CN105084023A - Stacking robot - Google Patents
Stacking robot Download PDFInfo
- Publication number
- CN105084023A CN105084023A CN201510560584.2A CN201510560584A CN105084023A CN 105084023 A CN105084023 A CN 105084023A CN 201510560584 A CN201510560584 A CN 201510560584A CN 105084023 A CN105084023 A CN 105084023A
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- horizontal
- motor
- vertical
- horizontal arm
- column
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Abstract
The invention relates to a stacking robot which comprises a rotary base, a standing column, a horizontal arm and an installing block. The standing column is arranged on the rotary base; the horizontal arm is installed on the standing column horizontally; a vertical adjusting mechanism used for controlling the horizontal arm to move vertically is arranged on the standing column; the installing block is movably arranged on the horizontal arm; a horizontal adjusting mechanism used for controlling the installing block to move is arranged on the horizontal arm; a first motor is arranged on the installing block; the lower end of the first motor is provided with a mechanical grip. The vertical adjusting mechanism can control the horizontal arm to move stably and vertically on the standing column; the horizontal adjusting mechanism can control the installing block to move stably on the horizontal arm; the two adjusting mechanisms work together, and therefore the mechanical grip can be controlled to work stably.
Description
Technical field
The present invention relates to a kind of robot palletizer.
Background technology
In present industrial production line normal use robot to replace manpower by load-carrying carrying and proper alignment on goods plate.Robot palletizer, it comprises rotating basis, column, horizontal arm, mechanical gripper.Mechanical gripper moves horizontally on horizontal arm, and horizontal arm moves up and down on column; Mainly relied on rack-driving to the control of horizontal arm and mechanical gripper, because tooth bar exists defect that is easy to wear and fracture, cause stacker to need frequent maintenance down, replacing, work efficiency is lower in the past.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, provides a kind of robot palletizer.
The technical solution adopted for the present invention to solve the technical problems is: a kind of robot palletizer, comprise rotating base, column, horizontal arm and mounting blocks, described column is arranged on rotating base, described horizontal arm level is arranged on column, described column is provided with the up-down adjustment mechanism moved up and down for level of control arm; Described mounting blocks moves and is arranged on horizontal arm, described horizontal arm is provided with the level(l)ing mechanism for controlling mounting blocks movement;
Described mounting blocks is provided with the first motor, the lower end of described first motor is provided with mechanical gripper.
Further, described up-down adjustment mechanism comprises motor vertical, vertical leading screw, vertical slide rail and vertical slide block, described motor vertical is arranged on the upper end of column, described vertical leading screw is through horizontal arm, the upper end of described vertical leading screw connects the rotating shaft of motor vertical, the lower end of described vertical leading screw and column normal-running fit; Described vertical slide block is arranged on horizontal arm, and described vertical slide rail is arranged on column, and described vertical slide block is connected with horizontal arm, and described horizontal arm is formed to slide up and down with the vertical slide rail on column through vertical slide block and coordinates; Described motor vertical rotates, and drives horizontal arm to move on column.
Further, described level(l)ing mechanism comprises horizontal slide rail, horizontal screw lead and horizontal motor, described horizontal screw lead rotates and is arranged on horizontal arm, described horizontal screw lead is through mounting blocks, described mounting blocks to be arranged on horizontal slide rail and to coordinate with horizontal slide rail, the rotating shaft of described horizontal motor connects horizontal screw lead, and described horizontal motor rotates, and drives mounting blocks to move on the slide rail of horizontal arm.
Further, the first described motor is DC servo motor.
Further, described motor vertical is DC servo motor.
Further, described water skin motor is DC servo motor.
The invention has the beneficial effects as follows: up-down adjustment mechanism can stable the moving up and down on column of level of control arm, and level(l)ing mechanism can control mounting blocks movement stable on horizontal arm, and two regulating mechanisms one work, control the work that mechanical gripper is stable.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further described.
Fig. 1 is the schematic diagram of robot palletizer of the present invention;
Wherein, 1, rotating base, 2, column, 3, horizontal arm, the 4, first motor, 5, mechanical gripper, 21, motor vertical, 22, vertical leading screw, 23, vertical slide rail, 31, horizontal motor, 32, horizontal screw lead.
Detailed description of the invention
The present invention is further illustrated by reference to the accompanying drawings now.The schematic diagram that these accompanying drawings are simplification only illustrates basic structure of the present invention in a schematic way, and therefore it only shows the formation relevant with the present invention.
As shown in Figure 1, a kind of robot palletizer, comprise rotating base 1, column 2, horizontal arm 3 and mounting blocks, column 2 is arranged on rotating base 1, horizontal arm 3 level is arranged on column 2, column 2 is provided with the up-down adjustment mechanism moved up and down for level of control arm 3; Mounting blocks moves and is arranged on horizontal arm 3, horizontal arm 3 is provided with the level(l)ing mechanism for controlling mounting blocks movement; Lower end mounting blocks being provided with the first motor 4, first motor 4 is provided with mechanical gripper 5.First motor 4 is DC servo motor.
Up-down adjustment mechanism comprises motor vertical 21, vertical leading screw 22, vertical slide rail 23 and vertical slide block, and motor vertical 21 is arranged on the upper end of column 2, and motor vertical 21 is DC servo motor.Vertical leading screw 22 is through horizontal arm 3, and the upper end of vertical leading screw 22 connects the rotating shaft of motor vertical 21, the lower end of vertical leading screw 22 and column 2 normal-running fit; Vertical slide block is arranged on horizontal arm 3, and vertical slide rail 23 is arranged on column 2, and vertical slide block is connected with horizontal arm 3, and horizontal arm 3 is formed to slide up and down with the vertical slide rail 23 on column 2 through vertical slide block and coordinates; Motor vertical 21 rotates, and drives horizontal arm 3 to move on column 2.
Level(l)ing mechanism comprises horizontal slide rail, horizontal screw lead 32 and horizontal motor 31, and water skin motor is DC servo motor.Horizontal screw lead 32 rotates and is arranged on horizontal arm 3, horizontal screw lead 32 is through mounting blocks, and mounting blocks to be arranged on horizontal slide rail and to coordinate with horizontal slide rail, the rotating shaft connection horizontal screw lead 32 of horizontal motor 31, horizontal motor 31 rotates, and drives mounting blocks to move on the slide rail of horizontal arm 3.
Lead screw transmission can be that horizontal arm 3 and mounting blocks transmission are more stable, and the coordinating of slide rail and slide block, and makes the more steady of horizontal arm 3 and mounting blocks movement.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on specification sheets, must determine its technical scope according to right.
Claims (6)
1. a robot palletizer, it is characterized in that, comprise rotating base (1), column (2), horizontal arm (3) and mounting blocks, described column (2) is arranged on rotating base (1), described horizontal arm (3) level is arranged on column (2), described column (2) is provided with the up-down adjustment mechanism moved up and down for level of control arm (3); Described mounting blocks moves and is arranged on horizontal arm (3), described horizontal arm (3) is provided with the level(l)ing mechanism for controlling mounting blocks movement;
Described mounting blocks is provided with the first motor (4), the lower end of described first motor (4) is provided with mechanical gripper (5).
2. robot palletizer according to claim 1, it is characterized in that, described up-down adjustment mechanism comprises motor vertical (21), vertical leading screw (22), vertical slide rail (23) and vertical slide block, described motor vertical (21) is arranged on the upper end of column (2), described vertical leading screw (22) is through horizontal arm (3), the upper end of described vertical leading screw (22) connects the rotating shaft of motor vertical (21), the lower end of described vertical leading screw (22) and column (2) normal-running fit; Described vertical slide block is arranged on horizontal arm (3), described vertical slide rail (23) is arranged on column (2), described vertical slide block is connected with horizontal arm (3), and described horizontal arm (3) is formed to slide up and down with the vertical slide rail (23) on column (2) through vertical slide block and coordinates; Described motor vertical (21) rotates, and drives horizontal arm (3) upper mobile at column (2).
3. robot palletizer according to claim 1, it is characterized in that, described level(l)ing mechanism comprises horizontal slide rail, horizontal screw lead (32) and horizontal motor (31), described horizontal screw lead (32) rotates and is arranged on horizontal arm (3), described horizontal screw lead (32) is through mounting blocks, described mounting blocks is arranged on horizontal slide rail, and coordinate with horizontal slide rail, the rotating shaft of described horizontal motor (31) connects horizontal screw lead (32), described horizontal motor (31) rotates, mounting blocks is driven to move on the slide rail of horizontal arm (3).
4. robot palletizer according to claim 1, is characterized in that, described the first motor (4) is DC servo motor.
5. robot palletizer according to claim 2, is characterized in that, described motor vertical (21) is DC servo motor.
6. robot palletizer according to claim 3, is characterized in that, described water skin motor is DC servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510560584.2A CN105084023A (en) | 2015-09-06 | 2015-09-06 | Stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510560584.2A CN105084023A (en) | 2015-09-06 | 2015-09-06 | Stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105084023A true CN105084023A (en) | 2015-11-25 |
Family
ID=54565499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510560584.2A Pending CN105084023A (en) | 2015-09-06 | 2015-09-06 | Stacking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105084023A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127748A (en) * | 2017-07-10 | 2017-09-05 | 山东农业大学 | A kind of arm-type palletizing mechanical arm of small rotary and application method |
| CN111689243A (en) * | 2020-05-07 | 2020-09-22 | 江阴市双平机械有限公司 | Novel hacking machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201198134Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Cylindrical storehouse stacking robot |
| CN201327679Y (en) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | Miniature programmable logistics teaching robot |
| US20110268549A1 (en) * | 2010-04-28 | 2011-11-03 | Hon Hai Precision Industry Co., Ltd. | Palletizing robot |
| CN102874606A (en) * | 2012-09-21 | 2013-01-16 | 浙江大学 | Automatic stacking device for manually-operated pallet truck |
| CN203092555U (en) * | 2012-12-19 | 2013-07-31 | 广州市万世德包装机械有限公司 | One-arm stacking machine |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN204872928U (en) * | 2015-09-06 | 2015-12-16 | 南京理工技术转移中心有限公司 | Stacking robot |
-
2015
- 2015-09-06 CN CN201510560584.2A patent/CN105084023A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201198134Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Cylindrical storehouse stacking robot |
| CN201327679Y (en) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | Miniature programmable logistics teaching robot |
| US20110268549A1 (en) * | 2010-04-28 | 2011-11-03 | Hon Hai Precision Industry Co., Ltd. | Palletizing robot |
| CN102874606A (en) * | 2012-09-21 | 2013-01-16 | 浙江大学 | Automatic stacking device for manually-operated pallet truck |
| CN203092555U (en) * | 2012-12-19 | 2013-07-31 | 广州市万世德包装机械有限公司 | One-arm stacking machine |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN204872928U (en) * | 2015-09-06 | 2015-12-16 | 南京理工技术转移中心有限公司 | Stacking robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107127748A (en) * | 2017-07-10 | 2017-09-05 | 山东农业大学 | A kind of arm-type palletizing mechanical arm of small rotary and application method |
| CN107127748B (en) * | 2017-07-10 | 2023-08-29 | 山东农业大学 | Small rotating arm type stacking manipulator and use method thereof |
| CN111689243A (en) * | 2020-05-07 | 2020-09-22 | 江阴市双平机械有限公司 | Novel hacking machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151125 |