CN215401828U

CN215401828U - Stacking robot

Info

Publication number: CN215401828U
Application number: CN202121207020.8U
Authority: CN
Inventors: 张魏魏; 周洋洋; 屈海峰
Original assignee: Chuzhou Hagong Kuxun Intelligent Technology Co ltd
Current assignee: Chuzhou Hagong Kuxun Intelligent Technology Co ltd
Priority date: 2021-06-01
Filing date: 2021-06-01
Publication date: 2022-01-04
Anticipated expiration: 2031-06-01

Abstract

The utility model discloses a stacking robot which comprises a base, wherein the top of the base is provided with a mounting groove, a rotating motor is arranged in the mounting groove, an output shaft of the rotating motor is fixedly connected with a transverse plate, the top of the transverse plate is fixedly provided with a mounting plate and two fixing plates, a fixing shaft is fixed between the two fixing plates, the two fixing plates are positioned on the back surface of the mounting plate, and the outer surface of the fixing shaft is hinged with a main arm. According to the utility model, the device can be conveniently installed on the ground or any plane through the matching of the base and the installation disc, the device can be conveniently detached and shifted in the later period through the installation disc and the installation holes on the installation disc, the output shaft of the rotating motor drives the transverse plate to rotate so as to adjust the angle of the main arm, the output shaft of the servo motor drives the main arm to rotate so as to adjust the inclination angle of the main arm, the bagged goods are grabbed by the matching angle adjusting mechanism and the grabbing mechanism, and the installation position of the device can be selected according to the actual use condition.

Description

Stacking robot

Technical Field

The utility model relates to the technical field of robots, in particular to a stacking robot.

Background

Along with the development of the mechanical manufacturing industry, the change of the types of packages, the factory environment, the customer requirements and the like, stacking equipment has been greatly developed in various aspects, and currently, a stacking robot independently researched and developed in China mainly has two types, namely a rectangular coordinate type and a joint type coordinate type; the rectangular coordinate type robot is a 4-axis robot, and corresponds to the X axis, the Y axis and the Z axis in the rectangular coordinate system respectively, and a rotating shaft is arranged on the Z axis, the rectangular coordinate type robot has the advantages of high positioning precision, easy solving of space track and the like, but the occupied space is large in volume, small in working range, poor in flexibility, low in movement speed, small in occupied space volume, flexible in movement, capable of meeting complex production requirements and wide in application range, and the working range is small.

In logistics system often need carry out the pile up neatly to the bagged goods that finishes of packing and place, it adopts pile up neatly robot to carry out the pile up neatly mostly, but current pile up neatly robot when carrying out the pile up neatly its most adoption arm is fixed and is carried out the pile up neatly on the back timber, but this kind of pile up neatly mode is not nimble enough because of the problem of arm installation angle, its installation is difficult for dismantling the aversion after finishing, and the manipulator is inconvenient snatchs, snatchs insecure, the goods easily drops, therefore, in order to solve this type of problem, we have proposed a pile up neatly robot.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects in the prior art and provides a palletizing robot.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a pile up neatly machine people, the on-line screen storage device comprises a base, install the rotating electrical machines in mounting groove and the mounting groove have been seted up at the top of base, the top that rotating electrical machines output shaft rigid coupling has diaphragm and diaphragm is fixed with the fixed axle between mounting panel and two fixed plates, two the fixed plate is located the back of mounting panel, the surface of fixed axle articulates there is the main arm, the front of mounting panel is installed servo motor and servo motor's output shaft and is run through the mounting panel and fix the front at the main arm, the top of main arm is connected with through angle adjustment mechanism and snatchs the mechanism.

Preferably, the angle adjusting mechanism comprises an auxiliary arm hinged to the top end of the main arm, a fixed block is fixed to the bottom of the auxiliary arm, an inclination oil cylinder is hinged to the side face of the main arm, and the tail end of a hydraulic rod of the inclination oil cylinder is hinged to the side face of the fixed block.

Preferably, the grabbing mechanism comprises a grabbing arm fixed at the end part of the auxiliary arm, a first hydraulic cylinder is installed at the bottom of the grabbing arm, a connecting plate is fixed at the tail end of a piston rod of the first hydraulic cylinder, a second hydraulic cylinder is arranged at the bottom of the connecting plate, a conical block is fixed at the tail end of a piston rod of the second hydraulic cylinder, the bottom of the connecting plate is fixedly connected with a mounting shell through a connecting rod, the top of the mounting shell is provided with a first opening matched with the conical block, the conical block is positioned in the first opening, two grippers are hinged in the mounting shell, rollers matched with the conical surface of the conical block are arranged on the opposite surfaces of the two grippers in a rotating way through a fixing rod, two second openings matched with the two hand grips are formed in the bottom of the mounting shell, and the two gripping claws of the hand grips penetrate through the two second openings and extend to the bottom of the mounting shell.

Preferably, a sliding sleeve is fixed on the side face of the grabbing arm, a sliding rod is fixed on the top of the connecting plate, and the sliding rod is sleeved in the sliding sleeve in a sliding mode.

Preferably, the top end of the sliding rod is provided with a limiting block, the bottom of the mounting shell is provided with a vacuum chuck, and a vacuum port of the vacuum chuck is communicated with an external air compressor through an air pipe.

Preferably, the outer surface cover of base is equipped with the mounting disc, the mounting hole has been seted up on the mounting disc.

Preferably, a protective shell is arranged in the mounting groove, and the rotating motor is located in the protective shell.

Preferably, the bottom of diaphragm is fixed with the slider, annular spout has been seted up at the top of base, slider slidable mounting is in the spout.

Preferably, a through hole is formed in the side face of the mounting plate, a bearing is arranged in the through hole, and an output shaft of the servo motor is arranged at an inner ring of the bearing.

Compared with the prior art, the utility model has the beneficial effects that:

1: according to the utility model, the device can be conveniently installed on the ground or any plane through the matching of the base and the installation disc, the device can be conveniently detached and shifted in the later period through the installation disc and the installation holes on the installation disc, the output shaft of the rotating motor drives the transverse plate to rotate so as to adjust the angle of the main arm, the output shaft of the servo motor drives the main arm to rotate so as to adjust the inclination angle of the main arm, the bagged goods are grabbed by the matching angle adjusting mechanism and the grabbing mechanism, and the installation position of the device can be selected according to the actual use condition.

2: according to the bagged goods fixing device, the piston rod of the second hydraulic cylinder pushes the conical block to move downwards in the mounting shell, so that the conical block extrudes the two rollers to enable the grabbing claws at the bottom ends of the two grabbing hands to rotate to grab bagged goods, the second hydraulic cylinder pushes the conical block to drive the grabbing hands to grab the bagged goods, the grabbing speed is high, the vacuum sucker adsorbs the tops of the bagged goods to fix the bagged goods again, the problem that the bagged goods fall off during grabbing and stacking of the grabbing hands can be effectively solved, the grabbing hands grab the bagged goods in a traditional mechanical transmission mode, the work is stable, the problem that electrical elements in the grabbing hands are frequently damaged and need to be replaced and maintained can be avoided, the device is low in cost, and enterprise expenses are greatly reduced.

Drawings

Fig. 1 is a schematic structural diagram of a palletizing robot provided by the utility model;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is a partial enlarged view of portion B of FIG. 1;

fig. 4 is a schematic connection diagram of a servo motor and a main arm of the palletizing robot provided by the utility model;

fig. 5 is a schematic connection diagram of a base and a mounting disc of the palletizing robot provided by the utility model.

In the figure: 1. a base; 2. a rotating electric machine; 3. mounting grooves; 4. a chute; 5. a slider; 6. mounting a disc; 7. a transverse plate; 8. mounting a plate; 9. a servo motor; 10. a fixing plate; 11. a main arm; 12. an inclination oil cylinder; 13. a fixed block; 14. an auxiliary arm; 15. a gripper arm; 16. a first hydraulic cylinder; 17. a connecting plate; 18. a slide bar; 19. a sliding sleeve; 20. a second hydraulic cylinder; 21. a connecting rod; 22. mounting a shell; 23. a gripper; 24. fixing the rod; 25. a roller; 26. a vacuum chuck; 27. a conical block; 28. and fixing the shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example 1

Referring to fig. 1-5, a palletizing robot comprises a base 1, a mounting groove 3 is arranged at the top of the base 1, a rotating motor 2 is arranged in the mounting groove 3, an output shaft of the rotating motor 2 is fixedly connected with a transverse plate 7, a mounting plate 8 and two fixing plates 10 are fixed at the top of the transverse plate 7, a fixing shaft 28 is fixed between the two fixing plates 10, the two fixing plates 10 are arranged at the back of the mounting plate 8, a main arm 11 is hinged to the outer surface of the fixing shaft 28, a servo motor 9 is arranged at the front of the mounting plate 8, an output shaft of the servo motor 9 penetrates through the mounting plate 8 and is fixed at the front of the main arm 11, the top of the main arm 11 is connected with a grabbing mechanism through an angle adjusting mechanism, a mounting plate 6 is sleeved on the outer surface of the base 1, a mounting hole is arranged on the mounting plate 6, a protective casing is arranged in the mounting groove 3, the rotating motor 2 is arranged in the protective casing, a sliding block 5 is fixed at the bottom of the transverse plate 7, annular spout 4 has been seted up at the top of base 1, and slider 5 slidable mounting has been seted up the through-hole in spout 4 to the side of mounting panel 8, is provided with the bearing in the through-hole, and servo motor 9's output shaft sets up the inner circle at the bearing. When using, cooperation through base 1 and mounting disc 6, can be convenient for will install on subaerial or arbitrary plane at this device, and can be convenient for the later stage through mounting disc 6 and the mounting hole on it to dismantle the aversion etc. to this device, the output shaft of rotating electrical machines 2 drives diaphragm 7 and rotates and can adjust the angle of main arm 11, the output shaft of servo motor 9 drives main arm 11 rotatory can adjust the inclination of main arm 11, its cooperation angle adjustment mechanism snatchs the mechanism and snatchs the goods in bags, can select the mounted position of this device according to the in-service use condition, slider 5 slidable mounting can provide the direction for the output shaft of rotating electrical machines 2 when driving diaphragm 7 and the main arm 11 on it rotatory in spout 4, guarantee its operating stability.

Example 2

Referring to fig. 1 to 5, in the case where the other parts are the same as those of embodiment 1, this embodiment is different from embodiment 1 in that: the angle adjusting mechanism comprises an auxiliary arm 14 hinged to the top end of a main arm 11, a fixing block 13 is fixed at the bottom of the auxiliary arm 14, an inclination angle oil cylinder 12 is hinged to the side face of the main arm 11, the tail end of a hydraulic rod of the inclination angle oil cylinder 12 is hinged to the side face of the fixing block 13, the grabbing mechanism comprises a grabbing arm 15 fixed at the end portion of the auxiliary arm 14, a first hydraulic cylinder 16 is installed at the bottom of the grabbing arm 15, a connecting plate 17 is fixed at the tail end of a piston rod of the first hydraulic cylinder 16, a second hydraulic cylinder 20 is installed at the bottom of the connecting plate 17, a conical block 27 is fixed at the tail end of a piston rod of the second hydraulic cylinder 20, a mounting shell 22 is fixedly connected to the bottom of the connecting plate 17 through a connecting rod 21, a first opening matched with the conical block 27 is formed in the top of the mounting shell 22, the conical block 27 is located in the first opening, two grabs 23 are hinged to the inside of the mounting shell 22, opposite faces of the two grabs 23 are both rotatably provided with rollers 25 matched with conical surfaces of the conical block 27 through fixing rods 24, two second openings matched with the two grippers 23 are formed in the bottom of the mounting shell 22, the grabbing claws of the two grippers 23 penetrate through the two second openings and extend to the bottom of the mounting shell 22, a sliding sleeve 19 is fixed on the side face of the grabbing arm 15, a sliding rod 18 is fixed at the top of the connecting plate 17, the sliding rod 18 is sleeved in the sliding sleeve 19 in a sliding mode, a limiting block is arranged at the top end of the sliding rod 18, a vacuum sucker 26 is arranged at the bottom of the mounting shell 22, and a vacuum opening of the vacuum sucker 26 is communicated with an external air compressor through an air pipe. The piston rod of the second hydraulic cylinder 20 pushes the conical block 27 to move downwards in the mounting shell 22, so that the conical block 27 extrudes the two rollers 25 to enable the grabbing claws at the bottom ends of the two grippers 23 to rotate to grab bagged goods, the second hydraulic cylinder 20 pushes the conical block 27 to drive the grippers to grab the bagged goods, the grabbing speed is high, the tops of the bagged goods are adsorbed by the vacuum sucker 26 to fix the bagged goods again, the problem that the bagged goods drop off during grabbing and stacking of the grippers can be effectively solved, the grippers grab the bagged goods in the traditional mechanical transmission mode, the operation is stable, the problem that electrical elements in the grippers are frequently damaged and need to be replaced and maintained can be avoided, the cost of the device is low, the enterprise expenditure is greatly reduced, the piston rod of the first hydraulic cylinder 16 can drive the connecting plate 17 to move upwards and downwards, so that the height of the second hydraulic cylinder 20 mounted at the bottom of the connecting plate 17 can be adjusted, therefore, the grabbing height of the hand grab 23 can be adjusted, and the flexibility of the hand grab 23 in grabbing bagged goods is improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. The utility model provides a palletizing robot, includes base (1), its characterized in that, mounting groove (3) and mounting groove (3) are seted up at the top of base (1) and rotating electrical machines (2) are installed to interior, rotating electrical machines (2) output shaft rigid coupling has diaphragm (7) and diaphragm (7) top to be fixed with mounting panel (8) and two fixed plates (10) and is fixed with between two fixed plates (10) fixed axle (28), two fixed plate (10) are located the back of mounting panel (8), the surface of fixed axle (28) articulates there is main arm (11), the output shaft that servo motor (9) and servo motor (9) were installed in the front of mounting panel (8) runs through mounting panel (8) and fixes the front at main arm (11), the top of main arm (11) is connected with through angle adjustment mechanism and snatchs the mechanism.

2. Palletizing robot as claimed in claim 1, characterized in that said angle adjustment mechanism comprises an auxiliary arm (14) hinged at the top of the main arm (11) and a fixed block (13) fixed to the bottom of the auxiliary arm (14), the side of the main arm (11) being hinged to the tilt cylinder (12) and the hydraulic rod end of the tilt cylinder (12) being hinged to the side of the fixed block (13).

3. The palletizing robot as claimed in claim 2, wherein the grabbing mechanism comprises a grabbing arm (15) fixed at the end of the auxiliary arm (14), a first hydraulic cylinder (16) is installed at the bottom of the grabbing arm (15), a connecting plate (17) is fixed at the tail end of a piston rod of the first hydraulic cylinder (16), a second hydraulic cylinder (20) is installed at the bottom of the connecting plate (17), a conical block (27) is fixed at the tail end of a piston rod of the second hydraulic cylinder (20), a mounting shell (22) is fixedly connected to the bottom of the connecting plate (17) through a connecting rod (21), a first opening matched with the conical block (27) is formed in the top of the mounting shell (22), the conical block (27) is located in the first opening, two grabbing hands (23) are hinged to the inside of the mounting shell (22), and rollers (25) matched with conical surfaces of the conical block (27) are arranged on the opposite sides of the two grabbing hands (23) in a rotating mode through fixing rods (24) Two second openings matched with the two grippers (23) are formed in the bottom of the mounting shell (22), and the gripping claws of the grippers (23) penetrate through the two second openings and extend to the bottom of the mounting shell (22).

4. Robot palletizer according to claim 3, wherein a sliding sleeve (19) is fixed on the side of the grabbing arm (15), a sliding rod (18) is fixed on the top of the connecting plate (17), and the sliding rod (18) is slidably sleeved in the sliding sleeve (19).

5. The palletizing robot as claimed in claim 4, wherein a limiting block is arranged at the top end of the sliding rod (18), a vacuum suction cup (26) is arranged at the bottom of the mounting shell (22), and a vacuum port of the vacuum suction cup (26) is communicated with an external air compressor through an air pipe.

6. The palletizing robot as claimed in claim 1, wherein a mounting disc (6) is sleeved on the outer surface of the base (1), and mounting holes are formed in the mounting disc (6).

7. Palletizing robot according to claim 1, characterized in that a protective casing is provided in the mounting slot (3), the rotating electric machine (2) being located in the protective casing.

8. The palletizing robot as claimed in claim 1, wherein a sliding block (5) is fixed at the bottom of the transverse plate (7), an annular sliding groove (4) is formed in the top of the base (1), and the sliding block (5) is slidably mounted in the sliding groove (4).

9. The palletizing robot as claimed in claim 1, wherein a through hole is formed in a side surface of the mounting plate (8), a bearing is arranged in the through hole, and an output shaft of the servo motor (9) is arranged at an inner ring of the bearing.