CN118254208A - Improved pallet transferring manipulator - Google Patents

Abstract

The invention relates to an improved pallet transfer manipulator which comprises a bottom plate, at least four support columns, a bearing plate, a transfer mechanism and a supporting component, wherein the bottom plate is arranged on the bottom plate; at least four the support column is installed perpendicularly in the four corners of bottom plate respectively, the loading board assembly is with the top of at least four support columns, transfer mechanism installs on the loading board, hold in the palm and carry the subassembly setting on transfer mechanism. This improved generation tray shifts manipulator adsorbs the tray through the suction effect of absorbing the subassembly and then with the tray for tray and the effectual laminating of absorbing the subassembly, lift up the tray through Z axle motion module simultaneously, later adjust the tray through X axle motion module in epaxial position of X, through the suction effect of absorbing the subassembly, can adsorb the tray on transfer mechanism effectively, ensure the firm laminating between tray and the subassembly of absorbing, thereby realize safe and reliable's transportation process, in addition, change the centre gripping mode of transporting, damage plastic uptake tray when avoiding transporting.

Description

Improved pallet transferring manipulator

Technical Field

The invention relates to the technical field of tray transfer manipulators, in particular to an improved tray transfer manipulator.

Background

The plastic tray is a container and packaging tool made by using equipment such as a plastic molding machine, a punch press and the like, plastic hard sheets are made into plastic with specific grooves by adopting a plastic molding process, products are placed in the grooves, the effects of protecting and beautifying the products are achieved, and the plastic tray is also used for packaging transportation type trays, and the materials are generally PVC, APET, PETG, PP and PS.

The plastic tray is also called a plastic inner support, plastic hard sheets are made into plastic with specific grooves by adopting a plastic sucking process, and products are placed in the grooves, so that the effects of protecting and beautifying the products are achieved, and the products can be safer during transportation.

Because the plastic sucking tray is usually made of plastic, the whole plastic sucking tray is softer, the conventional common transfer manipulator usually adopts a clamping mode, but for the transfer of the plastic tray, the clamping fixture may damage the tray in the clamping and releasing processes, particularly stress concentration is easy to occur at the edge or corner of the tray, so that the tray is deformed or broken, and the clamping mode may not provide enough stability due to the softness of the tray, so that the tray is easy to slide or overturn in the carrying process, and the carrying efficiency and safety are affected.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an improved tray transfer manipulator which solves the problems that a tray is soft, the clamping mode possibly cannot provide enough stability, so that the tray is easy to slide or overturn in the carrying process, and the carrying efficiency and the safety are affected.

In order to achieve the above purpose, the present invention provides the following technical solutions: an improved pallet transfer manipulator comprises a bottom plate, at least four support columns, a bearing plate, a transfer mechanism and a supporting component;

The support columns are respectively and vertically arranged at four corners of the bottom plate, the bearing plate is assembled with the top ends of the support columns, the transfer mechanism is arranged on the bearing plate, and the support assembly is arranged on the transfer mechanism;

The transfer mechanism comprises an X-axis movement module, a Z-axis movement module and a suction assembly;

The X-axis movement module is arranged on the bearing plate, and the Z-axis movement module is connected to the X-axis movement module in a transmission way, so that the X-axis movement module and the Z-axis movement module can drive the suction assembly to move along the Z-axis and the X-axis directions when in operation;

the sucking component is connected to the Z-axis movement module in a transmission way and used for sucking the tray.

Further, the suction component comprises a mounting plate, an air pump, a three-phase air pipe and a plurality of suckers;

The mounting plate is connected to the Z-axis motion module in a transmission way, the air pump is assembled on the mounting plate, the three-phase air pipe is communicated with the output end of the air pump, and the plurality of suckers are respectively communicated with two ends of the air pipe, so that the air pump can absorb the tray in the operation process.

Further, at least four connecting rods are installed on the lower surface of the mounting plate, and the bottom ends of the at least four connecting rods are provided with the same transverse plate.

Further, at least three of the sucking discs are arranged on the lower surface of the transverse plate at intervals along the Y axis.

Further, the transfer mechanism also comprises a rotating structure, wherein the rotating structure comprises a rotating motor, a plane bearing and a disc;

The rotating motor is assembled on the lower surface of the bearing plate, and the disc is rotationally connected on the upper surface of the bearing plate through the plane bearing.

Further, the X-axis moving module is mounted on the disk such that the X-axis moving module can rotate on the XY plane.

Further, the supporting component is arranged on the transverse plate and comprises at least four guide rods, at least two supporting plates and a driving structure;

At least four every two guide bars are respectively installed on two sides of the transverse plate in a group, at least two support plates are respectively connected to the outer sides of the two groups of guide bars in a sliding mode, and the driving structure is arranged on the transverse plate and used for driving the two support plates to move back to back.

Further, the cross section of the support plate on the XZ surface is L-shaped, and a limiting ring is arranged at one end of the guide rod far away from the transverse plate;

and a spring is arranged between the limiting ring and the supporting plate.

Further, the driving structure comprises at least two transmission plates, a cam, an assembly plate and a driving motor;

At least two the drive plate is installed respectively in two opposite one sides of holding in the palm the carrier plate, the cam sets up at least two between the opposite one side of drive plate, the assembly plate is installed in the outside of four at least connecting rods, driving motor installs on the assembly plate, just driving motor's output is connected with the cam transmission to drive two drive plates and two support carrier plates and move dorsad when making the cam rotate.

Further, at least two of the transmission plates and the cams are located in the same X-axis direction.

Compared with the prior art, the technical scheme of the application has the following beneficial effects:

1. This improved generation tray shifts manipulator adsorbs the tray through the suction effect of absorbing the subassembly and then with the tray for tray and the effectual laminating of absorbing the subassembly, lift up the tray through Z axle motion module simultaneously, later adjust the tray through X axle motion module in epaxial position of X, through the suction effect of absorbing the subassembly, can adsorb the tray on transfer mechanism effectively, ensure the firm laminating between tray and the subassembly of absorbing, thereby realize safe and reliable's transportation process, in addition, change the centre gripping mode of transporting, damage plastic uptake tray when avoiding transporting.

2. This improved generation tray shifts manipulator through the below at the diaphragm installation support board, the L type cross section shape design that supports the support board promptly has considered the best support to the tray for support the support board can cover the tray bottom effectively, provides better support and protection, and promotes two support boards through spring force effect and move to the opposite direction, ensures that the transverse position on two support boards all moves to the tray below of being absorbed, with this effect that plays the protection to the tray.

Drawings

FIG.1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of a transfer mechanism according to the present invention;

FIG. 3 is an enlarged schematic view of the structure A in FIG. 2 according to the present invention;

FIG. 4 is a schematic view of a rotary structure according to the present invention;

FIG. 5 is a schematic view of a carrier assembly according to the present invention;

Fig. 6 is a schematic view of a bottom view of the carrier assembly of the present invention.

In the figure: 1. a bottom plate; 2. a support column; 3. a transfer mechanism; 301. an X-axis movement module; 302. a Z-axis movement module; 303. a mounting plate; 304. an air pump; 305. a three-phase air pipe; 306. a suction cup; 307. a connecting rod; 308. a cross plate; 4. a carrier assembly; 401. a guide rod; 402. a support plate; 403. a spring; 404. a drive plate; 405. a cam; 406. a driving motor; 407. an assembly plate; 408. a limiting ring; 5. a carrying plate; 6. a rotating structure; 601. a rotating electric machine; 602. a planar bearing; 603. a disk.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, an improved pallet transferring manipulator in this embodiment is used for transferring a plastic sucking pallet, and changing a clamping transferring mode to avoid damaging the plastic sucking pallet during transferring.

Specifically, the device comprises a bottom plate 1, at least four support columns 2, a bearing plate 5, a transfer mechanism 3 and a carrying assembly 4; at least four support columns 2 are respectively and vertically arranged at four corners of the bottom plate 1, the bearing plate 5 is assembled with the top ends of the at least four support columns 2, the transfer mechanism 3 is arranged on the bearing plate 5, and the support assembly 4 is arranged on the transfer mechanism 3.

In the in-service use process, hoist the tray through transport mechanism 3, shift the tray to another place the point through the cooperation between the inside each part of transport mechanism 3 simultaneously, and in the in-process of transporting, through the cooperation between the inside each part of support carrier assembly 4, can play the effect of protection to the tray of hoist, avoid the tray unexpected dropping after hoisting.

Referring to fig. 2-3, in order to facilitate lifting and transferring the pallet, the transferring mechanism 3 in the present embodiment includes an X-axis moving module 301, a Z-axis moving module 302, and a suction assembly; the X-axis movement module 301 is arranged on the bearing plate 5, and the Z-axis movement module 302 is connected to the X-axis movement module 301 in a transmission way, so that the X-axis movement module 301 and the Z-axis movement module 302 can drive the suction component to move along the Z-axis and the X-axis directions during operation; the suction assembly is drivingly connected to the Z-axis motion module 302 for sucking the tray.

In the in-service use process, adsorb the tray through the suction effect of absorbing the subassembly for the effectual laminating of tray and absorbing the subassembly, hang the tray through Z axle motion module 302 simultaneously, follow the position of adjusting the tray on the X axle through X axle motion module 301.

When setting up in practice, through the suction effect of absorbing the subassembly, can adsorb the tray on transport mechanism 3 effectively, ensure the firm laminating between tray and the subassembly of absorbing to realize safe and reliable's transportation process, in addition, through the combination of X axle motion module 301 and Z axle motion module 302, make the subassembly of absorbing can remove along Z axle and X axle direction, and then can adjust the position and the direction of tray in a flexible way, adapt to different transportation demands.

In detail, in order to play a role in adsorbing the tray, the suction assembly in this embodiment includes a mounting plate 303, an air pump 304, a three-phase air pipe 305, and a plurality of suction cups 306; the mounting panel 303 transmission is connected on Z axle motion module 302, and air pump 304 assembles on mounting panel 303, and three-phase trachea 305 intercommunication is at the output of air pump 304, and a plurality of sucking discs 306 communicate with the both ends of three-phase trachea 305 respectively to make air pump 304 absorb the tray in the in-process of operation.

In the in-service use process, negative pressure suction is generated through the operation of the air pump 304, and the sucker 306 is communicated with the air pump 304 through the three-phase air pipe 305, so that when the sucker 306 is close to the tray, the tray can be sucked up through the action of the negative pressure suction.

In addition, through the combination of air pump 304 and sucking disc 306, can produce sufficient negative pressure suction for the tray can be firmly adsorbed on transport mechanism 3, ensured stability and the security in the transportation process, the assembly of air pump 304 and the design of three-phase trachea 305 make the suction subassembly can produce the suction rapidly in the operation in-process, realize the quick suction to the tray, improved operating efficiency.

It should be noted that, in order to ensure that the suction cups 306 effectively suck the tray, in this embodiment, at least four connecting rods 307 are mounted on the lower surface of the mounting plate 303, the bottom ends of the at least four connecting rods 307 are equipped with the same transverse plate 308, and at least three suction cups 306 are arranged on the lower surface of the transverse plate 308 at intervals along the Y axis.

In the actual setting, with a plurality of sucking disc 306 interval setting at diaphragm 308's lower surface, can realize sucking disc 306's evenly distributed for the adsorption affinity can be acted on the bottom of tray uniformly, has guaranteed that the tray is effectively adsorbed and remains stable, in addition, the setting up of connecting rod 307 and diaphragm 308 makes the interval between the sucking disc 306 controlled, can strengthen the stability of adsorption affinity effectively, has avoided there being too big clearance between the sucking disc 306 to lead to adsorbing inhomogeneous or the condition of inefficacy.

Referring to fig. 4, in order to increase the range of tray transfer, the transfer mechanism 3 in the present embodiment further includes a rotating structure 6, and the rotating structure 6 includes a rotating motor 601, a planar bearing 602, and a disc 603; the rotating motor 601 is mounted on the lower surface of the carrier plate 5, the disc 603 is rotatably connected to the upper surface of the carrier plate 5 through the plane bearing 602, and the X-axis moving module 301 is mounted on the disc 603 such that the X-axis moving module 301 can rotate on the XY plane.

In the actual use process, the output end of the rotating motor 601 is rotated to drive the disc 603 connected with the rotating motor in a transmission manner to rotate, and the disc 603 is used for driving the X-axis movement module 301, the Z-axis movement module 302 and the suction assembly to rotate on the XY plane, so that the tray is transported.

In the actual setting, through introducing revolution mechanic 6 for the function of tray transport mechanism 3 has obtained the enhancement, can realize the rotation on the XY face, thereby has enlarged the scope of tray transportation, can adjust the position and the direction of tray more nimble, in order to adapt to different work demands and scene.

Referring to fig. 5-6, in order to protect the tray and avoid the tray from falling down due to loosening during adsorption and transfer, the carrying assembly 4 in this embodiment is disposed on the transverse plate 308, and the carrying assembly 4 includes at least four guide rods 401, at least two carrying plates 402 and a driving structure; at least four guide bars 401 are respectively arranged on two sides of the transverse plate 308 in a group, at least two support plates 402 are respectively connected to the outer sides of the two groups of guide bars 401 in a sliding manner, and a driving structure is arranged on the transverse plate 308 and used for driving the two support plates 402 to move back.

In addition, the cross section of the carrier plate 402 on the XZ plane is L-shaped, and a limiting ring 408 is arranged at one end of the guide rod 401 away from the transverse plate 308; springs 403 are mounted between the stop collar 408 and the carrier plate 402.

In the actual use process, the two support plates 402 are pushed to move oppositely under the action of the elasticity of the springs 403 at the left side and the right side, so that the transverse parts on the two support plates 402 are moved to the lower parts of the sucked trays, and the trays are protected.

In addition, the setting of four guide bars 401 makes the support subassembly 4 fixed stable on diaphragm 308, is difficult for taking place to remove or rock, keeps the firm support of tray, ensures the accuracy and the stability of tray position in the transportation process, and the L type cross section shape design of support plate 402 has considered the best support to the tray moreover for support plate 402 can cover the tray bottom effectively, provides better support and protection, and promotes two support plates 402 opposite movement through spring 403 spring action, ensures that the lateral part on two support plates 402 all moves to the tray below of being absorbed.

Specifically, in order to facilitate the removal of the two carrier plates 402 from under the tray, the driving structure in this embodiment includes at least two transmission plates 404, a cam 405, a mounting plate 407 and a driving motor 406; at least two drive plates 404 are respectively installed on one side opposite to the two support plates 402, a cam 405 is arranged between one side opposite to the at least two drive plates 404, a mounting plate 407 is installed on the outer sides of at least four connecting rods 307, a driving motor 406 is installed on the mounting plate 407, and the output end of the driving motor 406 is in transmission connection with the cam 405, so that the two drive plates 404 and the two support plates 402 are driven to move back when the cam 405 rotates.

In the actual use process, the output end of the driving motor 406 rotates to drive the cam 405 to rotate, the protruding parts on two sides of the cam 405 are attached to the driving plates 404, so that the two driving plates 404 and the supporting plates 402 are pushed to move back, the two supporting plates 402 are simultaneously moved away from the lower part of the tray, the air pump 304 is stopped at the moment, the tray is separated from the sucker 306, and the transfer of the tray is completed.

It should be noted that, in order to facilitate driving the two driving plates 404 and the two supporting plates 402 to move back, at least two driving plates 404 and the cam 405 in the embodiment are located in the same X-axis direction.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. An improved generation tray shifts manipulator, its characterized in that: comprises a bottom plate (1), at least four support columns (2), a bearing plate (5), a transfer mechanism (3) and a supporting component (4);

The support columns (2) are vertically arranged at four corners of the bottom plate (1), the bearing plate (5) is assembled with the top ends of the support columns (2), the transfer mechanism (3) is arranged on the bearing plate (5), and the carrying assembly (4) is arranged on the transfer mechanism (3);

The transfer mechanism (3) comprises an X-axis movement module (301), a Z-axis movement module (302) and a suction assembly;

The X-axis movement module (301) is arranged on the bearing plate (5), and the Z-axis movement module (302) is connected to the X-axis movement module (301) in a transmission manner, so that the X-axis movement module (301) and the Z-axis movement module (302) can drive the suction assembly to move along the Z-axis and the X-axis directions during operation;

The sucking component is connected to the Z-axis movement module (302) in a transmission manner and is used for sucking the tray.

2. The improved pallet transfer robot of claim 1, wherein: the suction assembly comprises a mounting plate (303), an air pump (304), a three-phase air pipe (305) and a plurality of suckers (306);

the mounting plate (303) is connected to the Z-axis movement module (302) in a transmission mode, the air pump (304) is assembled on the mounting plate (303), the three-phase air pipe (305) is communicated with the output end of the air pump (304), and the plurality of sucking discs (306) are respectively communicated with the two ends of the air pipe (305) so that the air pump (304) sucks the tray in the operation process.

3. The improved pallet transfer robot of claim 2, wherein: at least four connecting rods (307) are arranged on the lower surface of the mounting plate (303), and the bottom ends of the at least four connecting rods (307) are provided with the same transverse plate (308).

4. An improved pallet transfer robot as defined in claim 3, wherein: at least three of the sucking discs (306) are arranged on the lower surface of the transverse plate (308) at intervals along the Y axis.

5. The improved pallet transfer robot of claim 1, wherein: the transfer mechanism (3) further comprises a rotating structure (6), and the rotating structure (6) comprises a rotating motor (601), a plane bearing (602) and a disc (603);

the rotary motor (601) is assembled on the lower surface of the bearing plate (5), and the disc (603) is rotatably connected on the upper surface of the bearing plate (5) through a plane bearing (602).

6. The improved pallet transfer robot of claim 5, wherein: the X-axis movement module (601) is mounted on the disk (603) so that the X-axis movement module (301) can rotate on an XY plane.

7. An improved pallet transfer robot as defined in claim 3, wherein: the supporting component (4) is arranged on the transverse plate (308), and the supporting component (4) comprises at least four guide rods (401), at least two supporting plates (402) and a driving structure;

at least four guide rods (401) are respectively arranged on two sides of the transverse plate (308) in a group, at least two support plates (402) are respectively connected to the outer sides of the two groups of guide rods (401) in a sliding mode, and the driving structure is arranged on the transverse plate (308) and used for driving the two support plates (402) to move back to back.

8. The improved pallet transfer robot of claim 7, wherein: the cross section of the support plate (402) on the XZ surface is L-shaped, and a limiting ring (408) is arranged at one end of the guide rod (401) far away from the transverse plate (308);

A spring (403) is arranged between the limiting ring (408) and the carrier plate (402).

9. The improved pallet transfer robot of claim 7, wherein: the driving structure comprises at least two transmission plates (404), a cam (405), a mounting plate (407) and a driving motor (406);

At least two drive plates (404) are respectively installed on one side opposite to the two support carrier plates (402), a cam (405) is arranged between one side opposite to the two drive plates (404), the assembly plate (407) is installed on the outer side of at least four connecting rods (307), a driving motor (406) is installed on the assembly plate (407), and the output end of the driving motor (406) is in transmission connection with the cam (405), so that the cam (405) drives the two drive plates (404) and the two support carrier plates (402) to move back when rotating.

10. The improved pallet transfer robot of claim 9, wherein: at least two transmission plates (404) and cams (405) are positioned in the same X-axis direction.