, drives the mechanical arm to be moved along desired trajectory；And,
Telescopic fork plate, is flexibly connected with the crawl section, relative to crawl section linear extendible motion, the telescopic fork
Plate contracts during to the crawl section, and the crawl section closes the receiving space to form material, and the telescopic fork plate is to away from described
When crawl section is stretched out, the material of the release receiving space is opened in the crawl section.
2. robot device according to claim 1, it is characterised in that it is flexible that the telescopic fork plate includes being connected
Bar and fork plate, the expansion link are flexibly connected with the crawl section, and drive the fork plate linearly to be stretched relative to the crawl section
During contracting motion, make the receiving space closure or openness.
3. robot device according to claim 2, it is characterised in that the expansion link is provided with tooth bar, the crawl
Portion is provided with gear, and the gear is engaged with the tooth bar and drives the expansion link linear reciprocal movement.
4. robot device according to claim 2, it is characterised in that the crawl section includes crawl main body and baffle plate,
The crawl main body is provided with guided way, and one end of the expansion link coordinates with the guided way and can be along the guiding track linear
Motion, the other end of the expansion link is fixedly connected with the fork plate, makes the crawl main body, the baffle plate and the fork plate can
Form the receiving space of closing.
5. robot device according to claim 4, it is characterised in that the guided way uses blind hole structure, described to stretch
Contracting bar is stretched into the vestibule of the guided way can make the fork plate relative to institute along the linear reciprocating motion of the guiding track linear
State the linear telescopic movement of crawl main body.
6. robot device according to claim 4, it is characterised in that the baffle plate is located at described by the first pin joint
In crawl main body, the baffle plate around first pin joint rotates when, the receiving space is opened and closed.
7. robot device according to claim 6, it is characterised in that the crawl section also includes the first pressing plate and longitudinal direction
Travel mechanism, is movably hinged with connecting rod between first pressing plate and the baffle plate, the longitudinal moving mechanism is located at described
Between one pressing plate and the crawl main body, the longitudinal moving mechanism can drive first pressing plate relative to the crawl main body
Vertically move, first pressing plate can drive the baffle plate to be rotated around first pin joint by the connecting rod, make described grabbing
The receiving space for taking portion is opened and closure.
8. robot device according to claim 7, it is characterised in that the connecting rod passes through sliding block with first pressing plate
Connection, first pressing plate is provided with guide chute, and the sliding block is movably arranged in the guide chute, makes first pressure
Plate can drive the baffle plate to open and close the receiving space, and the position of the sliding block is locked in unlatching and closure.
9. robot device according to claim 8, it is characterised in that the guide chute is skewed slot.
10. robot device according to claim 8, it is characterised in that the guide chute includes the straight trough portion of connection
And chute portion.
11. robot device according to claim 9 or 10, it is characterised in that the crawl main body be provided with it is described
The horizontal slide rail of sliding block matching, the sliding block is connected by the horizontal slide rail with the crawl main body, and the sliding block is described
Transverse shifting under the constraint of horizontal slide rail, draws the baffle plate and opens and closure.
12. robot devices according to claim 11, it is characterised in that in crawl bottom part body and the fork plate
Between be provided with guide rail structure, guide rail structure connection crawl main body and the fork plate makes the fork plate along the guide rail
Structure is moved relative to the crawl main body.
13. robot devices according to claim 12, it is characterised in that the end of the baffle plate is provided with draw-in groove, described
Draw-in groove can be with the fork plate clamping.
14. a kind of Palletizers, it is characterised in that including the robot device described in any one of claim 1 to 13, also include
Supporter and the second pressing plate being located on the supporter and the second travel mechanism, second travel mechanism can drive described
Second pressing plate is vertically moved and/or transverse shifting relative to the supporter, and second pressing plate is used to press the steady manipulator
The material of device stacking.
15. Palletizers according to claim 14, it is characterised in that second travel mechanism include be connected with each other and
Vertical transverse shifting is secondary and vertically moves pair, and the pair that vertically moves drives second pressing plate vertical relative to the supporter
To movement, the transverse shifting is secondary to drive second pressing plate to be moved relative to the stacking material and supporter transversal stretching.
16. Palletizers according to claim 15, it is characterised in that it is described vertically move it is secondary with the transverse shifting pair
Between connected by mounting bracket, it is described to vertically move secondary the first mounting surface for connecting the supporter and the mounting bracket, it is described
Secondary the second mounting surface for connecting second pressing plate and the mounting bracket of transverse shifting, the first mounting surface of the mounting bracket and the
Two mounting surfaces are vertical.
A kind of 17. stacking material methods, it is characterised in that the Palletizer stacking described in usage right 14 to 16 any one of requirement
The method of material, comprises the following steps：
Crawl material, operates first travel mechanism to drive the mechanical arm to move at material to be captured, and operates described flexible
Formula fork plate contracts to the crawl section, while forking the material into the receiving space of crawl section, is then shut off the receiving empty
Between, material is transferred to stacking position；
Stacking material, operates the telescopic fork plate to cross out, and opens the receiving space of crawl section, and the material that will be captured is from institute
Receiving space is stated to discharge to stacking position；
Steady material is pressed, the second travel mechanism is operated, the second pressing plate is moved into stacking position and the material top pressure of stacking is pressed in surely
Material.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177865.9A CN106926263B (en) | 2017-03-23 | 2017-03-23 | Manipulator device, stacking equipment and stacking method |
| PCT/CN2018/079793 WO2018171620A1 (en) | 2017-03-23 | 2018-03-21 | Mechanical arm apparatus, and stacking equipment and stacking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177865.9A CN106926263B (en) | 2017-03-23 | 2017-03-23 | Manipulator device, stacking equipment and stacking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106926263A true CN106926263A (en) | 2017-07-07 |
| CN106926263B CN106926263B (en) | 2024-01-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710177865.9A Active CN106926263B (en) | 2017-03-23 | 2017-03-23 | Manipulator device, stacking equipment and stacking method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106926263B (en) |
| WO (1) | WO2018171620A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018171620A1 (en) * | 2017-03-23 | 2018-09-27 | 大连富地重工机械制造有限公司 | Mechanical arm apparatus, and stacking equipment and stacking method |
| CN112009922A (en) * | 2019-05-31 | 2020-12-01 | 河南许继仪表有限公司 | Columnar material extraction device |
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| Publication number | Publication date |
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| CN106926263B (en) | 2024-01-09 |
| WO2018171620A1 (en) | 2018-09-27 |
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