CN217555239U - Regular rigid material carrying and stacking robot - Google Patents
Regular rigid material carrying and stacking robot Download PDFInfo
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- CN217555239U CN217555239U CN202221166875.5U CN202221166875U CN217555239U CN 217555239 U CN217555239 U CN 217555239U CN 202221166875 U CN202221166875 U CN 202221166875U CN 217555239 U CN217555239 U CN 217555239U
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Abstract
The regular rigid material handling and stacking robot comprises a rack assembly, a low-position turnover device and a high-position clamping device; the rack assembly comprises a frame and an electric roller; the low-position turnover device comprises a fixed frame, a sliding frame, a push-pull assembly, a rotating unit and a clamping assembly; a clamping opening with adjustable opening degree is arranged in the clamping assembly and used for clamping the box body; the high-position clamping device comprises a lifting driving mechanism and a box body clamping mechanism; the lifting driving mechanism is arranged on the frame, and the action executing part of the lifting driving mechanism performs reciprocating linear movement in the vertical direction; the middle part of the box body clamping mechanism is provided with a clamping opening with adjustable opening degree; the path swept by the horizontal movement of the clamping opening and the path swept by the vertical movement of the clamping opening have an intersection area, and the intersection area is positioned in the middle of the lower end of the operation area. The utility model is used for the rigidity material of handling and pile up the shape rule, but each link of wide application in industrial production, it is big to have solved artifical handling and pile up material intensity of labour, wastes time and energy, has the problem of potential safety hazard.
Description
Technical Field
The utility model relates to a mechanical technical field is transported to the material, especially a robot is put things in good order in regular rigidity material handling.
Background
In manufacturing enterprises such as food, medicine, daily necessities and the like, raw materials or products are generally packed/packaged in a box body with a regular shape so as to be convenient for warehousing and storage or inter-process transfer.
At present, the operation of warehousing and storage or inter-process transfer is generally performed manually, the automation degree is low, and the specific process is that workers carry the box bodies filled with the materials to a cart, then the box bodies are transported to a designated place and then are unloaded and stacked. The above manual operation has the following disadvantages: the labor intensity of manual loading and unloading is high, time and labor are wasted, and when the initial position or the target position of the box body is at a high position, the safety risk that the box body falls down to injure people is also existed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the not enough of prior art, and provide a robot is put things in good order to regular rigidity material handling, it has solved in industrial production, and the rigidity material is transported to put things in good order operation intensity of labour big, wastes time and energy, has the problem of safe risk.
The technical scheme of the utility model is that: the regular rigid material handling and stacking robot comprises a rack assembly, a low-position turnover device and a high-position clamping device;
the rack assembly comprises a frame and an electric roller; the lower end of the frame is provided with four roller mounting areas which are distributed in a rectangular shape, an operation area for clamping and turning the box body is arranged in the frame, and the front end of the frame is provided with an opening communicated to the operation area; the four electric rollers are respectively arranged in four roller mounting areas;
the low-position turnover device comprises a fixed frame, a sliding frame, a push-pull assembly, a rotating unit and a clamping assembly; the fixed frame is fixedly arranged in the middle of the lower end of the frame and is provided with a sliding chute which is horizontally arranged; the sliding frame is provided with a mounting surface and a sliding block, the sliding frame is slidably mounted on a sliding groove of the fixed frame through the sliding block, and the mounting surface of the sliding frame faces to the operating area; the push-pull assembly is arranged between the frame and the sliding frame and is used for driving the sliding frame to slide along the sliding chute of the fixed frame in the horizontal direction so as to enable the clamping assembly to stretch into or withdraw from the operation area; the rotating unit is arranged between the mounting surface of the sliding frame and the clamping assembly and is used for driving the clamping assembly to rotate in a vertical plane; a clamping opening with adjustable opening degree is arranged in the clamping assembly and used for clamping materials;
the high-position clamping device comprises a lifting driving mechanism and a box body clamping mechanism; the lifting driving mechanism is arranged on the frame, and the action executing part of the lifting driving mechanism performs reciprocating linear movement in the vertical direction; the box body clamping mechanism is associated with the action executing part of the lifting driving mechanism and is driven by the action executing part of the lifting driving mechanism to do reciprocating linear movement in the vertical direction, a clamping opening with adjustable opening degree is arranged in the middle of the box body clamping mechanism, and a path swept by the vertical movement of the clamping opening is positioned in an operation area;
the path swept by the horizontal movement of the clamping opening and the path swept by the vertical movement of the clamping opening have an intersection area, and the intersection area is positioned in the middle of the lower end of the operation area.
The utility model discloses further technical scheme is: the push-pull assembly comprises a motor A, a driving wheel A, a driven wheel A and a synchronous belt A; the motor A is fixedly arranged on the frame; the driving wheel A is fixedly arranged on a crankshaft of the motor A; the driven wheel A is rotatably arranged on the frame and is arranged at the same height as the driving wheel A; the synchronous belt A is tensioned and wound between the driving wheel A and the driven wheel A and is fixedly connected with the sliding frame, the synchronous belt A runs under the driving of the motor A to drive the sliding frame to slide horizontally along the sliding groove of the fixing frame, and then the installation surface of the sliding frame is far away from or close to an operation area.
The utility model discloses still further technical scheme is: the clamping assembly comprises a bearing plate A, an air cylinder and a clamping plate; the bearing plate A is fixedly arranged on the rotating unit and is driven by the rotating unit to rotate in a vertical plane; the two cylinders are fixedly arranged on the bearing plate A, and telescopic rods of the two cylinders are oppositely arranged; the two clamping plates are respectively fixedly arranged on the piston rods of the two cylinders and are oppositely arranged, and rubber cushion layers are respectively arranged on the oppositely arranged surfaces of the two clamping plates; the clamping opening is the area between the two clamping plates.
The utility model discloses a further technical scheme is: the lifting driving mechanism comprises a motor B, a driving wheel B, a driven wheel B, a synchronous belt B and a guide post; the motor B is fixedly arranged at the lower end of the frame; the driving wheel B is fixedly arranged on a crankshaft of the motor B; the driven wheel B is rotatably arranged at the upper end of the frame; the synchronous belt B is tensioned and wound between the driving wheel B and the driven wheel B; a plurality of guide posts are vertically arranged and fixedly connected between the upper end and the lower end of the frame; the action executing piece is a synchronous belt B; the lifting driving mechanisms are divided into two groups; the two groups of lifting driving mechanisms are oppositely arranged at two sides of the operation area.
The utility model discloses a further technical scheme is: the lifting driving mechanism also comprises a tension wheel assembly; the tensioning wheel assembly comprises a wheel seat, a tensioning wheel and a locking nut; the wheel seat is fixedly arranged at the lower end of the frame, a horizontally arranged moving channel is arranged on the wheel seat, and horizontally extending waist-shaped holes are formed in the wall surfaces of the wheel seat on the two sides of the moving channel; the tensioning wheel comprises a wheel body and wheel shafts extending out from the centers of two end faces of the wheel body, external threads are arranged on the wheel shafts, the tensioning wheel is movably arranged in the moving channel of the wheel seat through the inserting fit relationship between the two wheel shafts and the two waist-shaped holes and is positioned on the inner side of the synchronous belt B, and the end parts of the two wheel shafts of the tensioning wheel respectively penetrate through the two waist-shaped holes and extend out of the moving channel; the two locking nuts are respectively in threaded connection with the end portions of the two wheel shafts and located outside two sides of the moving channel, the two locking nuts are screwed so that the tensioning wheel and the wheel seat are relatively fixed into a whole, the two locking nuts are unscrewed so that the tensioning wheel can move in the moving channel along the waist-shaped hole, and the synchronous belt B is compressed or released.
The utility model discloses a further technical scheme is: the box body clamping mechanism comprises a base, a bearing plate B, a rubber chuck, a connecting rod and an opening and closing assembly; the two ends of the base are respectively fixedly connected with the synchronous belts B of the two groups of lifting driving mechanisms, and are respectively in sliding fit with the guide columns of the two groups of lifting driving mechanisms; the two bearing plates B are respectively arranged on the guide rods of the base in a sliding manner; the two groups of connecting rods are respectively connected with the two bearing plates B, and each group of connecting rods comprises one or more connecting rods; the upper end of the connecting rod is rotatably connected to the lower surface of the bearing plate B through a bearing and/or a shaft sleeve, and the lower end of the connecting rod is fixedly connected with the rubber chuck; correspondingly, the rubber chucks are divided into two groups, the two groups of rubber chucks are respectively connected to the lower ends of the two groups of connecting rods and form one-to-one correspondence with the connecting rods, each rubber chuck is in a triangular prism shape and comprises two end faces and three side wall faces arranged between the two end faces, the three side wall faces of each rubber chuck are respectively provided with an axially extending concave cambered surface, the connecting position of each rubber chuck and the connecting rod is positioned at the center of the end face of each rubber chuck, and the clamping opening is an area between the two groups of rubber chucks; the opening and closing assembly is arranged on the base and is respectively associated with the two bearing plates B so as to drive the two bearing plates B to synchronously move oppositely or synchronously move reversely along the guide rod of the base, and further the opening degree of the clamping opening is enlarged or reduced.
The utility model discloses further technical scheme is: the opening and closing assembly comprises a motor C, a driving wheel C, a driven wheel C and a synchronous belt C; the motor C is fixedly arranged on the base; the driving wheel C is directly or indirectly connected with the crankshaft power of the motor C and is positioned at one end of the base; the driven wheel C is rotatably arranged at the other end of the base and is arranged at the same height as the driving wheel C; the synchronous belt C is tensioned and wound between the driving wheel C and the driven wheel C, and when the synchronous belt C runs, belt bodies on two sides of the synchronous belt C synchronously move in the opposite direction; the synchronous belt C is fixedly connected with the two bearing plates B through belt bodies on two sides of the synchronous belt C respectively so as to drive the two bearing plates B to synchronously move in opposite directions or synchronously move in the opposite directions along the guide rods of the base.
The utility model discloses a further technical scheme is: the electric roller comprises a driving motor, a wheel shaft and an omnidirectional wheel; the driving motor is fixedly arranged at one side of the roller mounting area of the frame, and a crankshaft of the driving motor horizontally extends out; the wheel shaft is horizontally arranged, one end of the wheel shaft is rotatably arranged at the other side edge of the roller mounting area of the frame through a bearing and a bearing seat, and the other end of the wheel shaft is connected with a shaft of the driving motor through a coupler; the omnidirectional wheels are fixedly arranged on the wheel shafts and are positioned in the roller wheel mounting area, and the included angle between any two adjacent omnidirectional wheels is 90 degrees.
Compared with the prior art, the utility model have following advantage:
1. the rigid material stacking device is used for carrying and stacking rigid materials with regular shapes, can be widely applied to all links in industrial production, and solves the problems that manual carrying and stacking of materials are high in labor intensity, time-consuming and labor-consuming, and potential safety hazards exist.
2. It gets the cooperation of device through low level turning device and high-order clamp, can realize the upset of material and transfer the appearance to put things in good order of material has promoted holistic maneuverability and degree of automation.
The invention is further described below with reference to the figures and examples.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the frame construction;
FIG. 3 is a schematic view of the low-side flipping mechanism from a viewing angle;
FIG. 4 is a schematic structural diagram of the low-position turning device from another view angle;
FIG. 5 is a schematic view of the cassette clamping mechanism at one viewing angle;
FIG. 6 is a schematic structural view of the case clamping mechanism from another perspective;
FIG. 7 is a schematic view of the structure and the installation position of the tension wheel assembly;
FIG. 8 is a state diagram of substep 2 of the workflow S01 of scenario 1;
FIG. 9 is a state diagram of substep 2 of the workflow S02 of scenario 1;
FIG. 10 is a state diagram of substep 4 of the workflow S01 of scenario 2;
FIG. 11 is a state diagram of substep 2 of the workflow S02 of scenario 2;
FIG. 12 is a state diagram of substep 5 of the workflow S02 of scenario 2;
FIG. 13 is a state diagram of substep 4 of the workflow S03 of scenario 2;
fig. 14 is a state diagram of the 7 th substep of the S03 workflow of scenario 2.
Illustration of the drawings: a frame 1; a roller mounting area 11; an operating area 12; an opening 13; an electric roller 2; a fixed frame 31; a chute 311; a carriage 32; a mounting surface 321; a slider 322; motor A331; a driving wheel A332; a driven wheel A333; a synchronous belt A334; a rotating unit 34; a carrier plate A351; a cylinder 352; a clamp plate 353; the clamping ports 354; a motor B41; a drive wheel B42; a driven pulley B43; a synchronous belt B44; a guide post 45; a gripping mouth 50; a base 51; a guide rod 511; a carrier plate B52; a connecting rod 53; a rubber collet 54; a motor C551; a capstan C552; a slave wheel C553; a synchronous belt C554; a wheel seat 461; moving channels 4611; waist-shaped holes 4612; a tension pulley 462; locking nut 463.
Detailed Description
Example 1:
as shown in fig. 1-7, the regular rigid material handling and stacking robot includes a frame assembly, a lower turning device and an upper gripping device.
The frame assembly comprises a frame 1 and a motor-driven roller 2. The lower end of the frame 1 is provided with four roller mounting areas 11 which are distributed in a rectangular shape, an operation area 12 for clamping and turning over the box body is arranged inside the frame 1, and the front end of the frame 1 is provided with an opening 13 communicated to the operation area. Four motorized rollers 2 are respectively installed in the four roller installation areas 11.
The low-position turnover device comprises a fixed frame 31, a sliding frame 32, a push-pull assembly, a rotating unit 34 and a clamping assembly.
The fixed frame 31 is fixedly installed in the middle of the lower end of the frame 1, and is provided with a sliding chute 311 which is horizontally arranged.
The carriage 32 is provided with a mounting surface 321 and a slider 322, and the carriage 32 is slidably mounted on the slide groove 311 of the fixed frame 31 via the slider 322, with the mounting surface 321 facing the operation area 12.
The push-pull assembly is disposed between the frame 1 and the sliding rack 32, and is used for driving the sliding rack 32 to slide horizontally along the sliding slot 311 of the fixing rack 31, so that the clamping assembly extends into or exits from the operation area 12. The push-pull assembly comprises a motor A331, a driving wheel A332, a driven wheel A333 and a synchronous belt A334. The motor a331 is fixedly mounted on the frame 1. The driving wheel A332 is fixedly arranged on a crankshaft of the motor A331. The driven pulley a333 is rotatably mounted on the frame 1 and is arranged at the same height as the driving pulley a 332. The synchronous belt a334 is tensioned and wound between the driving pulley a332 and the driven pulley a333, and is fixedly connected with the sliding rack 32, the synchronous belt a334 is driven by the motor a331 to rotate, so as to drive the sliding rack 32 to slide horizontally along the sliding slot 331 of the fixed rack 31, and further to enable the installation surface 321 of the sliding rack 32 to be far away from or close to the operation area 12.
The rotation unit 34 is installed between the installation surface 321 of the sliding frame 32 and the clamping assembly, and is used for driving the clamping assembly to rotate in a vertical plane.
The clamping assembly includes a carrier plate a351, a cylinder 352, and a clamp plate 353. The carrier plate a351 is fixedly installed on the rotating unit 34, and is driven by the rotating unit 34 to rotate in a vertical plane. The two cylinders 352 are fixedly installed on the bearing plate a351, and the telescopic rods of the two cylinders 352 are oppositely arranged. The two clamping plates 353 are respectively fixedly installed on the piston rods of the two cylinders 352 and are oppositely arranged, rubber cushion layers (not shown in the figure) are respectively arranged on the oppositely arranged surfaces of the two clamping plates 353, the area between the two clamping plates 353 is defined as a clamping opening 354, the opening degree of the clamping opening 354 can be adjusted by controlling the synchronous extension or synchronous retraction of the piston rods of the two cylinders 352, when the piston rods of the two cylinders 352 synchronously extend, the opening degree of the clamping opening 354 is reduced, and when the piston rods of the two cylinders 352 synchronously retract, the opening degree of the clamping opening 354 is increased.
The high-position clamping device comprises a lifting driving mechanism and a box body clamping mechanism.
The lifting driving mechanism is arranged on the frame 1, and the action executing part can do reciprocating linear movement in the vertical direction. The lifting driving mechanism comprises a motor B41, a driving wheel B42, a driven wheel B43, a synchronous belt B44 and a guide post 45. The motor B41 is fixedly mounted at the lower end of the frame 1. The driving pulley B42 is fixedly mounted on the crankshaft of the motor B41. The follower B43 is rotatably mounted on the upper end of the frame 1. The timing belt B44 is wound around and tensioned between the driving pulley B42 and the driven pulley B43. A plurality of guide posts 45 are vertically arranged and fixedly connected between the upper and lower ends of the frame 1. The action executing piece is a synchronous belt B44. The lifting driving mechanisms are arranged on two sides of the operation area 12.
The box body clamping mechanism is associated with the action executing piece of the lifting driving mechanism and is driven by the action executing piece of the lifting driving mechanism to do reciprocating linear movement in the vertical direction. The box body clamping mechanism comprises a base 51, a bearing plate B52, a connecting rod 53, a rubber chuck 54 and an opening and closing assembly. The pedestal 51 is fixedly connected with the synchronous belts B44 of the two groups of lifting driving mechanisms at two ends respectively, and forms sliding fit with the guide posts 45 of the two groups of lifting driving mechanisms respectively, a plurality of guide rods 511 which are horizontally arranged and are arranged in parallel are arranged in the middle of the pedestal 51, and the extending direction of the guide rods 511 is perpendicular to the front-back direction of the frame 1. The two carrier plates B52 are slidably mounted on the guide bars 511 of the base 51, respectively. The connecting rods 53 are two groups, two groups of connecting rods B54 are respectively connected with the two bearing plates B52, and each group of connecting rods 53 comprises one or more connecting rods 53. The connecting rod 53 is rotatably coupled at an upper end to the lower surface of the bearing plate B52 by means of a bearing and/or a bushing, and the connecting rod 53 is fixedly coupled at a lower end to the collet 54. Correspondingly, the number of the rubber chucks 54 is two, the two rubber chucks 54 are respectively connected to the lower ends of the two connecting rods 53 and form a one-to-one correspondence relationship with the connecting rods 53, the rubber chuck 54 is in a triangular prism shape and comprises two end faces and three side wall faces arranged between the two end faces, the three side wall faces of the rubber chuck 54 are respectively provided with an axially extending concave arc face, the connecting position of the rubber chuck 54 and the connecting rods 53 is located at the center of the end faces of the rubber chuck 54, and the area between the two rubber chucks 54 is defined as the clamping opening 50. The opening and closing component is disposed on the base 51 and is respectively associated with the two bearing plates B52 to drive the two bearing plates B52 to synchronously move towards each other or synchronously move away from each other along the guide rod 511 of the base 51, so as to expand or reduce the opening degree of the clamping opening 50. The opening and closing assembly comprises a motor C551, a driving wheel C552, a driven wheel C553 and a synchronous belt C554. The motor C551 is fixedly mounted on the base 51. The driving wheel C552 is directly or indirectly connected with the crankshaft power of the motor C551 and is positioned at one end of the base 51; a driven wheel C553 is rotatably mounted at the other end of the base 51 and is arranged at the same height as the driving wheel C552; the timing belt C554 is wound in tension between the driving pulley C552 and the driven pulley C553, and the belts on both sides of the timing belt C554 are moved in reverse in synchronization when the timing belt C554 is operated. The synchronous belt C554 is fixedly connected to the two bearing plates B52 by belts on both sides thereof, respectively, to drive the two bearing plates B52 to synchronously move toward each other or synchronously move away from each other along the guide rods 511 of the susceptor 51. The path swept by the vertical movement of the gripping mouth 50 of the high-level gripping device is located within the operating area 12.
The crossing area exists between the path swept by the horizontal movement of the clamping port 354 of the low-position turnover device and the path swept by the vertical movement of the clamping port 50 of the high-position clamping device, and the crossing area is located in the middle of the lower end of the operation area 12, so that the low-position turnover device and the high-position clamping device can realize the material handover.
Preferably, when the materials to be carried and stacked are cylinders, one group of connecting rods 53 only comprises one connecting rod 53, and the total number of the connecting rods is two; accordingly, the number of the rubber clips 54 in one set of the rubber clips 54 is only one, and two rubber clips are provided, and a connecting line between the two rubber clips 54 is parallel to the guide bar 511 of the base 51. Based on the structure, when the cylindrical material is clamped, the concave cambered surfaces of the two rubber chucks 54 are in surface contact with the outer circular surface of the cylinder respectively, and the applied pressing force directions are opposite, so that the clamping is stable.
Preferably, when the materials to be carried and stacked are cuboids, each group of connecting rods 53 comprises a plurality of connecting rods 53; correspondingly, the number of the rubber chucks 54 in each group is plural, all the rubber chucks 54 in each group of the rubber chucks 54 are arranged in a straight line, and the two groups of the rubber chucks 54 are symmetrically arranged. Based on the structure, the clamping opening 50 is rectangular, when clamping cuboid materials, the concave cambered surfaces of the two groups of rubber chucks 54 respectively form a multi-surface contact relation with two side wall surfaces of the cuboid, and the applied pressing force direction forms a plurality of positions which are opposite to each other, so that the clamping is relatively stable.
Preferably, the lift drive mechanism further comprises a tension wheel assembly. The tensioning wheel assembly includes a wheel seat 461, a tensioning wheel 462 and a locking nut 463. The wheel base 461 is fixedly arranged at the lower end of the frame 1, a moving channel 4611 which is horizontally arranged is arranged on the wheel base 461, and waist-shaped holes 4612 which horizontally extend are arranged on the wall surfaces of the two sides of the moving channel 4611 on the wheel base 461. The tension wheel 462 comprises a wheel body and wheel shafts extending from the centers of two end faces of the wheel body, the wheel shafts are provided with external threads, the tension wheel 462 is movably arranged in the moving channel 4611 of the wheel seat 461 through the insertion fit relationship of the two wheel shafts and the two kidney-shaped holes 4612 and is positioned on the inner side of the synchronous belt B44, and the end parts of the two wheel shafts of the tension wheel 462 respectively pass through the two kidney-shaped holes 4612 and extend out of the moving channel 4611. Two locking nuts 463 are screwed onto the ends of the two wheel shafts and located outside both sides of the moving channel 4611, respectively, the two locking nuts 463 are tightened so that the tension pulley is fixed integrally with the wheel holder 461, and the two locking nuts 463 are loosened so that the tension pulley 462 can move along the kidney-shaped hole 4612 in the moving channel 4611, thereby pressing or releasing the timing belt B44.
Preferably, the motorized trolley 2 includes a driving motor, an axle, and an omni wheel. The driving motor is fixedly arranged at one side of the roller mounting area of the frame, and a crankshaft of the driving motor horizontally extends out; the wheel shaft is horizontally arranged, one end of the wheel shaft is rotatably arranged at the other side edge of the roller mounting area of the frame through a bearing and a bearing seat, and the other end of the wheel shaft is connected with a shaft of the driving motor through a coupler; the omnidirectional wheels are fixedly arranged on the wheel shafts and are positioned in the roller wheel mounting area, and the included angle between any two adjacent omnidirectional wheels is 90 degrees.
The utility model is used for the rigidity material of appearance rule (for example cylindrical or rectangular bodily form) is put things in good order with the transport, and specific transport is put things in good order the operation and can be divided into following two kinds of scenes: 1. the initial posture of placing of material is unanimous with the pile gesture of material, under this state, after snatching the material at initial position, move to the target location and carry out the pile operation can, need not to rotate the posture of adjustment material. 2. The initial placing posture of the material is inconsistent with the stacking posture of the material, and in this state, after the material is grabbed at the initial position, the material needs to be rotated to a proper posture and then moved to the target position to execute stacking operation. And respectively explaining the working process of the material handling and stacking robot according to the two scenes.
The utility model discloses be in initial condition before carrying out the transport operation of putting things in good order, under initial condition:
a. the two bearing plates B52 are at extreme positions farthest from each other to maximize the opening degree of the gripping opening 50;
b. the piston rods of both cylinders 352 are in a retracted state to maximize the opening of the clamping ports 354;
c. the carriage 32 moves along the fixed frame 31 to an extreme position far from the operating area 12 (i.e. an extreme position relatively close to the rear end of the frame 1) to withdraw the gripping assembly outside the operating area 12;
d. the two clamping plates 353 are horizontally arranged oppositely;
e. the box body clamping mechanism is at the upper limit position of the moving stroke.
As shown in fig. 8-9, scenario 1 workflow:
s01, the high-level clamping device clamps and takes the materials:
1. the electric roller 2 acts to adjust the pose of the regular rigid material handling and stacking robot, so that the material placed at the initial position is contained into the operation area 12 through the opening 13 and is positioned in the middle of the operation area 12;
2. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend to a position corresponding to the height of the material, and the box body clamping mechanism contains two opposite side wall surfaces of the material through the clamping opening 50;
3. the motor C551 is started to drive the two bearing plates B52 to synchronously move towards each other until the two groups of rubber chucks 54 are tightly attached to the two side wall surfaces of the material, so that the material is clamped;
4. and the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism and the materials to ascend to the limit position.
In this step, the rubber collet 54 has a certain elasticity, and can generate adaptive deformation after applying pressing force, thereby realizing the close fit with the surface of the material.
S02, stacking materials by using a high-position clamping device:
1. the electric roller 2 acts to drive the regular rigid material handling and stacking robot to move to a target position, and the lower-layer material placed at the target position is contained into the operation area 12 and is positioned under the clamped material;
2. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend together with the materials, and when the clamped materials stably fall on the lower-layer materials, the motor C551 is started to drive the two bearing plates B52 to synchronously move backwards so as to separate the two groups of rubber chucks 54 from the materials, thereby loosening the materials;
3. and the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to move upwards to the limit position, and then the electric rollers 2 are controlled to act, so that the regular rigid material carrying and stacking robot exits out of the target area.
As shown in fig. 10-14, scenario 2 workflow:
s01, the high-level clamping device clamps and lifts the material:
1. the electric roller 2 acts to adjust the pose of the regular rigid material carrying and stacking robot, so that the material placed at the initial position is contained into the operation area 12 through the opening 13 and is positioned in the middle of the operation area 12;
2. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend to a position corresponding to the height of the material, and the box body clamping mechanism contains two opposite side wall surfaces of the material through the clamping opening 50;
3. the motor C551 is started to drive the two bearing plates B52 to synchronously move towards each other until the two groups of rubber chucks 54 are tightly attached to the two side wall surfaces of the material, so that the material is clamped;
4. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to ascend together with the materials to be matched with the height of the clamping assembly, and the matching means that: in the subsequent operation, when the clamping assembly clamps and rotates the material, the material does not interfere with the ground and the frame 1.
S02, clamping and overturning the material by the low-position overturning device:
1. the motor A331 is started to drive the sliding frame 32 to move along the fixed frame 31 to extend into the operation area 12, so that two opposite side wall surfaces of the material are accommodated in the clamping openings 354;
2. the telescopic rods of the two cylinders 352 synchronously extend out to reduce the clamping ports 354 until the two clamping plates 353 clamp the two opposite side wall surfaces of the material;
3. the motor C551 is started to drive the two bearing plates B52 to synchronously move back to the limit position, so that the two groups of rubber chucks 54 are separated from the material;
4. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to move upwards for a certain distance so as to avoid interfering with the subsequent material overturning process;
5. the rotating unit 34 is started to drive the clamping assembly to rotate 90 degrees, so that the two clamping plates 353 are vertically arranged oppositely, and the material is turned over.
S03, clamping and stacking materials by the high-position clamping device:
1. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend to be matched with the height of the material, wherein the matching means that the two groups of rubber chucks 54 respectively face the material and contain the material in the clamping opening 50;
2. the motor C551 is started to drive the two bearing plates B52 to synchronously move towards each other until the two groups of rubber chucks 54 are tightly attached to the two side wall surfaces of the material, so that the material is clamped;
3. the telescopic rods of the two cylinders 352 retract synchronously to expand the clamping opening 354, so that the two clamping plates 353 are separated from the material;
4. the motor a331 is started to drive the sliding frame 32 to move along the fixed frame 31 to the exit operation area 12 (i.e. to the area relatively close to the rear end of the frame 1) so as to avoid interference with the subsequent material lifting process;
5. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism and the material to ascend to the limit position;
6. the electric roller 2 acts to drive the regular rigid material handling and stacking robot to move to a target position, contain the lower-layer material placed at the target position into the operation area 12 and enable the lower-layer material to be positioned right below the clamped material;
7. the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to descend together with the materials, and when the clamped materials stably fall on the lower-layer materials, the motor C551 is started to drive the two bearing plates B52 to synchronously move backwards so as to separate the two groups of rubber chucks 54 from the materials, thereby loosening the materials;
8. and the motors B41 of the two groups of lifting driving mechanisms are synchronously started to drive the box body clamping mechanism to move upwards to the limit position, and then the electric rollers 2 are controlled to act, so that the regular rigid material carrying and stacking robot exits out of a target area.
In this step, the rubber collet 54 has a certain elasticity, and can generate adaptive deformation after applying pressing force, thereby realizing the close fit with the surface of the material.
Claims (8)
1. Regular rigid material handling and stacking robot is characterized in that: comprises a frame assembly, a low-position turnover device and a high-position clamping device;
the rack assembly comprises a frame and an electric roller; the lower end of the frame is provided with four roller mounting areas which are distributed in a rectangular shape, an operation area for clamping and turning the box body is arranged in the frame, and the front end of the frame is provided with an opening communicated to the operation area; the four electric rollers are respectively arranged in four roller mounting areas;
the low-position turnover device comprises a fixed frame, a sliding frame, a push-pull assembly, a rotating unit and a clamping assembly; the fixed frame is fixedly arranged in the middle of the lower end of the frame and is provided with a sliding chute which is horizontally arranged; the sliding frame is provided with a mounting surface and a sliding block, the sliding frame is slidably mounted on a sliding groove of the fixed frame through the sliding block, and the mounting surface of the sliding frame faces to the operating area; the push-pull assembly is arranged between the frame and the sliding frame and is used for driving the sliding frame to slide along the sliding chute of the fixed frame in the horizontal direction so as to enable the clamping assembly to stretch into or withdraw from the operation area; the rotating unit is arranged between the mounting surface of the sliding frame and the clamping assembly and is used for driving the clamping assembly to rotate in a vertical plane; a clamping opening with adjustable opening degree is arranged in the clamping assembly and used for clamping materials;
the high-position clamping device comprises a lifting driving mechanism and a box body clamping mechanism; the lifting driving mechanism is arranged on the frame, and the action executing part of the lifting driving mechanism performs reciprocating linear movement in the vertical direction; the box body clamping mechanism is associated with the action executing part of the lifting driving mechanism and is driven by the action executing part of the lifting driving mechanism to do reciprocating linear movement in the vertical direction, a clamping opening with adjustable opening degree is arranged in the middle of the box body clamping mechanism, and a path swept by the clamping opening in the vertical movement mode is located in an operation area;
the path swept by the horizontal movement of the clamping opening and the path swept by the vertical movement of the clamping opening have an intersection area, and the intersection area is positioned in the middle of the lower end of the operation area.
2. The regular rigid material handling palletizing robot as recited in claim 1, wherein: the push-pull assembly comprises a motor A, a driving wheel A, a driven wheel A and a synchronous belt A; the motor A is fixedly arranged on the frame; the driving wheel A is fixedly arranged on a crankshaft of the motor A; the driven wheel A is rotatably arranged on the frame and is arranged at the same height as the driving wheel A; the synchronous belt A is tensioned and wound between the driving wheel A and the driven wheel A and is fixedly connected with the sliding frame, the synchronous belt A runs under the driving of the motor A to drive the sliding frame to slide horizontally along the sliding groove of the fixing frame, and then the installation surface of the sliding frame is far away from or close to an operation area.
3. The regular rigid material handling palletizing robot as recited in claim 2, wherein: the clamping assembly comprises a bearing plate A, an air cylinder and a clamping plate; the bearing plate A is fixedly arranged on the rotating unit and is driven by the rotating unit to rotate in a vertical plane; the two cylinders are fixedly arranged on the bearing plate A, and telescopic rods of the two cylinders are oppositely arranged; the two clamping plates are respectively fixedly arranged on the piston rods of the two cylinders and are oppositely arranged, and rubber cushion layers are respectively arranged on the oppositely arranged surfaces of the two clamping plates; the clamping opening is the area between the two clamping plates.
4. The regular rigid material handling palletizing robot as recited in claim 3, wherein: the lifting driving mechanism comprises a motor B, a driving wheel B, a driven wheel B, a synchronous belt B and a guide post; the motor B is fixedly arranged at the lower end of the frame; the driving wheel B is fixedly arranged on a crankshaft of the motor B; the driven wheel B is rotatably arranged at the upper end of the frame; the synchronous belt B is tensioned and wound between the driving wheel B and the driven wheel B; a plurality of guide posts are vertically arranged and fixedly connected between the upper end and the lower end of the frame; the action executing piece is a synchronous belt B; the lifting driving mechanisms are divided into two groups; the two groups of lifting driving mechanisms are oppositely arranged at two sides of the operation area.
5. The regular rigid materials handling palletizing robot as set forth in claim 4, wherein: the lifting driving mechanism also comprises a tension wheel assembly; the tensioning wheel assembly comprises a wheel seat, a tensioning wheel and a locking nut; the wheel seat is fixedly arranged at the lower end of the frame, a horizontally arranged moving channel is arranged on the wheel seat, and horizontally extending waist-shaped holes are formed in the wall surfaces of the wheel seat on the two sides of the moving channel; the tensioning wheel comprises a wheel body and wheel shafts extending out from the centers of two end faces of the wheel body, external threads are arranged on the wheel shafts, the tensioning wheel is movably arranged in the moving channel of the wheel seat through the splicing fit relationship of the two wheel shafts and the two waist-shaped holes and is positioned on the inner side of the synchronous belt B, and the end parts of the two wheel shafts of the tensioning wheel respectively penetrate through the two waist-shaped holes and extend out of the moving channel; the two locking nuts are respectively in threaded connection with the end portions of the two wheel shafts and located outside two sides of the moving channel, the two locking nuts are screwed so that the tensioning wheel and the wheel seat are relatively fixed into a whole, the two locking nuts are unscrewed so that the tensioning wheel can move in the moving channel along the waist-shaped hole, and the synchronous belt B is compressed or released.
6. The regular rigid material handling palletizing robot as recited in claim 5, wherein: the box body clamping mechanism comprises a base, a bearing plate B, a rubber chuck, a connecting rod and an opening and closing assembly; the two ends of the base are respectively fixedly connected with the synchronous belts B of the two groups of lifting driving mechanisms, and are respectively in sliding fit with the guide columns of the two groups of lifting driving mechanisms; the two bearing plates B are respectively arranged on the guide rods of the base in a sliding manner; the two groups of connecting rods are respectively connected with the two bearing plates B, and each group of connecting rods comprises one or more connecting rods; the upper end of the connecting rod is rotatably connected to the lower surface of the bearing plate B through a bearing and/or a shaft sleeve, and the lower end of the connecting rod is fixedly connected with the rubber chuck; correspondingly, the rubber chucks are divided into two groups, the two groups of rubber chucks are respectively connected to the lower ends of the two groups of connecting rods and form one-to-one correspondence with the connecting rods, each rubber chuck is in a triangular prism shape and comprises two end faces and three side wall faces arranged between the two end faces, the three side wall faces of each rubber chuck are respectively provided with an axially extending concave cambered surface, the connecting position of each rubber chuck and the connecting rod is positioned at the center of the end face of each rubber chuck, and the clamping opening is an area between the two groups of rubber chucks; the opening and closing assembly is arranged on the base and is respectively associated with the two bearing plates B so as to drive the two bearing plates B to synchronously move oppositely or synchronously move reversely along the guide rod of the base, and further the opening degree of the clamping opening is enlarged or reduced.
7. The regular rigid materials handling palletizing robot as set forth in claim 6, wherein: the opening and closing assembly comprises a motor C, a driving wheel C, a driven wheel C and a synchronous belt C; the motor C is fixedly arranged on the base; the driving wheel C is directly or indirectly in power connection with a crankshaft of the motor C and is positioned at one end of the base; the driven wheel C is rotatably arranged at the other end of the base and is arranged at the same height as the driving wheel C; the synchronous belt C is tensioned and wound between the driving wheel C and the driven wheel C, and when the synchronous belt C runs, belt bodies on two sides of the synchronous belt C synchronously move in the opposite direction; the synchronous belt C is fixedly connected with the two bearing plates B through belt bodies on two sides of the synchronous belt C respectively so as to drive the two bearing plates B to synchronously move in opposite directions or synchronously move in the opposite directions along the guide rods of the base.
8. The regular rigid material handling palletizing robot as recited in claim 6 or 7, wherein: the electric roller comprises a driving motor, a wheel shaft and an omnidirectional wheel; the driving motor is fixedly arranged at one side of the roller mounting area of the frame, and a crankshaft of the driving motor horizontally extends out; the wheel shaft is horizontally arranged, one end of the wheel shaft is rotatably arranged at the other side edge of the roller mounting area of the frame through a bearing and a bearing seat, and the other end of the wheel shaft is connected with a shaft of the driving motor through a coupler; the omnidirectional wheels are fixedly arranged on the wheel shafts and are positioned in the roller wheel mounting area, and the included angle between any two adjacent omnidirectional wheels is 90 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221166875.5U CN217555239U (en) | 2022-05-16 | 2022-05-16 | Regular rigid material carrying and stacking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221166875.5U CN217555239U (en) | 2022-05-16 | 2022-05-16 | Regular rigid material carrying and stacking robot |
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| CN217555239U true CN217555239U (en) | 2022-10-11 |
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| CN202221166875.5U Active CN217555239U (en) | 2022-05-16 | 2022-05-16 | Regular rigid material carrying and stacking robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117799934A (en) * | 2024-02-29 | 2024-04-02 | 江苏烽禾升智能科技有限公司 | Method, equipment and processing line for transferring box under PACK |
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- 2022-05-16 CN CN202221166875.5U patent/CN217555239U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117799934A (en) * | 2024-02-29 | 2024-04-02 | 江苏烽禾升智能科技有限公司 | Method, equipment and processing line for transferring box under PACK |
| CN117799934B (en) * | 2024-02-29 | 2024-05-31 | 江苏烽禾升智能科技有限公司 | Method, equipment and processing line for transferring box under PACK |
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