CN105905620A - Stacking robot for carrying workpieces efficiently and operation method of stacking robot for carrying workpieces efficiently - Google Patents
Stacking robot for carrying workpieces efficiently and operation method of stacking robot for carrying workpieces efficiently Download PDFInfo
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- CN105905620A CN105905620A CN201610393836.1A CN201610393836A CN105905620A CN 105905620 A CN105905620 A CN 105905620A CN 201610393836 A CN201610393836 A CN 201610393836A CN 105905620 A CN105905620 A CN 105905620A
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- arm
- vertical
- wrist
- workpiece
- horizontal drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention relates to a stacking robot for carrying workpieces efficiently and an operation method of the stacking robot for carrying the workpieces efficiently. The stacking robot comprises a base, a horizontal driving mechanism, a vertical driving mechanism, a posture adjusting mechanism, an arm mechanism and a wrist. A clamp is connected to the lower end of the wrist and comprises a rack frame and a material grabbing clamp; an installing block is arranged at the upper end of the rack frame and is internally provided with an installing groove; a locking mechanism is arranged in the installing groove and comprises two poke rods and a squeezing block; an operation part is formed at the upper ends of the poke rods; supporting columns are arranged in the installing groove; the middle portions of the poke rods are connected with the supporting columns; reset springs are arranged between the lower ends of the poke rods and the side wall of the installing groove; an embedded groove is formed in the side end of the wrist; an embedded block is arranged on the inner side of the operation part; and the depth of the installing groove is larger than the depth of the embedded block. A locking piece is arranged on the joint of the wrist and the clamp, falling of the workpieces is reduced in the workpiece carrying process by improving the stability of the joint between the wrist and the clamp through the locking piece, and the workpiece carrying efficiency is improved.
Description
Technical field
The present invention relates to robot palletizer and the operational approach of robot palletizer of the technical field of robot palletizer, especially high efficiency carrying workpiece.
Background technology
Robot palletizer is widely used in the fields such as chemical industry, beverage, food processing, carrying out piling according to carton, packaging bag, fill, the difformity finished product packing such as box-packed, bottled, robot palletizer utilizes end effector mechanism carrying end product packing to complete palletization.
Existing robot palletizer includes end effector mechanism and mechanical arm, especially, the sack that packaging is shaped, through ladle-to-ladle device, apparatus for shaping, it is transported to robot palletizer and captures position, capture after packaging bag stacking form as requested and realize automatic piling, in order to make the end effector mechanism of crawl packaging bag be in required operating position, then need to simplify the motion structure in each joint, the needs of narrow working space during to meet packaging bag piling, and the mechanical arm of robot palletizer is the most firm with the junction of end effector mechanism, easily in carrying workpiece fabrication, workpiece drops, cause carrying workpiece inefficiency.
Summary of the invention
It is an object of the invention to provide robot palletizer and the operational approach thereof of high efficiency carrying workpiece, aim to solve the problem that in prior art, the mechanical arm of robot palletizer is the most firm with the junction of end effector mechanism, easily in carrying workpiece fabrication, workpiece drops, the problem causing carrying workpiece inefficiency.
The present invention is achieved in that the robot palletizer of high efficiency delivery workpiece, including base, horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system, arm mechanism and wrist；The lower end of described arm mechanism is connected with described horizontal drive mechanism and described vertical driving mechanism respectively, the upper end of described arm mechanism connects Triangular Arm, described attitude-adjusting system includes the first parallelogram linkage and the second parallelogram linkage, the lower end of described first parallelogram linkage is connected with described wrist, the upper end of described first parallelogram linkage is connected with described Triangular Arm, the lower end of described second parallelogram linkage is connected with described horizontal drive mechanism, and the upper end of described second parallelogram linkage is connected with described Triangular Arm；nullThe lower end of described wrist connects fixture，Described fixture includes frame frame and material grasping folder，The upper end of described frame frame is provided with mounting blocks，It is provided with in described mounting blocks and is embedded in interior mounting groove for wrist，The retaining mechanism for locking wrist it is provided with in described mounting groove，Described retaining mechanism includes two poke rods positioned opposite and is connected to the crushing block of lower end of described poke rod，The upper end of described poke rod extends to the top of described mounting blocks，Form operating portion，It is provided with pillar in described mounting groove，The middle part of described poke rod is connected with described pillar，And between lower end and the sidewall of described mounting groove of described poke rod, it is provided with the back-moving spring driving described poke rod to move reset towards the center of described mounting groove，The side of described wrist is provided with embedded groove，And the inner side of described operating portion is provided with the embedded block in being embedded in described embedded groove，The degree of depth of described mounting groove is more than the degree of depth of described embedded block.
Further, the outside of described operating portion is formed and pulls block.
Further, described material grasping folder includes press plate mechanism, the breeches pipe mechanism of a pair cylinder and a pair symmetry, described breeches pipe mechanism includes parallel breeches pipe, baffle plate, connecting rod, rotary shaft and pair of bearings frame, connecting rod is fixed on by elbow bend in one end of described breeches pipe, the other end of described breeches pipe points to the same side by billiard table, described baffle plate is located at the top of breeches pipe vertically, and fix with described connecting rod, described in a pair, bearing bracket stand is fixed on connecting rod, its bearing is connected by rotary shaft, described in a pair, cylinder is individually fixed in support plate, its piston rod is connected with rotary shaft, described press plate mechanism includes guide rod cylinder and pressing plate, described guide rod cylinder is vertical at Wrist fixing board, its guide rod is vertically connected at pressing plate, described pressing plate is set in parallel between breeches pipe and guide rail, it is evenly equipped with the air-vent of four flute profiles.
Further, described frame frame includes pair of parallel slide rail and Wrist fixing board, the top of described material grasping folder is located at by described frame frame, described frame frame includes pair of parallel guide rail and a pair support plate, described Wrist fixing board is fixed by nut and pad in the top of slide rail described in a pair, and described mounting blocks is connected on described Wrist fixing board；Support plate described in a pair is arranged on the two ends of guide rail lower surface described in a pair.
Further, the outer rim of described bearing bracket stand is provided with boss, and described boss is against there being vertical Shock-proof bolt, and described Shock-proof bolt is connected to support plate by nut.
Further, described fixture also includes detent mechanism, described detent mechanism includes two positioning sliding blocks and a reverse-flighted screw, described positioning sliding block is located at the top of same side rail, and be connected with described support plate respectively, described reverse-flighted screw is arranged in described in two between positioning sliding block, and is threaded connection fixing respectively.
Further, described arm mechanism includes the forearm being sequentially connected with, lower linking arm, cross bar and postbrachium, the lower end of described lower linking arm by under auxiliary arm be connected to described horizontal drive mechanism, the upper end of described lower linking arm connects a fulcrum of described Triangular Arm, the another two fulcrum of described Triangular Arm is connected to front bar and rear bar, described front bar is by the front auxiliary bar described wrist of connection corresponding with described forearm, and described rear bar is connected with described horizontal drive mechanism by connecting rod.
Further, described first parallelogram linkage is made up of wrist, forearm, the first arm of described Triangular Arm, front bar and front auxiliary bar, described second parallelogram linkage by the second arm of described Triangular Arm, rear bar, connecting rod, under auxiliary arm and lower linking arm constitute, described horizontal drive mechanism, described vertical driving mechanism are connected by support arm, and it being mounted on described base, described vertical driving mechanism is connected with described postbrachium.
Further, described vertical driving mechanism includes fixed plate, vertical slipper, vertical slide rail, connect seat, transverse axis, ball screw and the first servomotor, a vertical slipper is all fixed at the two ends of described fixed plate, described in two, vertical slide rail is parallelly mounted to base, each described vertical slipper correspondence is installed on vertical slide rail, each vertical slide rail is fixed along the vertical direction of base, described fixed plate is fixed with two parallel connection seats, described transverse axis connects seat through two, and supported by taper roll bearing, described postbrachium is socketed on transverse axis, described ball screw is fixed on fixed plate along the vertical direction of base, and be connected with the first servomotor power, one end of described fixed plate is provided with limiting plate.
Present invention also offers the operational approach of robot palletizer, specifically comprise the following steps that
Step 1. clicks on releasing the button of robot palletizer, and horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system and arm mechanism rotate, and drives fixture to turn on the direction residing for workpiece；
The level that junction point is arm mechanism of the auxiliary arm of step 2. time and horizontal drive mechanism actively joint, it makees horizontal rectilinear motion with horizontal drive mechanism；Postbrachium and the junction point of vertical driving mechanism are the vertical actively joint of arm mechanism, and it makees vertical linear motion with vertical driving mechanism, horizontal drive mechanism make lower linking arm and under the level of auxiliary arm actively articulation level moves time, it is achieved horizontal direction moves；When the vertical active joint that vertical driving mechanism makes postbrachium vertically moves, it is achieved move in vertical direction, thus drive the breeches pipe of fixture and the aligned in position of workpiece；
Step 3. operates horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system and arm mechanism, is dropped at workpiece by fixture；
The piston rod of step 4. cylinder drives crank axle to be rotated and rotates, thus drive bearing bracket stand to swing, and then make breeches pipe capture packaging bag, baffle plate, breeches pipe, pressing plate define the framework to packaging bag shaping, the both sides of packaging bag are compressed by baffle plate, and the end face of packaging bag drives pressing plate to compress by guide rod cylinder, and the breeches pipe that the underrun of packaging bag is arranged in parallel is held, single captures two bag packaging bags simultaneously, completes to grip workpiece；
Step 5. operates horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system and arm mechanism, and workpiece is moved to discharge position；
The piston rod of step 6. cylinder drives crank axle to be rotated and rotates, thus drives bearing bracket stand to swing, and then makes breeches pipe unclamp packaging bag, and the baffle plate of the both sides simultaneously driving packaging bag unclamps, and guide rod cylinder drives pressing plate to rise, and completes whole discharge process.
Compared with prior art, the robot palletizer of the high efficiency delivery workpiece that the present invention provides, by arranging base, horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system, arm mechanism, wrist and fixture, realize the effect of delivery workpiece, and it is provided with locking member in the junction of wrist Yu fixture, by the steadiness of the junction between locking member raising wrist and fixture, reduce workpiece at carrying workpiece fabrication and drop, improve carrying workpiece efficiency.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the robot palletizer of the high efficiency delivery workpiece that the embodiment of the present invention provides；
Fig. 2 is the lateral structural representation of the vertical driving mechanism that the embodiment of the present invention provides；
Fig. 3 is the main TV structure schematic diagram of the fixture that the embodiment of the present invention provides；
Fig. 4 is the plan structure schematic diagram of the fixture that the embodiment of the present invention provides；
Fig. 5 is the left view structural representation of the fixture that the embodiment of the present invention provides；
Fig. 6 is the cutting structural representation of the locking member that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Below in conjunction with specific embodiment, the realization of the present invention is described in detail.
With reference to Fig. 1 ~ 6, the preferred embodiment provided for the present invention.
The robot palletizer of the high efficiency delivery workpiece that the present embodiment provides, fields such as being applied to chemical industry, beverage, food processing can be used in, piling is carried out according to carton, packaging bag, fill, the difformity finished product packing such as box-packed, bottled, realize high efficiency carrying workpiece, and simple in construction, footprint area is little.
The robot palletizer of high efficiency delivery workpiece, including base 10, horizontal drive mechanism 20, vertical driving mechanism 30, attitude-adjusting system 40, arm mechanism 50 and wrist 60；The lower end of arm mechanism 50 is connected with horizontal drive mechanism 20 and vertical driving mechanism 30 respectively, the upper end of arm mechanism 50 connects Triangular Arm 70, attitude-adjusting system 40 includes the first parallelogram linkage 80 and the second parallelogram linkage 90, the lower end of the first parallelogram linkage 80 is connected with wrist 60, the upper end of the first parallelogram linkage 80 is connected with Triangular Arm 70, the lower end of the second parallelogram linkage 90 is connected with horizontal drive mechanism 20, and second the upper end of parallelogram linkage 90 be connected with Triangular Arm 70；nullThe lower end of wrist 60 connects fixture，Fixture includes frame frame 1 and material grasping folder 2，The upper end of frame frame 1 is provided with mounting blocks 41，It is provided with in this mounting blocks 41 and is embedded in interior mounting groove 42 for wrist 6，The retaining mechanism for locking wrist 60 it is provided with in mounting groove 42，Retaining mechanism includes two poke rods positioned opposite and is connected to the crushing block 46 of lower end of poke rod，Wherein，The upper end of poke rod extends to the top of mounting blocks 41，Form operating portion，Pillar 47 it is provided with in mounting groove 42，The middle part of poke rod is connected with pillar 47，And between the sidewall of the lower end of poke rod and mounting groove 42, it is provided with the back-moving spring 45 driving poke rod to move reset towards the center of mounting groove 42，The side of wrist is provided with embedded groove，And the embedded block 43 that the inner side of operating portion is provided with in being embedded in embedded groove，The degree of depth of mounting groove is more than the degree of depth of embedded block 43.
The lower end of wrist 60 is inserted in mounting groove 42 along the gap between two poke rods, wrist 60 can press the crushing block 46 of poke rod lower end, crushing block 46 drives back-moving spring 45 to move towards the side of mounting groove 42, back-moving spring 45 compresses, it addition, back-moving spring 45 can drive crushing block 46 clamping machine mechanical arm to 46 1 counteracting forces of crushing block, and embedded block is embedded in embedded groove, further locking fixture and wrist 60；When needing demountor mechanical arm, only needing extrusion operation portion inwardly, owing to the lower end of poke rod and the upper end of poke rod form the lever with pillar 47 as balance pivot, the lower end of poke rod is moved the most outwardly, thus unclamp the clamping to mechanical arm, it is moved upwardly by wrist 60, away from crushing block 46, swings the upper end of poke rod the most outwardly, extract wrist 60, it addition, back-moving spring 45 resets simultaneously, poke rod is driven to reset.
The robot palletizer of above-mentioned high efficiency delivery workpiece, by arranging base 10, horizontal drive mechanism 20, vertical driving mechanism 30, attitude-adjusting system 40, arm mechanism 50, wrist 60 and fixture, realize the effect of delivery workpiece, and it is provided with locking member in the junction of wrist 60 with fixture, steadiness by the junction between locking member raising wrist 60 and fixture, reduce workpiece at carrying workpiece fabrication to drop, improve carrying workpiece efficiency.
The outside of operating portion is formed and pulls block 44.
In the present embodiment, material grasping folder 2 includes the breeches pipe mechanism 23 of press plate mechanism 21, a pair cylinder 22 and a pair symmetry, breeches pipe mechanism 23 includes breeches pipe 231, baffle plate 232, connecting rod 233, rotary shaft 234 and pair of bearings frame 235, breeches pipe 231 has 8 and arranged in parallel, one end of every breeches pipe 231 utilizes nut and pad to be fixed on connecting rod 233 by elbow bend 236, the other end points to the same side by billiard table 237, baffle plate 232 is located at the top of breeches pipe 231 vertically, and is bolted fixing with connecting rod 233.Pair of bearings frame 235 is secured by bolts in connecting rod
233, its bearing is connected by rotary shaft 234, and a pair cylinder 22 bolt respectively is fixed on support plate 12, and its piston rod is connected with rotary shaft 234 by crank 24.The outer rim of bearing bracket stand 235 is provided with boss 235a, boss 235a against there being vertical Shock-proof bolt 25, and Shock-proof bolt 25 is connected to support plate 12 by nut.Cylinder 22 drives crank 24 that axle 234 is rotated and rotates, thus the folding realizing breeches pipe mechanism 23 captures.Press plate mechanism 21 includes guide rod cylinder 211 and pressing plate 212, guide rod cylinder 211 vertically bolt is fixed on Wrist fixing board 13, its guide rod is vertically connected at pressing plate 212, and pressing plate 212 is set in parallel between breeches pipe 231 and guide rail 11, and it is evenly equipped with the air-vent 212a of four flute profiles.
Owing to symmetrical breeches pipe mechanism uses breeches pipe arranged in parallel, and the end of each breeches pipe uses the ball shape of billiard table, avoid breeches pipe nib contacts packaging bag and puncture, baffle plate simultaneously, breeches pipe, pressing plate defines the framework to packaging bag shaping, the both sides of packaging bag are compressed by baffle plate, the end face of packaging bag is compressed by pressing plate, owing to pressing plate is provided with the air-vent of four flute profiles, the plastic foil making packaging bag will not be held by pressing plate under atmospheric pressure effect, the breeches pipe that the underrun of packaging bag is arranged in parallel is held, thus reach preferable packaging bag shaping effect, two the most symmetrical material catching apparatus can capture two bag packaging bags with single simultaneously, substantially increase crawl efficiency.
It addition, frame frame 1 includes pair of parallel slide rail 5 and Wrist fixing board 6, the top of material grasping folder 2 is located at by frame frame 1, and the rectangular frame that frame frame 1 is formed by connecting by pair of parallel guide rail 11 and a pair support plate 12, as the body frame of this robot palletizer.Wrist fixing board 6 is fixed by nut and pad in the top of a pair slide rail 5, and above-mentioned mounting blocks 41 is connected on Wrist fixing board 6.A pair support plate 12 is arranged on the two ends of pair of guide rails 11 lower surface, and is slidably mounted in the groove of guide rail 11, can horizontally slip along guide rail 11.Material catching apparatus 4 can be horizontally slipped along slide rail 5.
Above-mentioned fixture also includes detent mechanism 3, and detent mechanism 3, including two positioning sliding block 31 and reverse-flighted screws 32, positioning sliding block 31 is located at the top of same side rail 11, and be connected with support plate 12 respectively, reverse-flighted screw 32 is arranged between two positioning sliding blocks 31, and is threaded connection fixing respectively.Owing to reverse screw thread is distributed on reverse-flighted screw 32, two positioning sliding blocks 31 can be moved with synchronous backward, thus also drive a pair support plate 12 synchronous backward motion, and then support plate 12 drives breeches pipe mechanism 23 to slide along guide rail 11 reverse slide, the distance of breeches pipe mechanism 23 thus can be regulated according to the width of packaging bag.
In the present embodiment, arm mechanism 50 includes the forearm 510 being sequentially connected with, lower linking arm 520, cross bar 530 and postbrachium 540, forearm 510, lower linking arm 520, cross bar 530 and postbrachium 540 constitute quadric chain, the lower end of lower linking arm 520 by under auxiliary arm 550 be connected to horizontal drive mechanism 20, the upper end of lower linking arm 520 connects a fulcrum of Triangular Arm 70, the another two fulcrum of Triangular Arm 70 is connected to front bar 410, rear bar 420, front bar 410 is by front auxiliary bar 430 connection corresponding with forearm 510 wrist 60, rear bar 420 is connected with horizontal drive mechanism 20 by connecting rod 440.
First parallelogram linkage 80 is made up of wrist 60, forearm 510, the first arm 710 of Triangular Arm, front bar 410 and front auxiliary bar 430, second parallelogram linkage 90 by the second arm 72 of Triangular Arm, rear bar 420, connecting rod 440, under auxiliary arm 550 and lower linking arm 520 constitute, horizontal drive mechanism 20, vertical driving mechanism 30 are connected by support arm 10, and it being mounted on base 10, vertical driving mechanism 30 is connected with postbrachium 540.
Attitude-adjusting system 40 is by the first parallelogram linkage 80 and the second parallelogram linkage 90, make it interrelated with position mechanism, but it is independent of each other, when utilizing attitude-adjusting system 40 to adjust, wrist 60 attitude keeps constant, and the end effector operating attitude being i.e. connected with wrist 60 keeps constant.Base 10 is provided with slew gear simultaneously, makes base 10 can make gyration around gyroaxis, thus expands the job area of robot palletizer.
Horizontal drive mechanism 20 includes horizontal slide rail 210, cross sliding clock 220 and the second servomotor, and horizontal slide rail 210 is fixed on base 10, and cross sliding clock 220 is installed on horizontal slide rail 210, and is connected with the second servomotor power.Second driven by servomotor cross sliding clock 220 makees horizontal rectilinear motion along horizontal slide rail 210.
nullVertical driving mechanism 30 includes fixed plate 310、Vertical slipper 320、Vertical slide rail 330、Connect seat 340、Transverse axis 350、Ball screw 360 and the first servomotor，A vertical slipper 320 is all fixed at the two ends of fixed plate 310，Two vertical slide rail 330 are parallelly mounted to base 10，Each vertical slipper 320 correspondence is installed on vertical slide rail 330，Each vertical slide rail 330 is vertically fixed on base 10，Fixed plate 310 is fixed with two parallel connection seats 340，Transverse axis 350 connects seat 340 through two，And supported by taper roll bearing 37，Postbrachium 540 is socketed on transverse axis 350，Ball screw 360 is fixed on fixed plate 310 along the vertical direction of base 10，And be connected with the first servomotor power，One end of fixed plate 310 is provided with limiting plate 38.The worm drive of the first driven by servomotor ball screw 360, thus drive fixed plate 310 and vertical slipper 320 to make vertical linear motion along vertical slide rail 330.
Wrist 60 is load carrying point with the junction point of forearm 510, under the level that junction point the is arm mechanism 50 actively joint of auxiliary arm 550 and the cross sliding clock 220 of horizontal drive mechanism 20, it makees horizontal rectilinear motion with horizontal drive mechanism 20；Postbrachium 540 and the vertical actively joint that the junction point of the fixed plate 310 of vertical driving mechanism 30 is arm mechanism 50, it makees vertical linear motion with vertical driving mechanism 30.Utilize this arm mechanism 50, horizontal drive mechanism 20 make lower linking arm 520 and under the level actively articulation level of auxiliary arm 550 move time, load carrying point moves only in horizontal direction；When the vertical active joint that vertical driving mechanism 30 makes postbrachium 540 vertically moves, load carrying point only moves in vertical direction, and the load carrying point that therefore can realize robot palletizer moves linearly along the horizontal, vertical directions.Utilize arm mechanism 50 and horizontal drive mechanism 20, the collocation form of vertical driving mechanism 30 of this parallelogram connection-rod, it is achieved that the linear movement of arm mechanism 50 operating position point, simplify the motion structure of movable joint.
Present invention also offers the operational approach of robot palletizer, specifically comprise the following steps that
Step 1. clicks on releasing the button of robot palletizer, and horizontal drive mechanism 20, vertical driving mechanism 30, attitude-adjusting system 40 and arm mechanism 50 rotate, and drives fixture to turn on the direction residing for workpiece；
The level that junction point is arm mechanism of the auxiliary arm of step 2. time 550 and horizontal drive mechanism 20 actively joint, it makees horizontal rectilinear motion with horizontal drive mechanism；Postbrachium 540 and the vertical actively joint that the junction point of vertical driving mechanism 30 is arm mechanism, it makees vertical linear motion with vertical driving mechanism, horizontal drive mechanism 20 make lower linking arm 520 and under the level actively articulation level of auxiliary arm 550 move time, it is achieved horizontal direction moves；When the vertical active joint that vertical driving mechanism 30 makes postbrachium vertically moves, it is achieved move in vertical direction, thus drive the breeches pipe 231 of fixture and the aligned in position of workpiece；
Step 3. operates horizontal drive mechanism 20, vertical driving mechanism 30, attitude-adjusting system 40 and arm mechanism 50, is dropped at workpiece by fixture；
The piston rod of step 4. cylinder 22 drives crank 24 axle 234 to be rotated and rotates, thus drive bearing bracket stand 235 to swing, and then make breeches pipe 231 capture packaging bag, baffle plate 232, breeches pipe 231, pressing plate 212 define the framework to packaging bag shaping, the both sides of packaging bag are compressed by baffle plate 232, and the end face of packaging bag drives pressing plate 212 to compress by guide rod cylinder 211, and the breeches pipe 231 that the underrun of packaging bag is arranged in parallel is held, single captures two bag packaging bags simultaneously, completes to grip workpiece；
Step 5. operates horizontal drive mechanism 20, vertical driving mechanism 30, attitude-adjusting system 40 and arm mechanism 50, and workpiece is moved to discharge position；
The piston rod of step 6. cylinder 22 drives crank axle 234 to be rotated and rotates, thus drive bearing bracket stand 235 to swing, and then make breeches pipe 231 unclamp packaging bag, the baffle plate 232 of the both sides simultaneously driving packaging bag unclamps, guide rod cylinder 211 drives pressing plate 212 to rise, and completes whole discharge process.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (10)
1. the robot palletizer of high efficiency delivery workpiece, it is characterised in that include base, horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system, arm mechanism and wrist；The lower end of described arm mechanism is connected with described horizontal drive mechanism and described vertical driving mechanism respectively, the upper end of described arm mechanism connects Triangular Arm, described attitude-adjusting system includes the first parallelogram linkage and the second parallelogram linkage, the lower end of described first parallelogram linkage is connected with described wrist, the upper end of described first parallelogram linkage is connected with described Triangular Arm, the lower end of described second parallelogram linkage is connected with described horizontal drive mechanism, and the upper end of described second parallelogram linkage is connected with described Triangular Arm；nullThe lower end of described wrist connects fixture，Described fixture includes frame frame and material grasping folder，The upper end of described frame frame is provided with mounting blocks，It is provided with in described mounting blocks and is embedded in interior mounting groove for wrist，The retaining mechanism for locking wrist it is provided with in described mounting groove，Described retaining mechanism includes two poke rods positioned opposite and is connected to the crushing block of lower end of described poke rod，The upper end of described poke rod extends to the top of described mounting blocks，Form operating portion，It is provided with pillar in described mounting groove，The middle part of described poke rod is connected with described pillar，And between lower end and the sidewall of described mounting groove of described poke rod, it is provided with the back-moving spring driving described poke rod to move reset towards the center of described mounting groove，The side of described wrist is provided with embedded groove，And the inner side of described operating portion is provided with the embedded block in being embedded in described embedded groove，The degree of depth of described mounting groove is more than the degree of depth of described embedded block.
2. the robot palletizer of high efficiency delivery workpiece as claimed in claim 1, it is characterised in that the outside of described operating portion is formed and pulls block.
null3. the robot palletizer of high efficiency delivery workpiece as claimed in claim 2，It is characterized in that，Described material grasping folder includes press plate mechanism、The breeches pipe mechanism of a pair cylinder and a pair symmetry，Described breeches pipe mechanism includes parallel breeches pipe、Baffle plate、Connecting rod、Rotary shaft and pair of bearings frame，Connecting rod is fixed on by elbow bend in one end of described breeches pipe，The other end of described breeches pipe points to the same side by billiard table，Described baffle plate is located at the top of breeches pipe vertically，And fix with described connecting rod，Described in a pair, bearing bracket stand is fixed on connecting rod，Its bearing is connected by rotary shaft，Described in a pair, cylinder is individually fixed in support plate，Its piston rod is connected with rotary shaft，Described press plate mechanism includes guide rod cylinder and pressing plate，Described guide rod cylinder is vertical at Wrist fixing board，Its guide rod is vertically connected at pressing plate，Described pressing plate is set in parallel between breeches pipe and guide rail，It is evenly equipped with the air-vent of four flute profiles.
4. the robot palletizer of high efficiency delivery workpiece as claimed in claim 3, it is characterized in that, described frame frame includes pair of parallel slide rail and Wrist fixing board, the top of described material grasping folder is located at by described frame frame, described frame frame includes pair of parallel guide rail and a pair support plate, described Wrist fixing board is fixed by nut and pad in the top of slide rail described in a pair, and described mounting blocks is connected on described Wrist fixing board；Support plate described in a pair is arranged on the two ends of guide rail lower surface described in a pair.
5. the robot palletizer of high efficiency delivery workpiece as claimed in claim 4, it is characterised in that the outer rim of described bearing bracket stand is provided with boss, and described boss is against there being vertical Shock-proof bolt, and described Shock-proof bolt is connected to support plate by nut.
6. the robot palletizer of the high efficiency delivery workpiece as described in any one of claim 1 or 5, it is characterized in that, described fixture also includes detent mechanism, described detent mechanism includes two positioning sliding blocks and a reverse-flighted screw, described positioning sliding block is located at the top of same side rail, and be connected with described support plate respectively, described reverse-flighted screw is arranged in described in two between positioning sliding block, and is threaded connection fixing respectively.
7. the robot palletizer of high efficiency delivery workpiece as claimed in claim 6, it is characterized in that, described arm mechanism includes the forearm being sequentially connected with, lower linking arm, cross bar and postbrachium, the lower end of described lower linking arm by under auxiliary arm be connected to described horizontal drive mechanism, the upper end of described lower linking arm connects a fulcrum of described Triangular Arm, the another two fulcrum of described Triangular Arm is connected to front bar and rear bar, described front bar is by the front auxiliary bar described wrist of connection corresponding with described forearm, and described rear bar is connected with described horizontal drive mechanism by connecting rod.
8. the robot palletizer of high efficiency delivery workpiece as claimed in claim 7, it is characterized in that, described first parallelogram linkage is made up of wrist, forearm, the first arm of described Triangular Arm, front bar and front auxiliary bar, described second parallelogram linkage by the second arm of described Triangular Arm, rear bar, connecting rod, under auxiliary arm and lower linking arm constitute, described horizontal drive mechanism, described vertical driving mechanism are connected by support arm, and it being mounted on described base, described vertical driving mechanism is connected with described postbrachium.
9. the robot palletizer of high efficiency delivery workpiece as claimed in claim 8, it is characterized in that, described vertical driving mechanism includes fixed plate, vertical slipper, vertical slide rail, connect seat, transverse axis, ball screw and the first servomotor, a vertical slipper is all fixed at the two ends of described fixed plate, described in two, vertical slide rail is parallelly mounted to base, each described vertical slipper correspondence is installed on vertical slide rail, each vertical slide rail is fixed along the vertical direction of base, described fixed plate is fixed with two parallel connection seats, described transverse axis connects seat through two, and supported by taper roll bearing, described postbrachium is socketed on transverse axis, described ball screw is fixed on fixed plate along the vertical direction of base, and be connected with the first servomotor power, one end of described fixed plate is provided with limiting plate.
10. the operational approach of robot palletizer, it is characterised in that specifically comprise the following steps that
Step 1. clicks on releasing the button of robot palletizer, and horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system and arm mechanism rotate, and drives fixture to turn on the direction residing for workpiece；
The level that junction point is arm mechanism of the auxiliary arm of step 2. time and horizontal drive mechanism actively joint, it makees horizontal rectilinear motion with horizontal drive mechanism；Postbrachium and the junction point of vertical driving mechanism are the vertical actively joint of arm mechanism, and it makees vertical linear motion with vertical driving mechanism, horizontal drive mechanism make lower linking arm and under the level of auxiliary arm actively articulation level moves time, it is achieved horizontal direction moves；When the vertical active joint that vertical driving mechanism makes postbrachium vertically moves, it is achieved move in vertical direction, thus drive the breeches pipe of fixture and the aligned in position of workpiece；
Step 3. operates horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system and arm mechanism, is dropped at workpiece by fixture；
The piston rod of step 4. cylinder drives crank axle to be rotated and rotates, thus drive bearing bracket stand to swing, and then make breeches pipe capture packaging bag, baffle plate, breeches pipe, pressing plate define the framework to packaging bag shaping, the both sides of packaging bag are compressed by baffle plate, and the end face of packaging bag drives pressing plate to compress by guide rod cylinder, and the breeches pipe that the underrun of packaging bag is arranged in parallel is held, single captures two bag packaging bags simultaneously, completes to grip workpiece；
Step 5. operates horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system and arm mechanism, and workpiece is moved to discharge position；
The piston rod of step 6. cylinder drives crank axle to be rotated and rotates, thus drives bearing bracket stand to swing, and then makes breeches pipe unclamp packaging bag, and the baffle plate of the both sides simultaneously driving packaging bag unclamps, and guide rod cylinder drives pressing plate to rise, and completes whole discharge process.
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| CN108263675A (en) * | 2018-03-27 | 2018-07-10 | 瑞光（上海）电气设备有限公司 | A kind of packaging bag bag delivering device |
| CN108860834A (en) * | 2018-07-06 | 2018-11-23 | 常熟市中联光电新材料有限责任公司 | Manipulator moves packed set automatically |
| CN110422621A (en) * | 2019-08-21 | 2019-11-08 | 中国南方电网有限责任公司超高压输电公司天生桥局 | A kind of material conveying device |
| CN111993432A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot for stacking |
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| CN111993432A (en) * | 2020-07-23 | 2020-11-27 | 南京市晨枭软件技术有限公司 | Industrial robot for stacking |
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| CN105905620B (en) | 2019-03-26 |
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