CN215796944U - Small-size cartesian robot hacking machine - Google Patents
Small-size cartesian robot hacking machine Download PDFInfo
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- CN215796944U CN215796944U CN202121904049.1U CN202121904049U CN215796944U CN 215796944 U CN215796944 U CN 215796944U CN 202121904049 U CN202121904049 U CN 202121904049U CN 215796944 U CN215796944 U CN 215796944U
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Abstract
The utility model relates to the field of loading, unloading and carrying equipment, in particular to a small rectangular coordinate robot stacker crane which comprises a rack and a three-axis moving mechanism arranged on the rack, wherein the three-axis moving mechanism comprises an X-axis mechanism capable of moving along the length direction of the rack, a Y-axis mechanism arranged on the X-axis mechanism and capable of moving along the width direction of the rack, and a Z-axis mechanism arranged on the Y-axis mechanism and capable of moving along the vertical direction of the rack, the downward end of the Z-axis mechanism is connected with a manipulator for transferring articles, a rotating mechanism for controlling the manipulator to rotate is arranged on the Z-axis mechanism, and an imaging device for identifying the postures of the articles is arranged on the Z-axis mechanism. The stacking device solves the technical problems that stacking cannot be adjusted for skewed products and labor cost is high.
Description
Technical Field
The utility model relates to the field of loading, unloading and carrying equipment, in particular to a small rectangular coordinate robot stacker crane.
Background
At present, the chinese patent application No.: CN201821671519.2 discloses a three-axis automatic palletizing robot, which comprises an X-axis moving platform, a Y-axis moving platform, a Z-axis moving platform and a palletizing manipulator; the X-axis moving platform is transversely arranged on the working surface along the X-axis direction, the Y-axis moving platform is vertically arranged on the X-axis moving platform along the Y-axis direction, the Y-axis moving platform can move back and forth along the X-axis moving platform, the Z-axis moving platform is transversely arranged on the Y-axis moving platform along the Z-axis direction, the Z-axis moving platform can move up and down along the Y-axis moving platform, and a stacking manipulator capable of moving left and right along the Z-axis is arranged on the Z-axis moving platform; the Y-axis moving platform is provided with a slide block which moves along the Y axis, and the shell of the vertical moving platform of the Z-axis moving platform is fixed on the slide block of the Y-axis moving platform.
Although the automatic product stacking machine is more flexible in automation and can automatically grab product stacks, skewed products cannot be identified, readjusted and stacked in the actual use process, and in the industries of early food production, medicine production and the like, manual stacking is mostly adopted for product stacking, so that the problems of high labor intensity and high cost of workers exist.
SUMMERY OF THE UTILITY MODEL
Therefore, aiming at the problems, the utility model provides a small-sized rectangular coordinate robot stacker crane, which solves the technical problems that the inclined products cannot be adjusted and stacked and the labor cost is high.
In order to achieve the purpose, the utility model adopts the following technical scheme: the utility model provides a small-size cartesian robot hacking machine, includes the frame and locates the triaxial moving mechanism in the frame, triaxial moving mechanism can follow the Y axle mechanism that the width direction of frame removed and locate the Z axle mechanism that can follow the vertical direction of frame and remove on the Y axle mechanism including the X axle mechanism that the length direction of frame removed, locating X axle mechanism, Z axle mechanism is connected the manipulator that is used for transferring article down one end, be equipped with the rotatory rotary mechanism of control manipulator in the Z axle mechanism, be equipped with the image device who is used for discerning the article gesture in the Z axle mechanism.
Furthermore, the manipulator is a rubber sucker, and a negative pressure adsorption device is connected to the rubber sucker.
Further, X axle mechanism includes that the length direction of frame locates the X axle guide rail of both sides in the frame, with X axle guide rail sliding connection's X axle carriage and be used for driving the X axle drive assembly that X axle carriage removed, X axle drive assembly including locate in the frame and with X axle carriage fixed connection's X axle conveyer belt, the X axle motor of drive X axle conveyer belt motion.
Furthermore, Y axle mechanism includes that the width direction along the frame locates the Y axle guide rail on the X axle carriage, with Y axle guide rail sliding connection's Y axle carriage and be used for driving the lead screw drive subassembly that Y axle carriage removed.
Further, Z axle mechanism includes that the vertical direction along the frame locates lifter, the Z axle actuating mechanism that the control lifter goes up and down on the Y axle carriage, Z axle actuating mechanism is including locating Z axle drive assembly on the Y axle carriage respectively, locating the follower at lifter top, the open belt of parcel Z axle drive assembly and follower, open belt both ends are fixed respectively and the lifter both sides, Z axle drive assembly includes action wheel, the rotatory Z axle motor of drive action wheel.
Furthermore, a shielding plate for protecting the X-axis mechanism is arranged on the machine frame.
By adopting the technical scheme, the utility model has the beneficial effects that:
1. the manipulator is matched with the three-axis moving mechanism, so that a product can be grabbed to move in three dimensions, the imaging device is arranged on the Z-axis mechanism on the three-axis moving mechanism, the imaging device can identify the state of the product during input, and when the product is in an irregular posture, the manipulator can adjust the correct posture of the product through the rotating mechanism after grabbing the product, and then the product is stacked, so that the problem that the position of the product needs to be adjusted through manual intervention when the product is input in a skew mode can be effectively solved, and the stacking efficiency is effectively improved; meanwhile, when products with different sizes are combined and packaged, the products can be identified through the imaging device, the product posture is adjusted through rotation of the rotating mechanism, reasonable combination stacking and stacking are conducted on the products, the traditional manual stacking mode is replaced by the automatic stacking mode, and the labor cost is reduced while the production rate is effectively improved.
2. The manipulator is rubber suction cup, can effectively adsorb the product, adopts absorptive mode to avoid the rigidity contact, effectively avoids destroying the extranal packing of product.
3. The shielding plate used for protecting the X-axis mechanism is arranged on the rack, so that the X-axis mechanism can be effectively prevented from being invaded by foreign matters, and meanwhile, workers can be prevented from being involved in the X-axis conveying belt.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial schematic view of the X-axis mechanism;
fig. 3 is a schematic structural view of the Y-axis mechanism and the Z-axis mechanism.
Detailed Description
The utility model will now be further described with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 3, this embodiment provides a small-size cartesian robot hacking machine, including frame 1 and locate triaxial moving mechanism 2 on frame 1 triaxial moving mechanism 2 includes that can follow the length direction of frame 1 and remove X axle mechanism 3, locate on X axle mechanism 3 can follow the width direction of frame 1 and remove Y axle mechanism 4 and locate on the Y axle mechanism 4 can follow the Z axle mechanism 5 that frame 1 vertical direction removed, Z axle mechanism 5 is connected towards lower one end and is used for transferring article and the manipulator, be equipped with the rotary mechanism 6 that the control manipulator is rotatory on the Z axle mechanism 5, be equipped with the image device 7 that is used for discerning the article gesture on the Z axle mechanism 5.
The manipulator is matched with the three-axis moving mechanism 2, products can be grabbed to move in three dimensions, the imaging device 7 is arranged on the Z-axis mechanism 5 on the three-axis moving mechanism 2, the imaging device 7 can identify the state of the products during input, when the products are in irregular postures, the manipulator can adjust the correct postures of the products through the rotating mechanism 6 after grabbing the products, and then the products are stacked, so that the problem that the position of the products needs to be adjusted through manual intervention when the products are input to be inclined can be effectively solved, and the stacking efficiency is effectively improved; meanwhile, when products with different sizes are combined and packaged, the products can be identified through the imaging device 7, the product posture is adjusted through the rotation of the rotating mechanism 6, the products are reasonably combined, stacked and stacked, the traditional manual stacking mode is replaced by the automatic stacking mode, the productivity is effectively improved, and meanwhile, the labor cost is reduced.
The manipulator is a rubber sucker 8, and a negative pressure adsorption device (not shown in the figure) is connected to the rubber sucker 8.
The manipulator is rubber suction cup 8, can effectively adsorb the product, adopts absorbent mode to avoid the rigidity contact, effectively avoids destroying the extranal packing of product.
The Y-axis mechanism 4 includes a Y-axis guide rail 41 disposed on the X-axis sliding frame 32 along the width direction of the rack 1, a Y-axis sliding frame 42 slidably connected to the Y-axis guide rail 41, and a lead screw transmission assembly 43 for driving the Y-axis sliding frame 42 to move.
The Z-axis mechanism 5 includes a lifting rod 51 disposed on the Y-axis carriage 42 along the vertical direction of the machine frame 1, and a Z-axis driving mechanism 52 for controlling the lifting rod 51 to lift, the Z-axis driving mechanism 52 includes a Z-axis driving component 521 disposed on the Y-axis carriage 42, a driven wheel 522 disposed on the top of the lifting rod 51, an open belt 523 for wrapping the Z-axis driving component 521 and the driven wheel 522, two ends of the open belt 523 are fixed to two sides of the lifting rod 51, respectively, and the Z-axis driving component 521 includes a driving wheel 521a and a Z-axis motor 521b for driving the driving wheel 521a to rotate.
And a shielding plate 9 for protecting the X-axis mechanism 3 is arranged on the frame 1.
The shielding plate 9 for protecting the X-axis mechanism 3 is arranged on the frame 1, so that the X-axis mechanism 3 can be effectively prevented from being invaded by foreign matters, and meanwhile, workers can be prevented from being involved in the X-axis conveying belt 33 a.
While the utility model has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (6)
1. The utility model provides a small-size cartesian robot hacking machine, includes the frame and locates the triaxial moving mechanism in the frame, its characterized in that: the three-axis moving mechanism comprises an X-axis mechanism capable of moving along the length direction of the rack, a Y-axis mechanism arranged on the X-axis mechanism and capable of moving along the width direction of the rack, and a Z-axis mechanism arranged on the Y-axis mechanism and capable of moving along the vertical direction of the rack, wherein the Z-axis mechanism is connected with a manipulator used for transferring articles at one end downwards, a rotating mechanism used for controlling the manipulator to rotate is arranged on the Z-axis mechanism, and an image device used for identifying the postures of the articles is arranged on the Z-axis mechanism.
2. A small cartesian robotic stacker according to claim 1 wherein: the manipulator is a rubber sucker, and a negative pressure adsorption device is connected to the rubber sucker.
3. A small cartesian robotic stacker according to claim 1 wherein: x axle mechanism includes that the length direction of frame locates the X axle guide rail of both sides in the frame, with X axle guide rail sliding connection's X axle carriage and be used for driving the X axle drive assembly that X axle carriage removed, X axle drive assembly including locate in the frame and with X axle carriage fixed connection's X axle conveyer belt, the X axle motor of drive X axle conveyer belt motion.
4. A small cartesian robotic stacker according to claim 3 wherein: y axle mechanism includes and locates the Y axle guide rail on the X axle carriage along the width direction of frame, with Y axle guide rail sliding connection's Y axle carriage and be used for driving the lead screw drive assembly that Y axle carriage removed.
5. A small cartesian robotic stacker according to claim 4 wherein: z axle mechanism includes the Z axle actuating mechanism who locates lifter, control lifter on the Y axle carriage along the vertical direction of frame and go up and down, Z axle actuating mechanism is including locating Z axle drive assembly on the Y axle carriage respectively, locating the follower at lifter top, wrapping up the open belt of Z axle drive assembly and follower, open belt both ends are fixed respectively and the lifter both sides, Z axle drive assembly includes action wheel, the rotatory Z axle motor of drive action wheel.
6. A small cartesian robotic stacker according to any one of claims 1 to 5 wherein: and a shielding plate for protecting the X-axis mechanism is arranged on the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121904049.1U CN215796944U (en) | 2021-08-13 | 2021-08-13 | Small-size cartesian robot hacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121904049.1U CN215796944U (en) | 2021-08-13 | 2021-08-13 | Small-size cartesian robot hacking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215796944U true CN215796944U (en) | 2022-02-11 |
Family
ID=80131409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121904049.1U Active CN215796944U (en) | 2021-08-13 | 2021-08-13 | Small-size cartesian robot hacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215796944U (en) |
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2021
- 2021-08-13 CN CN202121904049.1U patent/CN215796944U/en active Active
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