CN209038610U - A kind of automotive hub robot palletized unit - Google Patents
A kind of automotive hub robot palletized unit Download PDFInfo
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- CN209038610U CN209038610U CN201820596077.3U CN201820596077U CN209038610U CN 209038610 U CN209038610 U CN 209038610U CN 201820596077 U CN201820596077 U CN 201820596077U CN 209038610 U CN209038610 U CN 209038610U
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- pallet
- wheel hub
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- feeding unit
- stacking
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Abstract
The utility model provides a kind of automotive hub robot palletized unit, including wheel hub conveying roll line, pallet charging equipment, partition library, robot palletizer and packaging roller pipeline.The automotive hub robot palletized unit that the purpose of this utility model is to provide a kind of manufacturing costs is low, stacking is high-efficient, applied widely, can complete the automation stacking of 15 inch and 24 inch wheel hubs；The artificial participation of the utility model is low, packaging efficiency is high, the different wheel hub of automatic identification and can select matched packing manner, meets enterprise practical production needs.
Description
Technical field
The utility model relates to a kind of wheel hub stacking fields of automation technology, and in particular to a kind of automotive hub robot code
Pile unit.
Background technique
With the accelerated development of auto industry, the demand of auto-parts is more and more, and the automatization level of production is got over
Come higher, and wheel hub, since material is typically all aluminium alloy or steel, wheel hub quality compares weighting, therefore, automotive hub code
Pile automation is a bigger demand.In existing wheel hub stacking automation industry, have the following problems, first is that stacking
Wheel hub single variety, a general producing line can only a kind of wheel hub of stacking, second is that automatization level is not high in wheel hub palletization, every
Plate etc. needs artificial loading.
Therefore it needs to design a kind of wheel hub stacking automatic production line, the stacking of large and small wheel hub can be compatible with, reduced to the greatest extent
Artificial participation in wheel hub palletization can free worker from heavy manual labor.
China Patent Publication No.: 105881510A discloses a kind of new-energy automobile wheel hub crawl industrial robot, including
Running gear, adjustable support, rotating device, delta parallel institution and palletizing mechanical arm；The running gear include chassis,
Driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler；The adjustable support includes rotary disk basement, elevating lever, stretches
Contracting crossbeam, adjusts connecting rod, the second shaft and third shaft at first rotating shaft；The rotating device includes rotating electric machine, motor
Seat, column spinner and rotating disk；The delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel-connected induction motors, first turn
Axis, first connecting rod, rotational pin, second connecting rod, the second shaft, rotating basis and limit spring；The palletizing mechanical arm includes
Stacking rack, electric sliding rail, mobile sliding block, electric turntable, hydraulic cylinder, chuck and clamping screw.
It can be seen that the executive device has the following problems:
Although the technical solution of first, above-mentioned utility model can replace manpower, wheel hub is being carried, stacking is carried out
It needs to move back and forth in the process, increases the consumption of time, to reduce working efficiency.
The second, manipulator described in above-mentioned technical proposal is merely able to crawl wheel hub, can not voluntarily add after the completion of stacking
Add partition, causes to still need in partition adding procedure and be completed by manpower, it can not be by worker from heavy manual labor
It frees.
After the completion of stacking, there is still a need for carry out by manpower for the good wheel hub of stacking for robot in third, above-mentioned technical proposal
Transport is packaged, and there is no realize complete automation.
Utility model content
For this purpose, the utility model provides a kind of automotive hub robot palletized unit, to overcome it is in the prior art
The problem of cannot achieve automation in stacking and transportational process, is carried out to wheel hub.
To achieve the above object, the utility model provides a kind of robot palletizer system, comprising: wheel hub robot palletizer list
Member, wheel hub feeding unit material, pallet feeding unit material, partition feeding unit material, tray feeding unit and collection unit.
Further, the wheel hub that the robot palletizer unit is transported according to wheel hub feeding unit material, selects corresponding pallet
Feeding unit material carries out feeding, and the wheel hub is carried out stacking according to corresponding mode on the pallet, and wheel hub stacking is complete
One layer, the robot palletizer unit picks up partition from corresponding partition feeding unit material, and it is complete that partition is placed on the stacking
At wheel hub on it is layered, and the stacking wheel hub on partition, until robot palletizer unit is by wheel hub stacking to the specified number of plies,
The wheel hub that the stacking is completed is transported to next system using collection unit.
Further, the pallet feeding unit material includes tray library one and tray library two, two of them pallet feeding unit material
Place various sizes of pallet；The partition feeding unit material includes partition library one and partition library two, two of them partition feed material list
Member places various sizes of partition；The pallet of the tray library one is identical as the baffle dimensions in partition library one, the support of tray library two
Disk is identical as the baffle dimensions in partition library two.
Further, the robot palletizer unit includes:
To provide the driving mechanism of power；
It is connect with the driving mechanism, under the action of the driving mechanism, does the arm mechanism of multivariant movement；
The T-type support of the arm mechanism end is set；
The side of the T-type support is set, the grasping mechanism of the wheel hub can be grabbed；
The other side of the T-type support is set, to the adsorbing mechanism that partition absorption is got up.
Further, the grasping mechanism includes:
It is arranged in the T-type support and provides the second cylinder of power for wheel hub clamping jaw；
At least two are arranged in the piston rod in second cylinder；
The heavily loaded parallel air gripper being connect with the piston rod, wherein at least two rule of configuration on each heavy duty parallel air gripper
The wheel hub clamping jaw of lattice.
Further, the pallet feeding unit material includes:
The lower part of the pallet feeding unit material is set, the first conveying mechanism to conveying tray；
Horizontal composite moving mechanism above the conveying mechanism is set；
It is connected with the horizontal composite moving mechanism, to grab the pallet clamp jaw mechanism of simultaneously storage trays；
It is set to the pallet horizontal positioning device on pallet clamp jaw mechanism top；
The pallet longitudinal positioning device being set on the pallet feeding unit material bracket；
Elevating mechanism above the horizontal composite moving mechanism is set.
Further, the pallet clamp jaw mechanism includes:
It is connected with the horizontal composite moving mechanism, and loads the pallet clamp jaw main body of the transverse positioning mechanism；
It is arranged below the pallet clamp jaw main body, to store the pallet clamp jaw with conveying tray, wherein pallet clamp jaw
It is L-shaped, and it is equipped with floor in inside, one end of the pallet clamp jaw is connect with pallet clamp jaw main body.
Further, the collection unit includes:
First to convey the pallet summarizes device；
Second perpendicular with the first conveying mechanism transporting direction summarizes device；
It is arranged and second summarizes device end, summarizes fixed dress to what fixation described second summarized device conveying tray
It sets.
Further, described second summarizes device and includes:
At least three be arranged in first summarize in device gap second summarize mechanism, described second summarizes mechanism by least
Two idler wheels and a belt composition；
Setting summarizes below mechanism described second, to drive the second the 5th cylinder for summarizing mechanism lifting.
Further, the system also includes:
It is arranged in robot palletizer unit side, wheel hub to be palletized to be delivered to the wheel hub feeding of designated position
Unit；
It is arranged in the pallet feeding unit material, the tray feeding unit being connected with the pallet feeding unit material, by extremely
Few two second conveyor structures composition；
It is arranged in the tray feeding unit end, the pallet of transport to be fixed on to the roller localization machine of designated position
Structure.
The beneficial effects of the utility model are compared with prior art, automotive hub stacking provided by the utility model system
System can grab wheel hub or partition by the way that robot palletizer is arranged according to different needs, and the wheel hub or partition are placed
To specified placement location, by the way that grasping mechanism and adsorbing mechanism is arranged simultaneously on a robotic arm.In this way, robot palletizer is being held in the palm
When completing on disk to the stacking of one layer of wheel hub, can with automatic Picking partition identical with pallet dimension to this layer of wheel hub progress every
From, and continue on the partition stacking to wheel hub；During the automation water operation for not needing manually to participate in, mention
High working efficiency.
Especially, T-type support is set in mechanical arm tail end, grasping mechanism and adsorbing mechanism is respectively set at both ends, passes through
The high-freedom degree of mechanical arm may be implemented the robot palletizer and grab to material requested, and mobile and placement movement increases
The flexibility of robot palletizer during the work time, has saved job costs；Since robot is according to preset time command
Or response action, each process have the stability of height, additionally it is possible to improve the stability of product quality.
Further, the middle position of each unit is arranged in the robot palletizer that the utility model uses, in this way, in code
When pile robot carries out stacking to wheel hub, it can be completed by shortest path；It can be carried out simultaneously in each feeding unit material
Clamping and placement wheel hub or partition, have saved handling time.
Especially, the utility model robot palletizer includes multivariant arm mechanism, the end connection of arm mechanism
There are the grasping mechanism and adsorbing mechanism for being capable of providing movement of the same race, it can be ensured that robot palletizer can be completed using corresponding mechanism
Crawl and placement movement to wheel hub or partition, increase the flexibility of the handling process of transfer robot.
Further, the first conveying mechanism is equipped in the pallet feeding unit material, to will be in the pallet feeding unit material
The pallet of storage is transported to designated position；Above first conveying mechanism, it is equipped with horizontal composite moving mechanism, in the water
Flat composite moving mechanism end is equipped with pallet clamp jaw mechanism, when the horizontal composite moving mechanism of driving mechanism driving and it is made to start to move
When dynamic, the pallet clamp jaw mechanism kinematic of end is driven, since both ends are linkages in affiliated horizontal composite moving mechanism,
The shift length of two pallet clamp jaws in the pallet clamp jaw mechanism be it is identical, guaranteeing that the pallet feeding unit material can
While clamping sizes pallet, the accuracy of pallet placement location is improved, working efficiency is further improved.
Further, the pallet located lateral dress being connected with the horizontal composite moving mechanism is equipped in pallet clamp jaw mechanism
It sets, is arranged below the transverse positioning mechanism, be capable of the clamping jaw of independent activities, and be arranged in the pallet feeding unit material branch
Pallet vertical location device on frame；When pallet is put into the pallet feeding unit material, pallet is first connect with longitudinal positioning device
Touching, while pallet decline, the longitudinal positioning device can adjust the position of pallet longitudinal direction, adjust and complete in lengthwise position
Afterwards, pallet is contacted with horizontal positioning device, and while pallet decline, the horizontal positioning device can adjust the position of pallet transverse direction
It sets, after the completion of adjustment, the pallet is just placed to designated position, in such a way that the placement of pallet is merged with positioning,
The working time has been saved, has been improved work efficiency.
Further, the heavily loaded parallel air gripper being arranged in clip claw mechanism is driven by the second cylinder in clamping jaw support,
Under the driving of cylinder, pneumatic clamper simultaneously operation ensure that accuracy and stability of the grasping mechanism when grabbing wheel hub.
Especially, the clamping jaw of at least two sizes is equipped on each heavily loaded parallel air gripper, to clamp different rulers
Very little wheel hub can grab a variety of wheel hubs and carry out stacking to it while guaranteeing the grasping mechanism stability, save
Job costs.
Further, the vacuum chuck being arranged in adsorbing mechanism, can be more convenient to this kind of large size of partition
Plate is picked up, and transports and placement movement further improves work effect while guaranteeing the stability of partition transport
Rate.
Further, it is provided with pallet claw clip mechanism in pallet feed mechanism, is cooperated by two pallet claw clips,
The pallet of stacking can be started directly to convey from below.Meanwhile the compound movement of level being arranged above clip claw mechanism
The horizontal distance that mechanism can be adjusted according to demand between two pallet clamp jaws can satisfy to clamp various sizes of pallet
The requirement that different size pallets are loaded, it can meet the requirement that stacking is carried out to the wheel hub of sizes, further
Job costs are saved.
Further, it being provided with roller positioning mechanism in tray feeding unit end, locating piece rises under the action of the cylinder,
While stopping the pallet in transport, pallet is positioned, is ready for the stacking of wheel hub, it is ensured that wheel hub is in stacking
Accuracy in the process.
Further, pallet is also provided at least two roller positioning mechanism ends and summarizes conveying mechanism, to will be square
Pallet into mutually perpendicular two strip transmission line turns to same direction and is transported, and while saving processing space, saves
Manufacturing cost.
In conclusion automotive hub robot provided by the utility model palletized unit, realizes different wheel hub wheel hubs
Stacking is automated, the automation feeding of pallet, partition reduces the labor intensity of worker, reduces the generation of safety accident, mention
High production efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model automotive hub robot palletized unit；
Fig. 2 is the mechanical hand structural schematic diagram of robot palletizer in Fig. 1；
Fig. 3 is the structural schematic diagram of pallet feeding unit material in Fig. 1；
Fig. 4 is the position view of pallet feeding unit material, tray feeding unit and collection unit in Fig. 1；
Fig. 5 is the structural schematic diagram of collection unit in Fig. 4.
Specific embodiment
Below in conjunction with attached drawing, the above and other technical features and advantages of the present invention are described in more detail.
Preferred embodiments of the present invention are described with reference to the accompanying drawings.It should be understood by those skilled in the art that
It is that these embodiments are used only for explaining the technical principle of the utility model, not in the protection model of limitation the utility model
It encloses.
It should be noted that term " on ", "lower", "left", "right", "inner", "outside" etc. in the description of the present invention,
The direction of instruction or the term of positional relationship are direction based on the figure or positional relationship, this, which is intended merely to facilitate, retouches
It states, rather than indication or suggestion described device or element must have a particular orientation, be constructed and operated in a specific orientation, because
This should not be understood as limiting the present invention.
In addition it is also necessary to explanation, in the description of the present invention, unless otherwise clearly defined and limited, art
Language " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or
It is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements.To those skilled in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
Refering to Figure 1, it provides a kind of structural representation of automotive hub robot palletized unit for the utility model
Scheme, the system in the present embodiment includes: robot palletizer 4, wheel hub feeding unit material 1, pallet feeding unit material 2, partition feeding unit material
3, robot palletizer unit 4, tray feeding unit 5 and collection unit 6；Wherein, robot palletizer 4 is located at the centre of system
Position can grab wheel hub or partition, and to institute to save the moving distance of robot palletizer 4 according to different needs
Wheel hub is stated to carry out stacking or be layered wheel hub using partition；Wheel hub feeding unit material 1 is located at the side of robot palletizer 4, can
Stacking wheel hub is transported, and the wheel hub is fixed on designated position；Pallet feeding unit material 2 comprising at least two can place
The tray library of size pallets different with conveying；Tray feeding unit 5 comprising at least two ends are equipped with roller positioning mechanism
Second conveyor structure, the second conveyor structure are connected with tray library, it is mutually perpendicular be arranged in robot palletizer 4 it is adjacent two
Side, by the palletized transport in pallet feeding unit material 2 and to be fixed on designated position, one of second conveyor structure with it is described
Wheel hub supply unit 1 is located at 4 the same side of robot palletizer；Partition feeding unit material 3 includes the different size partitions of at least two placements
Partition library, to provide partition for robot palletizer, two partition libraries are disposed side by side on the side of robot palletizer 4, and with institute
It is opposite to state wheel hub feeding unit material 1；Collection unit 6 is connected with two second conveyor structure ends, makes itself and described two second conveyings
Mechanism is L-shaped, to summarize the pallet transported in second conveyor structure to same direction and transport to next process.
At work, wheel hub feeding unit material 1 transports wheel hub, and in 1 end of wheel hub feeding unit material by the wheel hub
Fixed to designated position, the identifying system in robot palletizer 4 can be according to the corresponding tray library of size selection of wheel hub to pallet
Feeding is carried out, pallet is transported to tray feeding unit 5 and continues to convey, the roller localization machine in 5 end of tray feeding unit
The pallet is fixed to designated position by structure, at this point, robot palletizer 4 starts to grab wheel hub, and to wheel hub on the pallet
Stacking is carried out, when wheel hub stacking is one layer full, robot palletizer 4 can choose corresponding tray library and therefrom pick up correspondingly-sized
Wheel hub is layered by partition, and after the completion of layering, robot palletizer 4 continues to grab wheel hub and carries out code to wheel hub on the partition
Pile, robot palletizer 4 repeat the stacking and layering until by wheel hub stacking to the specified number of plies, tray feeding unit 5 will at this time
Pallet equipped with wheel hub is delivered to collection unit 6, and collection unit 6 is summarizing the pallet from different directions to same direction
And the pallet is delivered to subsequent processing.It will be appreciated by persons skilled in the art that the present embodiment is not limited to only to wheel hub
Stacking, or the stacking of other any parts at least two sizes need to only can satisfy the code of the present embodiment
The palletization of pile robot；Certainly, the setting position of transfer robot can carry out adaptability according to actual needs
Adjustment, the side or front and back end of feeding unit material are such as set, as long as meet robot palletizer can pick up wheel hub or partition and
Designated position can be placed into.
Please continue to refer to shown in Fig. 1, the wheel hub feeding unit material 1 in the present embodiment includes roller feed mechanism 11 and wheel hub
Positioning mechanism 12, wherein wheel hub positioning device 12 is set to the end of roller feed mechanism 11；When carrying out feeding to wheel hub, roller
Cylinder feed mechanism 11 rotates, and moves wheel hub steadily on the surface thereof, when wheel hub is moved to roller 11 end of feed mechanism, wheel
Hub positioning mechanism starts to act, and wheel hub is fixed on designated position；It is understood that the sender of the wheel hub feeding unit material
Formula can for roller transmission, belt transmission or other transmission modes, as long as meet can by wheel hub it is stable be transported to specific bit
It sets.
Specifically, the roller feed mechanism 11 in the present embodiment is made of side by side multiple metallic cylinders, transporting
Cheng Zhong, each cylindrical drum are rotated to same direction with identical speed, the wheel hub to be palletized is transported to designated position；This
The technical staff in field is it is understood that the material of 11 in the middle of the roller of roller feed mechanism can be iron, zinc, stainless steel
Or other kinds of metal or alloy, as long as meeting the weight for being able to bear the wheel hub and the wheel hub can be delivered to specified
Position.
Specifically, the wheel hub positioning device 12 in the present embodiment is a strip metal plate, it is arranged on the roller
The end for expecting mechanism 11, to be positioned to wheel hub；When wheel hub is transported near wheel hub positioning device 12, the metal
Plate can with hub contacts and make wheel hub stop be displaced, wheel hub is fixed on by 11 end of roller feed mechanism with this, so as to stacking machine
Device people clamping；Certainly, the shape in the present embodiment as metal with no restrictions, as long as can make wheel hub stop displacement.
Please continue to refer to shown in Fig. 1, the stacking device people unit 4 of the present embodiment includes driving mechanism 41, arm mechanism 42, T
Type support 43, grasping mechanism 44 and adsorbing mechanism 45, wherein driving mechanism 41 is connected with robot support, to for arm machine
Structure 42 provides power, and arm mechanism 42 is connected with the output end of driving mechanism 41, can make under the action of driving mechanism 41
The end of arm mechanism 42 is arranged in multivariant movement, T-type support 43, to by grasping mechanism 44, adsorbing mechanism 45 with
Arm mechanism connects, and one end of T-type support 43 is arranged in grasping mechanism 44, and to grab wheel hub, adsorbing mechanism 45 is arranged
In the other end of T-type support 43, to adsorb partition.
When carrying out stacking to wheel hub, driving mechanism 41 is acted, and arm mechanism 42 is driven to act, and grasping mechanism 44 is mobile
To wheel hub, grasping mechanism 44 grabs wheel hub, and driving mechanism 41 acts again drives arm mechanism 42, will grab grabbing for wheel hub
It takes mechanism 44 to be moved to the designated position on pallet, stacking is carried out to wheel hub, steps be repeated alternatively until wheel hub on pallet
One layer of stacking, driving mechanism 41 acts again drives arm mechanism 42, is moved to adsorbing mechanism 45 near corresponding size partition,
Adsorbing mechanism 45 comes into full contact with partition, and partition is drawn, and partition is placed on above wheel hub by identical movement,
Layering is completed, the robot palletizer 4 steps be repeated alternatively until wheel hub stacking to the specified number of plies；It is understood that institute
Stating robot palletizer can be used for stacking and layering to wheel hub, can be used for stacking and is layered other components, only needs
It can satisfy the handling process of the transfer robot of the present embodiment.
Specifically, the driving mechanism 41 is the first cylinder, support is arranged in the cylinder barrel outer wall of first cylinder
On supporting plate 46, supporting plate 46 can be to be arranged in the first cylinder two sides, and has two metal plates of fixed hole, cylinder and supporting plate
46 are bolted, so that the adjustable angle of the first cylinder；Certainly, connection type the present embodiment of first cylinder and supporting plate 46
With no restrictions, possess one degree of freedom as long as meeting after the first cylinder is connect with supporting plate.
Specifically, the tailpiece of the piston rod of the first cylinder is connect with arm mechanism 42, arm mechanism 42 is in the present embodiment
Two section rotating arms can be realized the movement of all angles rotation, have 4 freedom degrees, it is of course also possible to which two sections or more are arranged
Rotating arm, the output of more high-freedom degree is realized with this, as long as can satisfy actual carrying demand.
It please refers to shown in Fig. 2, is the structural schematic diagram of 4 manipulator of the present embodiment robot palletizer comprising T-type support
43, grasping mechanism 44 and adsorbing mechanism 45；Wherein, 43 bottom of T-type support is connected with arm mechanism 42, and the setting of grasping mechanism 44 exists
One end of T-type support 43, to wheel hub carry out crawl and stacking, adsorbing mechanism 45 be set to the other end of T-type support 43, use
To grab and place partition.
Specifically, the T-type support 43 is formed by connecting in the present embodiment for two mutually perpendicular metal tubes, it is T-shaped,
Grasping mechanism 44, adsorbing mechanism 45 and arm mechanism 42 to be connected；It is understood that the material of T-type support 43
It can be iron, zinc, stainless steel or other kinds of metal or alloy, as long as estimated intensity can be reached；Certainly, described
The connection type of T-type support 43 and other mechanisms can for flanged joint, be bolted, weld or other connection types, this reality
Example is applied with no restrictions, as long as specified load can be carried by meeting T-type support.
Specifically, the grasping mechanism 44 is in the present embodiment heavily loaded parallel air gripper, it is arranged in the T-type support
43 one end；When grabbing wheel hub, pneumatic clamper is first placed into hub interior, pneumatic clamper is opened, and is fixed on pneumatic clamper from inside by wheel hub
On, the crawl to wheel hub is completed with this；It is understood that the grasping mechanism of the present embodiment can be heavily loaded parallel air gripper, imitate
Shape handgrip or other kinds of handgrip, as long as crawl and placement that meeting can be stable by wheel hub.
Specifically, the adsorbing mechanism 45 is in the present embodiment for suctorial frame structure, setting is in the T
The other end of type support 43；When grabbing partition, the sucker in adsorbing mechanism 45 contacts sufficiently and closely with partition, utilizes suction
The characteristic of disk gets up partition absorption, completes the crawl to partition with this；It can be understood that the adsorbing mechanism in the present embodiment
Can be frame, clamping jaw or other kinds of grasping mechanism with sucker, as long as meet can be stable crawl, transport and put
Set partition.
Please continue to refer to shown in Fig. 2, the grasping mechanism 44 includes pneumatic clamper driving mechanism 441, pneumatic clamper 442 and fixture
443；Wherein pneumatic clamper driving mechanism 441 is connect with one end of T-type support 43, and pneumatic clamper 442 is connected with pneumatic clamper driving mechanism 441；?
When grabbing wheel hub, the movement of driving mechanism 441 drives pneumatic clamper 442 to open, and makes fixture 443 in pneumatic clamper 442 from internal clamping wheel hub,
The crawl to wheel hub is completed with this.
Specifically, the pneumatic clamper driving mechanism 441 that rises in the present embodiment is the second cylinder, set in its end there are two having
The piston rod 444 of sliding rail, piston rod can carry out the movement of single direction using sliding rail on the outside of the second cylinder, two piston rods it
Between be equipped with linkage, in this way, the second cylinder driving after, the displacement of two-piston bar is identical, with this guarantee grab wheel hub when essence
Accuracy；It is understood that the driving method of second cylinder can be air pressure driving, hydraulic-driven or other driving sides
Formula, as long as meet second cylinder is able to drive piston rod displacement upon activation.
Specifically, the pneumatic clamper 442 in the present embodiment is connected with 444 end of piston rod, and set in the pneumatic clamper 442
There are two types of the fixtures 443 of size, to grab various sizes of wheel hub；At work, pneumatic clamper 442 is opened, and makes the fixture 443
It is come into full contact with wheel hub wall, and fixes wheel hub inner wall edge using the part of 443 protrusion of fixture, so that wheel hub is stable
Crawl；It is understood that the pneumatic clamper 442 and the connection type of piston rod 444 can be bolted, weld, one at
Type or other kinds of connection type, if meet pneumatic clamper 442 and piston rod 444 be able to maintain it is opposing stationary；Certainly, institute
The material for stating fixture 443 can be iron, stainless steel, polyethylene, rubber or other kinds of material, not scratch wheel as long as meeting
The stable crawl of wheel hub is got up in the case where hub.
Please continue to refer to shown in Fig. 2, the adsorbing mechanism 45 includes adsorption support 451, sucker 452, floor 453 and company
Connection device 454, when grabbing partition, the sucker 452 in adsorbing mechanism 45 contacts sufficiently and closely with partition, utilizes sucker
Characteristic gets up partition absorption, completes the crawl to partition with this；It can be understood that the adsorbing mechanism 45 in the present embodiment can
Think with suctorial frame, clamping jaw or other kinds of grasping mechanism, as long as crawl, transport and placement that meeting can be stable
Partition.
Specifically, adsorption support 451 is a rectangular frame in the present embodiment, it is connected with the other end of T-type support 43,
To provide the position of installation for sucker 452, two metal strips are equipped in lower portion, to increase the intensity of frame, each
Has intensity of the floor 453 in rectangular gap equipped with triangle to further lift frame；It is understood that described
The material of adsorption support 451 can be iron, zinc, stainless steel or other kinds of metal material, as long as meeting the adsorption support
451 are able to bear estimated load.
Specifically, the sucker 452 in the present embodiment is connected with attachment device 454, the attachment device 454 is uniformly pacified
Mounted in the edge of the adsorption support 451, in such manner, it is possible to the average load that the single sucker 452 is subject to be reduced, to mention
The integrated carrying ability of high sucker 452；It is understood that the connection type of sucker 452 and attachment device 454 can be spiral shell
It tethers and connects, welds, being integrally formed or other kinds of connection type, the present embodiment are not specifically limited, it can will as long as meeting
Sucker 452 is fixed on adsorption support 451；Certainly, attachment device 454 and this implementation of the connection type of adsorption support 451
Example is also not specifically limited, and is capable of fixing on adsorption support 451 as long as meeting attachment device 454.
It please refers to shown in Fig. 3, is the structural schematic diagram of a tray library in pallet feeding unit material 2, comprising: the first conveying
Mechanism 21, horizontal composite moving mechanism 22, pallet clamp jaw mechanism 23, horizontal positioning device 24, longitudinal positioning device 25 and liter
Descending mechanism 26；Wherein, the setting of the first conveying mechanism 21 is in tray library bottom, and pallet is delivered to next unit, level is multiple
It closes mobile mechanism 22 to be arranged in tray library side supports, the cunning of horizontal composite moving mechanism 22 is arranged in pallet clamp jaw mechanism 23
On block, to clamp and placement tray, horizontal positioning device 24 is set at the top of pallet clamp jaw mechanism, to support to be placed
Disk carries out lateral positioning, and longitudinal positioning device 25 is set on the bracket of tray library side, to pallet to be placed into
The longitudinal positioning of row, elevating mechanism 26 is similarly disposed in tray library side supports, and is connected with horizontal composite moving mechanism.
In placement tray, horizontal composite moving mechanism 22 can be such that sliding block is displaced according to pallet dimension, be adjusted with this
The horizontal distance of two pallet clamp jaws is until corresponding with pallet dimension in whole clip claw mechanism 23；When pallet falls, pallet can be first
It is contacted with longitudinal positioning device 25, adjusts the lengthwise position of pallet with this, after the completion of longitudinal register, pallet can be filled with located lateral
It sets 14 to be in contact, the lateral position of pallet is adjusted with this, after the position of pallet both direction is all adjusted, pallet is placed to
In pallet clamp jaw mechanism 23.
When carrying out feeding to pallet, elevating mechanism 26 drives horizontal composite moving mechanism 22 to decline, horizontal compound movement
Mechanism 22 drives pallet clamp jaw mechanism 23 to decline, and pallet is placed on the first conveying mechanism 21, after the completion of placement, tray clamps
The pallet clamp jaw 232 of pawl mechanism 23 is opened, and elevating mechanism 26 rises, and pallet clamp jaw mechanism 23 is driven to rise to and lower several second layers
Pallet is in same level height, and pallet clamp jaw 232 is closed at this time, lower several second layer pallets is clamped, on elevating mechanism 26 continues
Stopping acts after rising to certain altitude, and pallet clamp jaw mechanism 23 is driven to rise, and the pallet other than the bottom also rises with it, and first
Conveying mechanism 21 starts to act, and bottom pallet is transferred out from tray library, completes feeding；It is understood that described
Pallet feeding unit material 2 can be not only used for the feeding to pallet, can be used for the other kinds of plate that can be stacked vertically
The feeding of part, as long as meeting 2 feeding process of pallet feeding unit material described in the present embodiment.
Specifically, the first conveying mechanism 21 described in the present embodiment is made of multiple cylinder rollers side by side, held in the palm in transport
When disk, roller is rotated in the same direction, with this by pallet it is stable be delivered to next unit；It is understood that the present embodiment
In the first conveying mechanism can be roller transmission, belt transmission or other transmission mode, can be smoothly defeated as long as meeting
Send pallet.
Specifically, 22 both ends of horizontal composite moving mechanism are equipped with sliding rail, it can be on the bracket of tray library side
It moves up and down, is made of motor 221, track 222 and two pieces with the sliding block 223 of sliding rail, wherein sliding block 223 is arranged in-orbit
It on road 222 and can move in a straight line, linkage is equipped between two sliding blocks 223, when motor 221 drives, the position of two sliding blocks 223
It moves apart from identical, while driving pallet clamp jaw mechanism displacement, ensure that accuracy when clamping pallet；It is understood that
It is that the track 222 can be single cylindrical metal stick, two metal tracks or other forms side by side, the present embodiment is not done
Limitation, as long as meeting sliding block 223 can and be only capable of doing the movement in horizontal direction.
Specifically, the horizontal positioning device 24 is the metal plate that at least four tops are equipped with the inclined-plane being inclined outwardly,
It is arranged on pallet clamp jaw mechanism top, to carry out located lateral to pallet；In placement tray, if pallet lateral position is deposited
Deviating, then pallet can be contacted with horizontal positioning device, and inclined-plane can generate a holding power obliquely, can be analyzed to vertically to
On power and horizontal direction power, pallet under the action of horizontal force to designated position deviate, until reaching designated position；It can be with
Understand, the shape on inclined surface top can be rectangle, circle or other shapes in the horizontal positioning device 24, as long as full
Footrest disk when with contact of incline plane can stress displacement i.e. to designated position can.
Specifically, the longitudinal positioning device 25 is the metal plate that at least two tops are equipped with the inclined-plane being inclined outwardly,
On its bracket that tray library side is arranged in, to carry out longitudinal register to pallet；In placement tray, if pallet lengthwise position
There are offsets, then pallet can be contacted with longitudinal positioning device, and inclined-plane can generate a holding power obliquely, and it is vertical to can be analyzed to
The power of upward power and horizontal direction, pallet deviates under the action of horizontal force to designated position, until reaching designated position；It can
With understanding, the shape on inclined surface top can be rectangle, circle or other shapes in the longitudinal positioning device 25, as long as
Meet pallet when with contact of incline plane can stress displacement i.e. can to designated position.
Specifically, elevating mechanism 26 described in the present embodiment is third cylinder, it is set on the bracket of tray library side,
And the 4th piston rod in cylinder is connected with the horizontal composite moving mechanism 22；At work, third cylinder movement drives and lives
Stopper rod displacement, piston rod drive level meet mobile mechanism 22, it are made to do the movement in vertical direction, realize pallet clamp jaw with this
The lifting of mechanism 23；It is understood that the elevating mechanism 26 can for cylinder drive, or motor driven or other
Driving method, as long as meet horizontal composite moving mechanism 22 and pallet clamp jaw mechanism 23 can be made to move up and down.
It please refers to shown in Fig. 4, shows for the present embodiment tray feeding unit 5 and the position of tray library and collection unit 6
It is intended to；Wherein wherein a second conveyor structure is connected tray feeding unit 5 with the feeding end of tray library, and the setting of collection unit 6 exists
The end of two second conveyor structures；Make whole L-shaped；At work, tray library carries out feeding to pallet, and pallet is delivered to support
Disk supply unit 5 can be by the roller positioning mechanism in tray feeding unit 5 when pallet is transported to 5 end of tray feeding unit
52 is fixed, and the robot palletizer 2 starts to carry out stacking and layering to wheel hub on the pallet, and robot palletizer 2 completes code
After pile, pallet is delivered to collection unit 6 and is summarized, and transported to subsequent processing；It is understood that the tray feeding unit
5 not only can also transport and fix other needs to transport and fixed tray and be processed or assembled on assembly line
Part, the present embodiment is not particularly limited, as long as meeting the course of work for connecting unit 5 on the pallet.
Please continue to refer to shown in Fig. 4, the tray feeding unit 5 includes the composition of second conveyor structure 51 and roller localization machine
Structure 52；Its in the middle of the roller positioning mechanism 52 is set to the end of second conveyor structure 51；At work, tray library carries out pallet
Material, is delivered to tray feeding unit 5 for pallet, can be by tray feeding unit when pallet is transported to 5 end of tray feeding unit
Roller positioning mechanism 52 in 5 is fixed, and the robot palletizer 2 starts to carry out stacking and layering to wheel hub on the pallet,
After robot palletizer 2 completes stacking, pallet is delivered to collection unit 6 and is summarized, and transported to subsequent processing.
Specifically, second conveyor structure 51 described in the present embodiment is made of side by side multiple cylinder rollers, pallet fortune is formed
The main body of defeated unit 5, the cylinder roller rotate in the same direction, and complete the conveying to pallet with this；It is understood that institute
Stating second conveyor structure 51 can be roller conveying, Belt Conveying or other mode of movement, as long as described in transport that can be stable
Pallet.
Specifically, the roller positioning mechanism 52 includes the 4th cylinder 521 and is connected with the 4th cylinder piston rod
The end of 51 conveying direction of second conveyor structure is arranged in locating piece 522；At work, the first conveying mechanism 51 is by pallet
It is delivered near roller positioning mechanism 52, the movement of the 4th cylinder 521 drives locating piece 522 to rise, the shape in second conveyor structure
At protrusion, pallet is fixed on by designated position with this, when robot palletizer 4 completes stacking to wheel hub on pallet, the 4th gas
Cylinder 521 acts, and locating piece 522 is driven to drop to below roller, and second conveyor structure starts operation at this time, and conveying is equipped with wheel hub
Pallet to collection unit；It is understood that in the present embodiment the 4th cylinder 521 can for cylinder driving, motor driven or
Other driving methods carry out elevating movement as long as meeting and being able to drive the locating piece 522；Certainly, the locating piece
522 material the present embodiment also with no restrictions, as long as designated position can be fixed to pallet.
It please refers to shown in Fig. 5, is the structural schematic diagram of collection unit 6 in the present embodiment comprising first summarizes device
61, second summarizes device 62 and summarizes fixed device 63；Wherein second summarizes device 62 and is set to first and summarize device 61
In gap, summarize fixed device 63 and be arranged on the bracket of collection unit 6, is located at the second end for summarizing 62 conveying direction of device
End position；
When summarizing to pipeline, if pallet is conveyed from the first pipeline, second, which summarizes device 62, drops to roller
Cylinder lower section, so that pallet, which directly passes through first, summarizes device, goes to downstream, if pallet is conveyed from the second pipeline, the
Two, which summarize device 62, rises to above roller, when pallet enters collection unit, can summarize device 62 by second and continue
It is mobile to fix pallet until summarizing fixed device 63, at this point, second summarizes device 62 and drop to below roller, make pallet and the
One, which summarizes device 61, directly contacts, and pallet is delivered to downstream；It can be understood that the collection unit not only can be with
The wheel hub of stacking completion is transported and summarized, any tool can also be transported and be summarized, this implementation there are two types of the part of size
Example is not specifically limited, as long as meeting the course of work of the collection unit 6.
Specifically, described first summarizes device 61 and be made of multiple cylinder rollers side by side, wheel hub is housed to transport
Pallet, at work, the roller to same direction rotate, the transport to pallet is completed with this；It is understood that described
First material for summarizing 61 in the middle of the roller of device can be iron, zinc, stainless steel or other kinds of metal or alloy, as long as meeting energy
It enough bears the weight of the pallet and wheel hub and the pallet can be delivered to designated position.
Specifically, described second summarize device 62 include second summarize mechanism 621 and setting summarize described second
5th cylinder 622 of 621 lower section of mechanism；Wherein, second summarizes mechanism 621 and is made of three conveyer belts, and each conveyer belt includes extremely
Few two idler wheels and a belt, each conveyer belt is arranged in described first and summarizes in the gap of device in the middle of the roller, to transport
The pallet come is transported from different directions, and the 5th cylinder 622 is arranged on the bracket of 6 bottom of collection unit, piston rod and second
Summarize mechanism 622 to be connected, carries out elevating movement to drive second to summarize mechanism；
When pallet is conveyed from the first pipeline, the 5th cylinder 622 driving second summarizes mechanism 621 and drops to the first conveying
61 lower section of device, when pallet is conveyed from the second pipeline, the 5th cylinder 622 driving second summarizes mechanism 621 and rises to first
The top of conveying device 61, makes second to summarize mechanism 621 and contacts with pallet, and continues to transport the pallet up to pallet is positioned,
5th cylinder 622 driving second summarizes mechanism 621 and drops to 61 lower section of the first conveying device, makes first to summarize mechanism 61 and pallet
Contact, and pallet is delivered to subsequent processing；It is understood that the described second belt summarized in mechanism 621 can be by rubber
The glue product compound with fiber, metal composite goods, plastics and fabric or other materials are made, as long as pallet can be transported by meeting
Designated position is transported to, certainly, the 5th cylinder 622 can be cylinder driving, motor driven or other kinds of driving
Mode summarizes the progress lifting moving of mechanism 621 as long as meeting and being able to drive described second.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model；For this field
Technical staff for, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model,
Any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of automotive hub robot palletized unit characterized by comprising
Robot palletizer unit can grab wheel hub or partition from corresponding feeding unit material according to different needs, and will
The wheel hub is carried out stacking or is layered the wheel hub that stacking is completed using partition；
The feeding unit material includes, at least one to transport and place wheel hub to be palletized wheel hub feeding unit material, at least two
To place and transport the partition feeding unit material and at least two of partition to place the pallet feeding unit material with conveying tray.
2. automotive hub robot according to claim 1 palletized unit, it is characterised in that: the robot palletizer unit
According to the wheel hub that wheel hub feeding unit material transports, corresponding pallet feeding unit material is selected to carry out feeding, and by the wheel hub according to phase
The mode answered carries out stacking on the pallet, and by complete one layer of wheel hub stacking, the robot palletizer unit is from corresponding partition
Partition is picked up in feeding unit material, partition is placed on the wheel hub that the stacking is completed, it is layered, and the stacking wheel on partition
Hub, until robot palletizer unit is by wheel hub stacking to the specified number of plies, the wheel hub that the stacking is completed is transported using collection unit
It send to next system.
3. automotive hub robot according to claim 2 palletized unit, it is characterised in that:
The pallet feeding unit material includes tray library one and tray library two, and two of them tray library places various sizes of pallet；
The partition feeding unit material includes partition library one and partition library two, and various sizes of partition is placed in two of them partition library；
The pallet of the tray library one is identical as the baffle dimensions in partition library one, the pallet of tray library two and the partition in partition library two
Size is identical.
4. automotive hub robot according to claim 1 palletized unit, which is characterized in that the robot palletizer unit
Include:
To provide the driving mechanism of power；
It is connect with the driving mechanism, under the action of the driving mechanism, does the arm mechanism of multivariant movement；
The T-type support of the arm mechanism end is set；
The side of the T-type support is set, the grasping mechanism of the wheel hub can be grabbed；
The other side of the T-type support is set, to the adsorbing mechanism that partition absorption is got up.
5. automotive hub robot according to claim 4 palletized unit, which is characterized in that the grasping mechanism includes T
Promising wheel hub clamping jaw is arranged in the T-type support and provides the second cylinder of power for type support；
At least two setting piston rod in second cylinder；
The piston rod is connected with heavily loaded parallel air gripper, wherein the wheel of at least two specifications is configured on each heavy duty parallel air gripper
Hub clamping jaw.
6. automotive hub robot according to claim 2 palletized unit, which is characterized in that the pallet feeding unit material packet
It includes:
The lower part of the pallet feeding unit material is set, the first conveying mechanism to conveying tray；
Horizontal composite moving mechanism above the conveying mechanism is set；
It is connected with the horizontal composite moving mechanism, to grab the pallet clamp jaw mechanism of simultaneously storage trays；
It is set to the pallet horizontal positioning device on pallet clamp jaw mechanism top；
The pallet longitudinal positioning device being set on the pallet feeding unit material bracket；
Elevating mechanism above the horizontal composite moving mechanism is set.
7. automotive hub robot according to claim 6 palletized unit, which is characterized in that pallet clamp jaw mechanism packet
It includes:
It is connected with the horizontal composite moving mechanism, and loads the pallet clamp jaw main body of the transverse positioning mechanism；
It is arranged below the pallet clamp jaw main body, to store the pallet clamp jaw with conveying tray, wherein pallet clamp jaw is in L
Type, and it is equipped with floor in inside, one end of the pallet clamp jaw is connect with pallet clamp jaw main body.
8. automotive hub robot according to claim 6 palletized unit, which is characterized in that the collection unit includes support
Disk is provided with first in the pallet and summarizes device；
Second perpendicular with the first conveying mechanism transporting direction summarizes device；
It is arranged and second summarizes device end, summarizes fixed device to what fixation described second summarized device conveying tray.
9. automotive hub robot according to claim 8 palletized unit, which is characterized in that described second summarizes device packet
It includes:
At least three be arranged in first summarize in device gap second summarize mechanism, described second summarizes mechanism by least two
Idler wheel and a belt composition；
Setting summarizes below mechanism described second, to drive the second the 5th cylinder for summarizing mechanism lifting.
10. automotive hub robot according to claim 2 palletized unit, which is characterized in that the system also includes use
To connect the tray feeding unit of the pallet feeding unit material and collection unit, it is made of at least two second conveyor structures,
The roller positioning mechanism the pallet of transport to be fixed on to designated position is equipped in conveying mechanism end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820596077.3U CN209038610U (en) | 2018-04-24 | 2018-04-24 | A kind of automotive hub robot palletized unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820596077.3U CN209038610U (en) | 2018-04-24 | 2018-04-24 | A kind of automotive hub robot palletized unit |
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| Publication Number | Publication Date |
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| CN209038610U true CN209038610U (en) | 2019-06-28 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820596077.3U Expired - Fee Related CN209038610U (en) | 2018-04-24 | 2018-04-24 | A kind of automotive hub robot palletized unit |
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| CN (1) | CN209038610U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304464A (en) * | 2019-07-19 | 2019-10-08 | 秦皇岛信智信息技术有限公司 | A kind of wheel hub robot palletizer |
| CN110395584A (en) * | 2018-04-24 | 2019-11-01 | 内蒙古华唐铝业有限公司 | A kind of automotive hub robot palletized unit |
| CN110510423A (en) * | 2019-09-23 | 2019-11-29 | 福建省古猿人建材有限公司 | A kind of ecological brick Palletizer |
| CN110615251A (en) * | 2019-09-29 | 2019-12-27 | 京东方科技集团股份有限公司 | Stacking production line |
| CN110902111A (en) * | 2019-12-12 | 2020-03-24 | 太湖县爱杰机械铸造有限公司 | Automobile hub placing device |
| CN111470331A (en) * | 2020-05-28 | 2020-07-31 | 秦皇岛信能能源设备有限公司 | Stacking clamping jaw |
| CN112027685A (en) * | 2020-07-26 | 2020-12-04 | 东风汽车车轮随州有限公司 | Full-automatic spoke stacking device |
| CN113428661A (en) * | 2021-06-28 | 2021-09-24 | 宝武集团马钢轨交材料科技有限公司 | Automatic stacking system and method for railway wheels |
| CN113526076A (en) * | 2021-07-20 | 2021-10-22 | 青岛理工大学 | Automatic automobile hub feeding device |
| CN115626333A (en) * | 2022-12-21 | 2023-01-20 | 四平宏大液压机械制造有限公司 | Full-automatic feeding device of glass packing line |
| CN115924549A (en) * | 2022-12-28 | 2023-04-07 | 盐城市科博液压机械制造有限公司 | Automatic stacking device for road edge stones and road surface bricks and working method of automatic stacking device |
| CN110395584B (en) * | 2018-04-24 | 2024-07-09 | 内蒙古华唐铝业有限公司 | Automobile hub robot stacking unit |
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2018
- 2018-04-24 CN CN201820596077.3U patent/CN209038610U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110395584B (en) * | 2018-04-24 | 2024-07-09 | 内蒙古华唐铝业有限公司 | Automobile hub robot stacking unit |
| CN110395584A (en) * | 2018-04-24 | 2019-11-01 | 内蒙古华唐铝业有限公司 | A kind of automotive hub robot palletized unit |
| CN110304464A (en) * | 2019-07-19 | 2019-10-08 | 秦皇岛信智信息技术有限公司 | A kind of wheel hub robot palletizer |
| CN110304464B (en) * | 2019-07-19 | 2021-04-09 | 秦皇岛信智信息技术有限公司 | Wheel hub pile up neatly machine people |
| CN110510423A (en) * | 2019-09-23 | 2019-11-29 | 福建省古猿人建材有限公司 | A kind of ecological brick Palletizer |
| CN110615251A (en) * | 2019-09-29 | 2019-12-27 | 京东方科技集团股份有限公司 | Stacking production line |
| CN110615251B (en) * | 2019-09-29 | 2021-03-09 | 高创(苏州)电子有限公司 | Stacking production line |
| CN110902111A (en) * | 2019-12-12 | 2020-03-24 | 太湖县爱杰机械铸造有限公司 | Automobile hub placing device |
| CN111470331A (en) * | 2020-05-28 | 2020-07-31 | 秦皇岛信能能源设备有限公司 | Stacking clamping jaw |
| CN112027685A (en) * | 2020-07-26 | 2020-12-04 | 东风汽车车轮随州有限公司 | Full-automatic spoke stacking device |
| CN113428661A (en) * | 2021-06-28 | 2021-09-24 | 宝武集团马钢轨交材料科技有限公司 | Automatic stacking system and method for railway wheels |
| CN113526076A (en) * | 2021-07-20 | 2021-10-22 | 青岛理工大学 | Automatic automobile hub feeding device |
| CN115626333A (en) * | 2022-12-21 | 2023-01-20 | 四平宏大液压机械制造有限公司 | Full-automatic feeding device of glass packing line |
| CN115924549A (en) * | 2022-12-28 | 2023-04-07 | 盐城市科博液压机械制造有限公司 | Automatic stacking device for road edge stones and road surface bricks and working method of automatic stacking device |
| CN115924549B (en) * | 2022-12-28 | 2023-10-20 | 盐城市科博液压机械制造有限公司 | Automatic stacking device for curbstones and pavement bricks and working method of automatic stacking device |
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Granted publication date: 20190628 |