CN211541201U

CN211541201U - Stacking robot

Info

Publication number: CN211541201U
Application number: CN201921706600.4U
Authority: CN
Inventors: 吴晶晶
Original assignee: Zhangzhou Shenli Intelligent Technology Co ltd
Current assignee: Changzhou Shenli Intelligent Technology Co ltd
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2020-09-22
Anticipated expiration: 2029-10-12

Abstract

The utility model provides a pile up neatly machine people, include the base, establish arm and PLC controller on the base, be equipped with the pneumatic cylinder in the base, be equipped with on the base side two with the location infrared sensor that the PLC controller is connected, the arm is including establishing forked elevating platform on the base, forked elevating platform bottom is connected the pneumatic cylinder, be equipped with the revolving stage on the forked elevating platform, be equipped with the big arm joint on the revolving stage, big arm joint articulates there is big arm, the articulated forearm joint that has on the big arm, forearm joint articulates there is the forearm, be equipped with on the forearm respectively and rotate the joint and prevent weighing down the stopper, be equipped with the manipulator on the rotation joint, be equipped with the sucking disc in the manipulator, prevent weighing down the stopper and connect the manipulator. The utility model discloses, the rocking arm is nimble, snatchs the location accuracy and has certain security.

Description

Stacking robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to pile up neatly machine people.

Background

Along with the continuous development of modern robot technique, the status of robot constantly promotes, and the high efficiency high strength property of robot is to the application in daily production and processing, at the pile up neatly trade, because the specification of product is unanimous, the weight and the quantity of single product are more, traditional artifical pile up neatly, and the amount of labour is big, and is inefficient, and current hacking machine also has to rotate not nimble enough, snatch the dangerous that the fixed point is inaccurate easily dropped, brings very big hidden danger for production.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a pile up neatly machine people, the rocking arm is nimble, snatchs the location accuracy and has certain security.

The utility model provides a following technical scheme:

a stacking robot comprises a base, a mechanical arm and a PLC (programmable logic controller) which are arranged on the base, wherein a hydraulic cylinder is arranged in the base, two positioning infrared sensors connected with the PLC are arranged on the side surface of the base, and the two infrared sensors respectively correspond to two captured side edges of a product to be stacked; the arm is including establishing forked elevating platform on the base, forked elevating platform is connected with servo motor, forked elevating platform bottom is connected the pneumatic cylinder, be equipped with the revolving stage on the forked elevating platform, the revolving stage is connected with the rotating electrical machines, be equipped with the big arm joint on the revolving stage, the big arm joint is connected with big arm swing motor, big arm joint articulates there is the big arm, the articulated forearm joint that has on the big arm, the forearm joint is connected with forearm swing motor, forearm joint articulates there is the forearm, be equipped with on the forearm respectively and rotate the joint and prevent weighing brake, it is connected with the gyration motor to rotate the joint, it is equipped with the manipulator to rotate the joint, be equipped with the sucking disc in the manipulator, prevent weighing brake and connect the manipulator, servo motor the rotating electrical machines, big arm swing motor, The small arm swing motor, the rotary motor, the manipulator and the sucker are respectively connected with the PLC.

Preferably, a shock absorber is arranged in the base, and the position of the hydraulic cylinder corresponds to the center of the fork-shaped lifting platform.

Preferably, a camera is arranged on the manipulator and connected with the PLC.

Preferably, the anti-falling brake is connected with the manipulator through a rope.

Preferably, the fork-shaped lifting platform is provided with a mounting plate, and the rotating platform is arranged on the mounting plate.

The utility model has the advantages that: the robot has certain shock resistance by utilizing the hydraulic cylinder in the base, the working stability of the robot is ensured, and meanwhile, the robot positions the stacked products by utilizing the infrared sensor positioned by the base, so that the stacked products are accurately grabbed, and the working efficiency is improved; the robot tumbler has a multi-layer tumbler design, so that the flexibility of the mechanical arm in use is ensured; the sucker device is additionally arranged in the manipulator, so that the grabbed product is prevented from falling off, the manipulator is connected with the falling-preventing device, and the safety of the manipulator is further ensured.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of the present invention;

labeled as: 1. a base; 11. a hydraulic cylinder; 12. an infrared sensor; 2. a servo motor; 3. a fork-shaped lifting platform; 4. a rotating table; 41. mounting a plate; 5. a large arm; 51. a large arm joint; 6. a small arm; 61. a forearm joint; 7. a manipulator; 8. an anti-falling brake.

Detailed Description

As shown in fig. 1, the palletizing robot comprises a base 1, a mechanical arm and a PLC controller which are arranged on the base 1, wherein a hydraulic cylinder 11 is arranged in the base 1, a shock absorber is arranged in the base 1 to improve the overall shockproof effect, two positioning infrared sensors 12 connected with the PLC controller are arranged on the side surface of the base 1, and the two infrared sensors 12 respectively correspond to two grabbed side edges of a product to be palletized; the mechanical arm comprises a fork-shaped lifting platform 3 arranged on the base 1, and the position of the hydraulic cylinder 11 corresponds to the center of the fork-shaped lifting platform 3, so that the stability of the whole mechanical arm is ensured. The fork-shaped lifting platform 3 is connected with a servo motor 2, the bottom end of the fork-shaped lifting platform 3 is connected with a hydraulic cylinder 11, the fork-shaped lifting platform 3 is provided with a rotating platform 4, the fork-shaped lifting platform 3 is provided with a mounting plate 41, and the rotating platform 4 is arranged on the mounting plate 41. The rotary table 4 is connected with a rotating motor, a large arm joint 51 is arranged on the rotary table 4, the large arm joint 51 is connected with a large arm swing motor, the large arm joint 51 is hinged with a large arm 5, the large arm 5 is hinged with a small arm joint 61, the small arm joint 61 is connected with a small arm swing motor, the small arm joint 61 is hinged with a small arm 6, a rotary joint and an anti-falling brake 8 are respectively arranged on the small arm 6, the rotary joint is connected with a rotary motor, a mechanical arm 7 is arranged on the rotary joint, a sucker is arranged in the mechanical arm 7, a camera is arranged on the mechanical arm 7 and is connected with a PLC (programmable logic controller), the position of a palletized product can be observed in an auxiliary mode. The anti-falling brake 8 is connected with the manipulator 7, and the anti-falling brake 8 is connected with the manipulator 7 through a rope to prevent the whole manipulator 7 from falling off. The servo motor, the rotating motor, the large arm swinging motor, the small arm swinging motor, the rotary motor, the manipulator 7 and the sucker are respectively connected with the PLC.

As shown in fig. 1, in the use process of the palletizing robot, because the infrared sensor 12 corresponding to the position of a palletized product is arranged on the base 1, whether a front palletized product is on a correct palletizing station or not can be sensed, if so, the PLC controller controls each driving motor to start working, so that the manipulator 7 can grab the correct palletizing station, and after the manipulator 7 grabs the product, because the inner wall of the manipulator 7 is attached with a sucker, the product is prevented from falling off, further, the manipulator 7 is connected with an anti-falling brake 8, and the manipulator 7 is prevented from falling off integrally due to overlarge gravity, so that a safety problem is caused; the hydraulic cylinder 12 is additionally arranged in the whole base 1 of the robot, so that the whole shockproof capability is improved, and the working stability of the robot is ensured.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The stacking robot is characterized by comprising a base, a mechanical arm and a PLC (programmable logic controller) which are arranged on the base, wherein a hydraulic cylinder is arranged in the base, two positioning infrared sensors connected with the PLC are arranged on the side surface of the base, and the two infrared sensors respectively correspond to two captured side edges of a product to be stacked; the arm is including establishing forked elevating platform on the base, forked elevating platform is connected with servo motor, forked elevating platform bottom is connected the pneumatic cylinder, be equipped with the revolving stage on the forked elevating platform, the revolving stage is connected with the rotating electrical machines, be equipped with the big arm joint on the revolving stage, the big arm joint is connected with big arm swing motor, big arm joint articulates there is the big arm, the articulated forearm joint that has on the big arm, the forearm joint is connected with forearm swing motor, forearm joint articulates there is the forearm, be equipped with rotation joint and anti-falling brake on the forearm respectively, it is connected with the gyration motor to rotate the joint, be equipped with the manipulator on the rotation joint, be equipped with the sucking disc in the manipulator, anti-falling brake connects the manipulator, anti-falling brake passes through the rope and connects the manipulator, servo motor, The rotating motor, the large arm swinging motor, the small arm swinging motor, the rotary motor, the manipulator and the sucker are respectively connected with the PLC.

2. The palletizing robot as claimed in claim 1, wherein a shock absorber is arranged in the base, and the hydraulic cylinder is positioned corresponding to the center of the fork-shaped lifting table.

3. The palletizing robot as claimed in claim 1, wherein a camera is arranged on the manipulator, and the camera is connected with the PLC.

4. Palletizing robot as claimed in claim 1, characterized in that a mounting plate is provided on said fork-shaped lifting table, and said rotating table is provided on said mounting plate.