CN203767640U - Connection rod palletizing robot - Google Patents
Connection rod palletizing robot Download PDFInfo
- Publication number
- CN203767640U CN203767640U CN201420178883.0U CN201420178883U CN203767640U CN 203767640 U CN203767640 U CN 203767640U CN 201420178883 U CN201420178883 U CN 201420178883U CN 203767640 U CN203767640 U CN 203767640U
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- China
- Prior art keywords
- large arm
- forearm
- leading screw
- erecting frame
- arm
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Abstract
The utility model discloses a connection rod palletizing robot which comprises a base, a waist rotary support, an arm installation rack, a big arm mechanism, a sub big arm mechanism, a small arm mechanism and grippers. The waist rotary support is fixed on the base, the arm installation rack is fixed on the waist rotary support, the big arm mechanism and the sub big arm mechanism are movably connected to the arm installation rack, the small arm mechanism is connected with the big arm mechanism, and the grippers are fixed at the tail end of the small arm mechanism. The connection rod palletizing robot can be applied to the fields like petroleum, chemical industry, food processing, beverage and logistics, can be set according to parameters like different material packages, palletizing orders and the number of layers, can process a plurality kinds of materials and palletize a plurality of material stacks at the same time, can complete loading, unloading, freightage, palletizing, stack-releasing of packages of bags and boxes, is small in occupied area, simple in structure, and high in flexibility, greatly reduces labor intensity of workers, and improves production efficiency.
Description
Technical field
The utility model relates to a kind of connecting rod robot palletizer.
Background technology
From late 1970s, since Robotics is used for stacking and stacking technology by Japan, robot palletizing technology has become one of gordian technique in automated material post-processing complete equipment, along with the development of automatic Weighing, packing technique and the raising of performance figure, the requirements such as flexibility, processing speed and weight capacity to robot palletizer improve constantly, and palletizing technology is also had higher requirement.
Robot palletizer is a kind of articulated robot with specific function, is widely used in the fields such as oil, chemical industry, food processing, beverage, logistics.Robot palletizer can arrange according to parameters such as different material packages, stacking sequence, the numbers of plies, meets the piling requirement of Different Package.Robot palletizer floor area is little, can process the multiple material buttress of various materials and piling simultaneously, is more and more subject to users' favor and dominates the market rapidly.The use of robot palletizer greatly reduces hand labor intensity, has improved production efficiency, and modern robot palletizer can complete the work such as transport, piling and the un-heaping of the multiple packaging such as a bag class, case class.
Robot palletizer is generally articulated robot, and its driver train is mainly connected in joint by servomotor, retarder.The each arm section of common robot palletizer arm has two kinds of mode of motion, a kind of is that servomotor, the retarder of the each arm section of arm is direct-connected at joint, the each arm section of arm can only be rotated around its joint, the stress point of its power is at joint part, robot palletizer there are certain requirements the operating speed of arm, so just make the driving servomotor power of robot require greatly, unfavorable energy-conservation; Servomotor, the retarder of the each arm section of another mode arm are connected to joint by ball-screw vertical, level, and ball-screw vertical, level does vertically, horizontal motion, and or not with arm rotation, the flexibility of the robot palletizer of this form is not bad.
Summary of the invention
The utility model, in order to address the above problem, has proposed a kind of connecting rod robot palletizer, and this apparatus structure is simple, flexible high, effectively reduces hand labor intensity, enhances productivity.
To achieve these goals, the utility model adopts following technical scheme:
A kind of connecting rod robot palletizer, comprise base, waist revolution support, arm erecting frame, large arm mechanism, secondary large arm mechanism, little arm mechanism and paw, wherein, waist revolution is supported and is fixed on base, arm erecting frame is fixed on waist revolution to be supported, large arm mechanism, secondary large arm mechanism are movably connected on arm erecting frame, and forearm mechanism connects large arm mechanism, and paw is fixed on the end of little arm mechanism.
Described large arm mechanism, comprises forearm motor mechanism erecting frame, forearm leading screw, forearm leading screw connection bearing, forearm leading screw track, large arm brace panel, forearm erecting frame.Wherein large arm brace panel one end connects forearm motor mechanism erecting frame, and the other end connects forearm erecting frame; Forearm leading screw track one end connects forearm motor mechanism erecting frame, and the other end connects forearm erecting frame; One end of forearm leading screw is connected with forearm motor mechanism through forearm motor mechanism erecting frame, the other end is connected with forearm erecting frame through forearm leading screw connection bearing; forearm motor mechanism erecting frame is provided with large arm pivot shaft; large arm pivot shaft is connected with large arm axle bearing, and large arm axle bearing is fixed on arm erecting frame.
Described little arm mechanism, comprises forearm leading screw attaching parts, little arm brace and forearm; Wherein, one end of little arm brace is connected with forearm leading screw attaching parts by forearm leading screw connector shaft; the other end is connected with one end of forearm by forearm pull rod shaft, forearm is connected with large arm mechanism by forearm installation shaft, and the other end of forearm is connected with paw.
Described forearm leading screw attaching parts is fixed with forearm feed screw nut and forearm leading screw track bearing, and forearm leading screw is through forearm feed screw nut, and forearm leading screw track bearing is connected with forearm leading screw track.
Described forearm erecting frame is provided with forearm installation shaft, is connected with little arm mechanism.
The large arm mechanism of described pair, comprises large arm motor mechanism, great Bei drive motor mechanism erecting frame, secondary large arm axle, secondary large arm guide rail, secondary large arm guide rail slip bearing, secondary large arm leading screw, secondary large arm feed screw nut, secondary large arm attaching parts, secondary large arm cylinder bar, secondary large arm cylinder bar linear bearing, secondary large arm leading screw connection bearing, secondary large jib; Wherein, secondary large arm guide rail one end is connected with great Bei drive motor mechanism erecting frame, and the other end and pair greatly jib are connected; Secondary large arm leading screw one end is connected with secondary large arm leading screw connection bearing, and secondary large arm leading screw connection bearing is fixed on secondary large jib, and the other end is connected with large arm motor mechanism through great Bei drive motor mechanism erecting frame; Secondary large arm cylinder bar one end is fixed on secondary large arm attaching parts, and the other end is connected with the large arm cylinder of the pair bar axle on forearm erecting frame through secondary large arm cylinder bar linear bearing; Secondary large arm feed screw nut and secondary large arm guide rail slip bearing are fixed on secondary large arm attaching parts, and secondary large arm feed screw nut is connected with secondary large arm leading screw, and secondary large arm guide rail slip bearing is connected with secondary large arm guide rail; great Bei drive motor mechanism erecting frame is provided with secondary large arm axle.
The large arm axle of pair of the large arm mechanism of described pair is connected with secondary large arm axle bearing, and secondary large arm axle bearing is fixed on arm erecting frame.
Principle of work of the present utility model is: large arm motor mechanism drives the large arm feed screw nut of pair of secondary large arm leading screw to prolong secondary large arm lead screw straight-line, drive secondary large arm attaching parts motion, drive secondary large arm cylinder bar motion, the fore and aft motion that forms secondary large arm mechanism, drives large arm mechanism to be rotated centered by large arm pivot shaft; Rotatablely moving of large arm mechanism can drive the secondary large arm mechanism other end with the motion of the large arm cylinder of pair bar axle, and then drives secondary large arm mechanism one end to be rotated centered by the large arm axle of pair, can also drive forearm mechanism kinematic, and forearm mechanism drives paw motion; Forearm motor mechanism drives the feed screw nut of forearm leading screw to prolong forearm lead screw straight-line, drives the motion of forearm leading screw attaching parts, drives the motion of forearm pull bar, drives forearm to be rotated centered by forearm installation shaft.
The beneficial effects of the utility model are: the utility model can be applied to the fields such as oil, chemical industry, food processing, beverage, logistics, robot palletizer can arrange according to parameters such as different material packages, stacking sequence, the numbers of plies, can process the multiple material buttress of various materials and piling simultaneously, and complete the multiple work such as the loading, unloading, goods transport, piling, un-heaping of the multiple packaging such as a bag class, case class, robot palletizer floor area is little, simple in structure, flexible high, greatly reduce hand labor intensity, improved production efficiency.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Wherein, 1. base, 2. waist revolution is supported, 3. arm erecting frame, 4. secondary large arm axle bearing, 5. large arm motor mechanism, 6. great Bei drive motor mechanism erecting frame, 7. secondary large arm axle, 8. secondary large arm guide rail, 9 secondary large arm guide rail slip bearings, 10. secondary large arm leading screw, 11. secondary large arm feed screw nuts, 12. secondary large arm attaching partss, 13. secondary large arm cylinder bars, 14. secondary large arm cylinder bar linear bearings, 15. secondary large arm cylinder bar axles, 16. secondary large arm leading screw connection bearings, 17. large arm pivot shafts, 18. forearm motor mechanisms, 19. forearm motor mechanism erecting frames, 20. forearm leading screws, 21. forearm feed screw nuts, 22. forearm leading screw connection bearings, 23. forearm leading screw tracks, 24. forearm leading screw track bearings, 25. forearm erecting frames, 26. forearm leading screw attaching partss, 27. forearm leading screw connector shaft, 28. little arm braces, 29. forearm pull rod shaft, 30. forearm installation shaft, 31. forearms, 32. paws, 33. large arm axle bearings, 34. secondary large jibs, 35. large arm brace panels.
Detailed description of the invention:
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail.
As shown in Figure 1, a kind of connecting rod robot palletizer, comprise base 1, waist revolution support 2, arm erecting frame 3, large arm mechanism, secondary large arm mechanism, little arm mechanism and paw 32, wherein, waist revolution is supported 2 and is fixed on base 1, and arm erecting frame 3 is fixed on waist revolution to be supported on 2, and large arm mechanism, secondary large arm mechanism are movably connected on arm erecting frame 3; forearm mechanism connects large arm mechanism, and paw 32 is fixed on the end of little arm mechanism.
Described large arm mechanism, comprises forearm motor mechanism erecting frame 19, forearm leading screw 20, forearm leading screw connection bearing 22, forearm leading screw track 23, large arm brace panel 35, forearm erecting frame 25.Wherein large arm brace panel 35 one end connect forearm motor mechanism erecting frame 19, and the other end connects forearm erecting frame 25; Forearm leading screw track 23 one end connect forearm motor mechanism erecting frame 19, and the other end connects forearm erecting frame 25; One end of forearm leading screw 20 is connected with forearm motor mechanism 18 through forearm motor mechanism erecting frame 19, and the other end is connected with forearm erecting frame 25 through forearm leading screw connection bearing 22.Forearm motor mechanism erecting frame 19 is provided with large arm pivot shaft 17, and large arm pivot shaft 17 is connected with large arm axle bearing 33, and large arm axle bearing 33 is fixed on arm erecting frame 3.
Described little arm mechanism, comprises forearm leading screw attaching parts 26, forearm pull bar 28 and forearm 31; Wherein, one end of forearm pull bar 28 is connected with forearm leading screw attaching parts 26 by forearm leading screw connector shaft 27; other end is connected with one end of forearm 31 by forearm pull rod shaft 29; forearm 31 is connected with large arm mechanism by forearm installation shaft 30, and the other end of forearm 31 is connected with paw 32.
Forearm leading screw attaching parts 26 is fixed with forearm feed screw nut 21 and forearm leading screw track bearing 24, and forearm leading screw 20 is through forearm feed screw nut 21, and forearm leading screw track bearing 24 is connected with forearm leading screw track 23.
Forearm erecting frame 25 is provided with forearm installation shaft 30, is connected with little arm mechanism.
The large arm mechanism of described pair, comprises large arm motor mechanism 5, great Bei drive motor mechanism erecting frame 6, secondary large arm axle 7, secondary large arm guide rail 8, secondary large arm guide rail slip bearing 9, secondary large arm leading screw 10, secondary large arm feed screw nut 11, secondary large arm attaching parts 12, secondary large arm cylinder bar 13, secondary large arm cylinder bar linear bearing 14, secondary large arm leading screw connection bearing 16, secondary large jib 34.Wherein secondary large arm guide rail 8 one end are connected with great Bei drive motor mechanism erecting frame 6, and the other end and pair greatly jib 34 are connected; Secondary large arm leading screw 10 one end are connected with secondary large arm leading screw connection bearing 16, and secondary large arm leading screw connection bearing 16 is fixed on secondary large jib 34, and the other end is connected with large arm motor mechanism 5 through great Bei drive motor mechanism erecting frame 6; Secondary large arm cylinder bar 13 one end are fixed on secondary large arm attaching parts 12, and the other end is connected with the large arm cylinder of the pair bar axle 15 on forearm erecting frame 25 through secondary large arm cylinder bar linear bearing 14; Secondary large arm feed screw nut 11 and secondary large arm guide rail slip bearing 9 are fixed on secondary large arm attaching parts 12, and secondary large arm feed screw nut 11 is connected with secondary large arm leading screw 10, and secondary large arm guide rail slip bearing 9 is connected with secondary large arm guide rail 8; great Bei drive motor mechanism erecting frame 6 is provided with secondary large arm axle 7.
The large arm axle 7 of pair of the large arm mechanism of described pair is connected with secondary large arm axle bearing 4, and secondary large arm axle bearing 4 is fixed on arm erecting frame 3.
Arm erecting frame 3, large arm mechanism and secondary large arm mechanism form first connecting rod mechanism.
Large arm mechanism, composition second connecting rod mechanism of forearm mechanism.
Large arm motor mechanism 5 drives the large arm feed screw nut 11 of pair of secondary large arm leading screw 10 to prolong secondary large arm leading screw 10 straight-line motions, drive secondary large arm attaching parts 12 to move, drive secondary large arm cylinder bar 13 to move, the fore and aft motion that forms secondary large arm mechanism, drives large arm mechanism to be rotated centered by large arm pivot shaft 17;
Rotatablely moving of large arm mechanism can drive the secondary large arm mechanism other end to move with the large arm cylinder of pair bar axle 15, and then drive secondary large arm mechanism one end to be rotated centered by the large arm axle 7 of pair, can also drive forearm mechanism kinematic, forearm mechanism drives paw 32 to move;
Forearm motor mechanism 18 drives the feed screw nut 24 of forearm leading screw 23 to prolong forearm leading screw 23 straight-line motions, drives forearm leading screw attaching parts 26 to move, and drives forearm pull bar 28 to move, and drives forearm 31 to be rotated centered by forearm installation shaft 30.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the not restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection domain of the present utility model.
Claims (7)
1. a connecting rod robot palletizer, it is characterized in that: comprise base, waist revolution support, arm erecting frame, large arm mechanism, secondary large arm mechanism, little arm mechanism and paw, wherein, waist revolution is supported and is fixed on base, arm erecting frame is fixed on waist revolution to be supported, large arm mechanism, secondary large arm mechanism are movably connected on arm erecting frame, and forearm mechanism connects large arm mechanism, and paw is fixed on the end of little arm mechanism.
2. a kind of connecting rod robot palletizer as claimed in claim 1, it is characterized in that: described large arm mechanism, comprise forearm motor mechanism erecting frame; forearm leading screw, forearm leading screw connection bearing, forearm leading screw track; large arm brace panel; forearm erecting frame, wherein large arm brace panel one end connects forearm motor mechanism erecting frame, and the other end connects forearm erecting frame; Forearm leading screw track one end connects forearm motor mechanism erecting frame, and the other end connects forearm erecting frame; One end of forearm leading screw is connected with forearm motor mechanism through forearm motor mechanism erecting frame, the other end is connected with forearm erecting frame through forearm leading screw connection bearing; forearm motor mechanism erecting frame is provided with large arm pivot shaft; large arm pivot shaft is connected with large arm axle bearing, and large arm axle bearing is fixed on arm erecting frame.
3. a kind of connecting rod robot palletizer as claimed in claim 1, is characterized in that: described little arm mechanism, comprises forearm leading screw attaching parts, little arm brace and forearm; Wherein, one end of little arm brace is connected with forearm leading screw attaching parts by forearm leading screw connector shaft; the other end is connected with one end of forearm by forearm pull rod shaft, forearm is connected with large arm mechanism by forearm installation shaft, and the other end of forearm is connected with paw.
4. a kind of connecting rod robot palletizer as claimed in claim 3, it is characterized in that: described forearm leading screw attaching parts is fixed with forearm feed screw nut and forearm leading screw track bearing; forearm leading screw is through forearm feed screw nut, and forearm leading screw track bearing is connected with forearm leading screw track.
5. a kind of connecting rod robot palletizer as claimed in claim 2, is characterized in that: described forearm erecting frame is provided with forearm installation shaft, is connected with little arm mechanism.
6. a kind of connecting rod robot palletizer as claimed in claim 1, is characterized in that: the large arm mechanism of described pair, comprises large arm motor mechanism, great Bei drive motor mechanism erecting frame, secondary large arm axle, secondary large arm guide rail, secondary large arm guide rail slip bearing, secondary large arm leading screw, secondary large arm feed screw nut, secondary large arm attaching parts, secondary large arm cylinder bar, secondary large arm cylinder bar linear bearing, secondary large arm leading screw connection bearing, secondary large jib; Wherein, secondary large arm guide rail one end is connected with great Bei drive motor mechanism erecting frame, and the other end and pair greatly jib are connected; Secondary large arm leading screw one end is connected with secondary large arm leading screw connection bearing, and secondary large arm leading screw connection bearing is fixed on secondary large jib, and the other end is connected with large arm motor mechanism through great Bei drive motor mechanism erecting frame; Secondary large arm cylinder bar one end is fixed on secondary large arm attaching parts, and the other end is connected with the large arm cylinder of the pair bar axle on forearm erecting frame through secondary large arm cylinder bar linear bearing; Secondary large arm feed screw nut and secondary large arm guide rail slip bearing are fixed on secondary large arm attaching parts, and secondary large arm feed screw nut is connected with secondary large arm leading screw, and secondary large arm guide rail slip bearing is connected with secondary large arm guide rail; great Bei drive motor mechanism erecting frame is provided with secondary large arm axle.
7. a kind of connecting rod robot palletizer as claimed in claim 6, is characterized in that: the large arm axle of pair of the large arm mechanism of described pair is connected with secondary large arm axle bearing, and secondary large arm axle bearing is fixed on arm erecting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420178883.0U CN203767640U (en) | 2014-04-14 | 2014-04-14 | Connection rod palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420178883.0U CN203767640U (en) | 2014-04-14 | 2014-04-14 | Connection rod palletizing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203767640U true CN203767640U (en) | 2014-08-13 |
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ID=51284856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420178883.0U Expired - Fee Related CN203767640U (en) | 2014-04-14 | 2014-04-14 | Connection rod palletizing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203767640U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500360A (en) * | 2016-01-14 | 2016-04-20 | 广西大学 | Stacking robot |
| CN108639740A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | Universal clamping robot device |
-
2014
- 2014-04-14 CN CN201420178883.0U patent/CN203767640U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500360A (en) * | 2016-01-14 | 2016-04-20 | 广西大学 | Stacking robot |
| CN105500360B (en) * | 2016-01-14 | 2017-07-18 | 广西大学 | A kind of robot palletizer |
| CN108639740A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | Universal clamping robot device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140813 Termination date: 20200414 |