CN105905620B - The robot palletizer and its operating method of high efficiency carrying workpiece - Google Patents
The robot palletizer and its operating method of high efficiency carrying workpiece Download PDFInfo
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- CN105905620B CN105905620B CN201610393836.1A CN201610393836A CN105905620B CN 105905620 B CN105905620 B CN 105905620B CN 201610393836 A CN201610393836 A CN 201610393836A CN 105905620 B CN105905620 B CN 105905620B
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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
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Abstract
The present invention relates to the robot palletizers and its operating method of high efficiency delivery workpiece, which includes, including pedestal, horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system, arm mechanism and wrist；The lower end of wrist is connected with fixture, fixture includes rack frame and material grasping folder, the upper end of rack frame is equipped with mounting blocks, mounting groove is equipped in mounting blocks, retaining mechanism is equipped in mounting groove, retaining mechanism includes two poke rods and crushing block, the upper end formation operation portion of poke rod, pillar is equipped in mounting groove, the middle part of poke rod is connect with pillar, and reset spring is equipped between the lower end of poke rod and the side wall of mounting groove, and the side of wrist is equipped with embedded groove, and the inside of operation portion is equipped with embedded block, the depth of mounting groove is greater than the depth of embedded block.It is provided with locking member in the junction of wrist and fixture, the stability of the junction between wrist and fixture is improved by locking member, workpiece is reduced in carrying workpiece fabrication and falls, improve carrying workpiece efficiency.
Description
Technical field
The present invention relates to the technical fields of robot palletizer, the especially robot palletizer of high efficiency carrying workpiece and stacking
The operating method of robot.
Background technique
Robot palletizer is widely used in the fields such as chemical industry, beverage, food processing, according to carton, packaging bag, filling, box
Dress, the different shapes finished product packing such as bottled carry out stacking, robot palletizer using end effector mechanism carrying end product packing come
Complete palletization.
Existing robot palletizer includes end effector mechanism and mechanical arm, particularly, for the sack of packaging forming,
By ladle-to-ladle device, apparatus for shaping, it is transported to robot palletizer crawl position, the stacking form after crawl packaging bag as requested is real
Existing automatic piling then needs to simplify each joint to make the end effector mechanism for grabbing packaging bag be in required operating position
Motion structure, needs of narrow working space when meeting packaging bag stacking, and the mechanical arm of robot palletizer and end
The junction of executing agency is not firm enough, is easy the workpiece in carrying workpiece fabrication and falls, causes carrying workpiece inefficiency.
Summary of the invention
The purpose of the present invention is to provide the robot palletizers and its operating method of high efficiency carrying workpiece, it is intended to solve existing
Have in technology, the mechanical arm of robot palletizer and the junction of end effector mechanism are not firm enough, are easy in carrying workpiece fabrication
The problem of middle workpiece is fallen, and causes carrying workpiece inefficiency.
The invention is realized in this way high efficiency delivery workpiece robot palletizer, including pedestal, horizontal drive mechanism,
Vertical driving mechanism, attitude-adjusting system, arm mechanism and wrist；The lower end of the arm mechanism respectively with the horizontal drive
Mechanism and vertical driving mechanism connection, the upper end of the arm mechanism is connected with Triangular Arm, the attitude-adjusting system
Including the first parallelogram linkage and the second parallelogram linkage, first parallelogram linkage
Lower end connect with the wrist, the upper end of first parallelogram linkage is connect with the Triangular Arm, described
The lower end of two parallelogram linkages is connect with the horizontal drive mechanism, and second parallelogram linkage
Upper end connect with the Triangular Arm；The lower end of the wrist is connected with fixture, and the fixture includes that rack frame and material grasping press from both sides,
The upper end of the rack frame is equipped with mounting blocks, is equipped in the mounting blocks and is embedded in interior mounting groove, the mounting groove for wrist
Interior to be equipped with retaining mechanism for locking wrist, the retaining mechanism includes two poke rods positioned opposite and is connected to institute
The crushing block of the lower end of poke rod is stated, the upper end of the poke rod extends to the top of the mounting blocks, and formation operation portion is described
Pillar is equipped in mounting groove, the middle part of the poke rod is connect with the pillar, and the lower end of the poke rod and the installation
The reset spring for driving the poke rod towards the mobile reset in the center of the mounting groove is equipped between the side wall of slot, the wrist
Side is equipped with embedded groove, and the inside of the operation portion is equipped with the embedded block for being embedded in the embedded groove, the installation
The depth of slot is greater than the depth of the embedded block.
Further, it is formed on the outside of the operation portion and pulls block.
Further, the material grasping folder includes press plate mechanism, a pair of of cylinder and a pair of symmetrical breeches pipe mechanism, the fork
Pipe mechanism includes parallel breeches pipe, baffle, connecting rod, rotary shaft and a pair of bearings frame, and one end of the breeches pipe passes through quarter bend
Head is fixed on connecting rod, and the other end of the breeches pipe is directed toward the same side by billiard table, and the baffle is vertically set to the upper of breeches pipe
Side, and fixed with the connecting rod, a pair of bearing bracket stand is fixed on connecting rod, and bearing passes through rotation axis connection, Yi Duisuo
It states cylinder and is individually fixed in supporting plate, piston rod and rotation axis connection, the press plate mechanism includes guide rod cylinder and pressing plate, described
Guide rod cylinder is vertical at Wrist fixing board, and guide rod is vertically connected at pressing plate, and the pressing plate is arranged in parallel in breeches pipe and guide rail
Between, it is uniformly distributed that there are four the air holes of flute profile.
Further, the rack frame includes a pair of parallel sliding rail and Wrist fixing board, and the rack frame is set to described
The top of material grasping folder, the rack frame include a pair of parallel guide rail and a pair of of supporting plate, pass through spiral shell above a pair of sliding rail
The fixed Wrist fixing board of female and gasket, the mounting blocks are connected on the Wrist fixing board；A pair of supporting plate setting
At the both ends of a pair of guide rail lower surface.
Further, the outer rim of the bearing bracket stand is equipped with boss, and the boss is described to subtract against there is vertical Shock-proof bolt
It shakes bolt and supporting plate is connected to by nut.
Further, the fixture further includes positioning mechanism, and the positioning mechanism includes two positioning sliding blocks and a two-way spiral shell
Bar, the positioning sliding block are set to the top of same side rail, and connect respectively with the supporting plate, and the reverse-flighted screw is arranged in two institutes
It states between positioning sliding block, and is connected through a screw thread fixation respectively.
Further, the arm mechanism includes sequentially connected forearm, lower linking arm, cross bar and postbrachium, the lower company
It connects the lower end of the arm auxiliary arm under and is connected to the horizontal drive mechanism, the upper end of the lower linking arm connects the Triangular Arm
One fulcrum, the another two fulcrum of the Triangular Arm are connected separately with front bar and rear bar, the front bar by preceding auxiliary bar with it is described
Forearm is correspondingly connected with the wrist, and the rear bar is connect by connecting rod with the horizontal drive mechanism.
Further, first parallelogram linkage by wrist, forearm, the Triangular Arm the first arm, preceding
Bar and preceding auxiliary bar are constituted, second parallelogram linkage by the second arm of the Triangular Arm, rear bar, connecting rod, under it is auxiliary
Arm and lower linking arm are constituted, and the horizontal drive mechanism, the vertical driving mechanism are connected by support arm, and be mounted on institute
Pedestal is stated, the vertical driving mechanism is connect with the postbrachium.
Further, the vertical driving mechanism includes fixed plate, vertical slipper, vertical slide rail, attachment base, horizontal axis, rolling
A vertical slipper is fixed at ballscrew and first servo motor, the both ends of the fixed plate, and two vertical slide rails are installed in parallel
In pedestal, each vertical slipper correspondence is installed on vertical slide rail, and each vertical slide rail is fixed along the vertical direction of pedestal, institute
It is fixed there are two parallel attachment base to state fixed plate, the horizontal axis passes through two attachment bases, and is supported by tapered roller bearing,
The postbrachium is socketed on horizontal axis, and the ball screw is fixed on fixed plate, and and first servo motor along the vertical direction of pedestal
It is connected by power, one end of the fixed plate is equipped with limit plate.
The present invention also provides the operating methods of robot palletizer, the specific steps are as follows:
Step 1. clicks releasing the button for robot palletizer, horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system
And arm mechanism rotation, drive fixture to turn on direction locating for workpiece；
The tie point of auxiliary arm and horizontal drive mechanism is the horizontal active joint of arm mechanism under step 2., with level
Driving mechanism makees horizontal rectilinear motion；Postbrachium is the vertical active joint of arm mechanism with the tie point of vertical driving mechanism,
Make vertical linear motion with vertical driving mechanism, horizontal drive mechanism make lower linking arm and under auxiliary arm horizontal active joint water
When translation is dynamic, realize that horizontal direction is mobile；When vertical driving mechanism vertically moves the vertical active joint of postbrachium, realize
Vertical direction is mobile, to 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, will be under fixture
It is down at workpiece；
The piston rod of step 4. cylinder drives crank and rotary shaft is driven to rotate, so that bearing bracket stand be driven to swing, and then makes
It obtains breeches pipe and grabs packaging bag, baffle, breeches pipe, pressing plate form the framework to packaging bag shaping, and the two sides of packaging bag pass through baffle
It compressing, the top surface 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 grabs two packet packaging bags simultaneously, completes clamping 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 and rotary shaft is driven to rotate, so that bearing bracket stand be driven to swing, and then makes
It obtains breeches pipe and unclamps packaging bag, while the baffle of the two sides of packaging bag being driven to unclamp, guide rod cylinder drives pressing plate to rise, and completion is entire
Discharge process.
Compared with prior art, the robot palletizer of high efficiency delivery workpiece provided by the invention, by the way that pedestal, water is arranged
Flat driving mechanism, vertical driving mechanism, attitude-adjusting system, arm mechanism, wrist and fixture realize the effect of delivery workpiece
Fruit, and it is provided with locking member in the junction of wrist and fixture, the junction between wrist and fixture is improved by locking member
Stability, carrying workpiece fabrication reduce workpiece fall, improve carrying workpiece efficiency.
Detailed description of the invention
Fig. 1 is the schematic view of the front view of the robot palletizer of high efficiency delivery workpiece provided in an embodiment of the present invention；
Fig. 2 is the lateral structure schematic diagram of vertical driving mechanism provided in an embodiment of the present invention；
Fig. 3 is the schematic view of the front view of fixture provided in an embodiment of the present invention；
Fig. 4 is the overlooking structure diagram of fixture provided in an embodiment of the present invention；
Fig. 5 is the left view structural representation of fixture provided in an embodiment of the present invention；
Fig. 6 is the cutting structural schematic diagram of locking member provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Realization of the invention is described in detail below in conjunction with specific embodiment.
It referring to Fig.1 ~ 6, is preferred embodiment provided by the invention.
The robot palletizer of high efficiency delivery workpiece provided in this embodiment, can be used in applied to chemical industry, beverage, food
Product processing and other fields carry out stacking according to the different shapes finished product packing such as carton, packaging bag, filling, box-packed, bottled, realize high
The carrying workpiece of efficiency, and structure is simple, and footprint area is small.
High efficiency deliver workpiece robot palletizer, including pedestal 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 respectively with horizontal drive mechanism 20 and hang down
Straight driving mechanism 30 connects, and the upper end of arm mechanism 50 is connected with Triangular Arm 70, and attitude-adjusting system 40 includes first parallel four
Side shape link mechanism 80 and the second parallelogram linkage 90, the lower end of the first parallelogram linkage 80 and wrist
60 connections, the upper end of the first parallelogram linkage 80 are connect with Triangular Arm 70, the second parallelogram linkage 90
Lower end connect with horizontal drive mechanism 20, and the upper end of the second parallelogram linkage 90 is connect with Triangular Arm 70；Hand
The lower end of wrist 60 is connected with fixture, and fixture includes rack frame 1 and material grasping folder 2, and the upper end of rack frame 1 is equipped with mounting blocks 41, should
It is equipped in mounting blocks 41 and is embedded in interior mounting groove 42 for wrist 6, the locking machine for locking wrist 60 is equipped in mounting groove 42
Structure, retaining mechanism include two poke rods positioned opposite and be connected to poke rod lower end crushing block 46, wherein stir
The upper end of bar extends to the top of mounting blocks 41, and formation operation portion, mounting groove 42 is interior to be equipped with pillar 47, the middle part of poke rod and branch
Column 47 connects, and it is mobile towards the center of mounting groove 42 that driving poke rod is equipped between the lower end of poke rod and the side wall of mounting groove 42
The reset spring 45 of reset, the side of wrist is equipped with embedded groove, and the inside of operation portion is equipped with for being embedded in embedded groove
Embedded block 43, the depth of mounting groove are greater than the depth of embedded block 43.
By the lower end of wrist 60 along in the gap insertion mounting groove 42 between two poke rods, wrist 60, which can press, to be dialled
The crushing block 46 of lever lower end, crushing block 46 drive reset spring 45 mobile towards the side of mounting groove 42, and reset spring 45 is pressed
Contracting drives 46 clamping mechanical arm of crushing block, and embedded block is embedding in addition, reset spring 45 can give crushing block 46 1 reaction forces
Enter in embedded groove, further locking fixture and wrist 60；When needing to dismantle mechanical arm, extrusion operation portion inwardly is only needed, due to
It is the lever of balance pivot that the lower end of poke rod and the upper end of poke rod, which are formed with pillar 47, and the lower end of poke rod is therewith outwardly
It is mobile, to unclamp the clamping to mechanical arm, it is moved upwardly by wrist 60, far from crushing block 46, then swings poke rod outwardly
Wrist 60 is extracted in upper end, in addition, reset spring 45 resets simultaneously, driving poke rod resets.
The robot palletizer of above-mentioned high efficiency delivery workpiece, passes through setting pedestal 10, horizontal drive mechanism 20, vertical drive
Motivation structure 30, attitude-adjusting system 40, arm mechanism 50, wrist 60 and fixture realize the effect of delivery workpiece, and in hand
The junction of wrist 60 and fixture is provided with locking member, improves the firm of the junction between wrist 60 and fixture by locking member
Property, reducing workpiece in carrying workpiece fabrication falls, and improves carrying workpiece efficiency.
It is formed on the outside of operation portion and pulls block 44.
In the present embodiment, material grasping folder 2 includes press plate mechanism 21, a pair of of cylinder 22 and a pair of symmetrical breeches pipe mechanism
23, breeches pipe mechanism 23 includes breeches pipe 231, baffle 232, connecting rod 233, rotary shaft 234 and a pair of bearings frame 235, and breeches pipe 231 has
8 and arranged in parallel, connecting rod 233 is fixed on using nut and gasket by elbow bend 236 in one end of every breeches pipe 231,
The other end is directed toward the same side by billiard table 237, and baffle 232 is vertically set to the top of breeches pipe 231, and passes through with connecting rod 233
It is bolted fixation.A pair of bearings frame 235 is fixed by bolts in connecting rod
233, bearing is connected by rotary shaft 234, and bolt is fixed on supporting plate 12 to a pair of of cylinder 22 respectively, and piston rod is logical
Crank 24 is crossed to connect with rotary shaft 234.The outer rim of bearing bracket stand 235 is equipped with boss 235a, and boss 235a is against there is vertical damping
Bolt 25, Shock-proof bolt 25 are connected to supporting plate 12 by nut.Cylinder 22 drives crank 24 that rotary shaft 234 is driven to rotate, thus
Realize the folding crawl of breeches pipe mechanism 23.Press plate mechanism 21 includes guide rod cylinder 211 and pressing plate 212, and guide rod cylinder 211 is vertically
Bolt is fixed on Wrist fixing board 13, and guide rod is vertically connected at pressing plate 212, and pressing plate 212 is arranged in parallel in breeches pipe 231 and guide rail
Between 11, uniformly distributed there are four the air hole 212a of flute profile.
Since symmetrical breeches pipe mechanism uses breeches pipe arranged in parallel, and the end of each breeches pipe uses the spheroidal of billiard table
Shape avoids the packaging bag of breeches pipe nib contacts and punctures, while baffle, breeches pipe, pressing plate form the framework to packaging bag shaping,
The two sides of packaging bag are compressed by baffle, and the top surface of packaging bag is compressed by pressing plate, and since pressing plate is set, there are four the ventilative of flute profile
Hole, so that the plastic foil of packaging bag will not be sucked under atmospheric pressure effect by pressing plate, the underrun of packaging bag is arranged in parallel
Breeches pipe is held, to reach preferable packaging bag shaping effect, while symmetrical two material catching apparatus can be grabbed simultaneously with single
Two packet packaging bags, substantially increase crawl efficiency.
In addition, rack frame 1 includes a pair of parallel sliding rail 5 and Wrist fixing board 6, rack frame 1 is set to the upper of material grasping folder 2
Side, the rectangular frame that rack frame 1 is formed by connecting by a pair of parallel guide rail 11 and a pair of of supporting plate 12, as the robot palletizer
Body frame.By nut and the fixed Wrist fixing board 6 of gasket, it is solid that above-mentioned mounting blocks 41 are connected to wrist for the top of a pair of of sliding rail 5
On fixed board 6.The both ends of 11 lower surface of a pair of guide rails are arranged in a pair of of supporting plate 12, and are slidably mounted in the groove of guide rail 11, can
It horizontally slips along guide rail 11.So that material catching apparatus 4 can horizontally slip along sliding rail 5.
Above-mentioned fixture further includes positioning mechanism 3, positioning mechanism 3, including two positioning sliding blocks 31 and a reverse-flighted screw 32, is determined
Position sliding block 31 is set to the top of same side rail 11, and connect respectively with supporting plate 12, and reverse-flighted screw 32 is arranged in two positioning sliding blocks 31
Between, and it is connected through a screw thread fixation respectively.Since reversed screw thread is distributed on reverse-flighted screw 32, so that two positioning sliding blocks 31
It can be moved with synchronous backward, to also drive a pair of of 12 synchronous backward of supporting plate movement, and then supporting plate 12 drives 23 edge of breeches pipe mechanism
The sliding of 11 reverse slide of guide rail, can thus adjust the distance of breeches pipe mechanism 23 according to the width of packaging bag.
In the present embodiment, arm mechanism 50 include sequentially connected forearm 510, lower linking arm 520, cross bar 530 and after
Arm 540, forearm 510, lower linking arm 520, cross bar 530 and postbrachium 540 constitute four-bar mechanism, and the lower end of lower linking arm 520 is logical
It crosses down auxiliary arm 550 and is connected to horizontal drive mechanism 20, a fulcrum of the upper end connection Triangular Arm 70 of lower linking arm 520, Triangular Arm
70 another two fulcrum is connected separately with front bar 410, rear bar 420, and front bar 410 is correspondingly connected with by preceding auxiliary bar 430 with forearm 510
Wrist 60, rear bar 420 are connect by connecting rod 440 with horizontal drive mechanism 20.
First parallelogram linkage 80 by wrist 60, forearm 510, the first arm 710 of Triangular Arm, front bar 410 and
Preceding auxiliary bar 430 is constituted, the second parallelogram linkage 90 by the second arm 72 of Triangular Arm, rear bar 420, connecting rod 440, under it is auxiliary
Arm 550 and lower linking arm 520 are constituted, and horizontal drive mechanism 20, vertical driving mechanism 30 are connected by support arm 10, and be respectively mounted
In pedestal 10, vertical driving mechanism 30 is connect with postbrachium 540.
Attitude-adjusting system 40 passes through the first parallelogram linkage 80 and the second parallelogram linkage 90,
Keep it interrelated with position mechanism, but be independent of each other, when being adjusted using attitude-adjusting system 40,60 posture of wrist is kept not
Become, i.e., the end effector operating attitude being connected with wrist 60 remains unchanged.Pedestal 10 is equipped with swing mechanism simultaneously, makes pedestal 10
It can make rotary motion around rotating shaft, to expand the job area of robot palletizer.
Horizontal drive mechanism 20 includes horizontal slide rail 210, horizontal slider 220 and the second servo motor, and horizontal slide rail 210 is solid
Due to pedestal 10, horizontal slider 220 is installed on horizontal slide rail 210, and is connected by power with the second servo motor.Second servo motor
Horizontal slider 220 is driven to make horizontal rectilinear motion along horizontal slide rail 210.
Vertical driving mechanism 30 includes fixed plate 310, vertical slipper 320, vertical slide rail 330, attachment base 340, horizontal axis
350, a vertical slipper 320, two vertical slide rails are fixed in ball screw 360 and first servo motor, the both ends of fixed plate 310
330 are parallelly mounted to pedestal 10, and each vertical slipper 320 is corresponding to be installed on vertical slide rail 330, and each vertical slide rail 330 is along vertical
Histogram is to pedestal 10 is fixed on, and fixed plate 310 is fixed there are two parallel attachment base 340, and horizontal axis 350 passes through two attachment bases
340, and supported by tapered roller bearing 37, postbrachium 540 is socketed on horizontal axis 350, Vertical Square of the ball screw 360 along pedestal 10
It to being fixed on fixed plate 310, and is connected by power with first servo motor, one end of fixed plate 310 is equipped with limit plate 38.First watches
The worm drive of motor driven ball screw rod 360 are taken, so that fixed plate 310 and vertical slipper 320 be driven to make along vertical slide rail 330
Vertical linear motion.
The tie point of wrist 60 and forearm 510 is load bearing point, under auxiliary arm 550 and horizontal drive mechanism 20 level it is sliding
The tie point of block 220 is the horizontal active joint of arm mechanism 50, makees horizontal rectilinear motion with horizontal drive mechanism 20；Postbrachium
540 with the tie point of the fixed plate 310 of vertical driving mechanism 30 be arm mechanism 50 vertical active joint, with perpendicular drive
Mechanism 30 makees vertical linear motion.Using the arm mechanism 50, horizontal drive mechanism 20 make lower linking arm 520 and under auxiliary arm
When 550 horizontal active articulation level is mobile, load carrying point moves only in horizontal direction；Make postbrachium in vertical driving mechanism 30
When 540 vertical active joint vertically moves, load carrying point is only mobile in vertical direction, therefore robot palletizer may be implemented
Load carrying point move linearly along the horizontal, vertical directions.Utilize the arm mechanism 50 of this parallelogram connection-rod
And its collocation form of horizontal drive mechanism 20, vertical driving mechanism 30, realize the linear of 50 operating position point of arm mechanism
Movement, simplifies the motion structure of movable joint.
The present invention also provides the operating methods of robot palletizer, the specific steps are as follows:
Step 1. clicks releasing the button for robot palletizer, horizontal drive mechanism 20, vertical driving mechanism 30, pose adjustment
Mechanism 40 and arm mechanism 50 rotate, and fixture is driven to turn on direction locating for workpiece；
The tie point of auxiliary arm 550 and horizontal drive mechanism 20 is the horizontal active joint of arm mechanism under step 2., with
Horizontal drive mechanism makees horizontal rectilinear motion；Postbrachium 540 is the vertical master of arm mechanism with the tie point of vertical driving mechanism 30
Movable joint makees vertical linear motion with vertical driving mechanism, horizontal drive mechanism 20 make lower linking arm 520 and under auxiliary arm
When 550 horizontal active articulation level is mobile, realize that horizontal direction is mobile；Make the vertical active of postbrachium in vertical driving mechanism 30
When joint vertically moves, realize in vertical direction movement, to 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,
Fixture is dropped at workpiece；
The piston rod of step 4. cylinder 22 drives crank 24 and rotary shaft 234 is driven to rotate, to drive bearing bracket stand 235
It swings, so that breeches pipe 231 grabs packaging bag, baffle 232, breeches pipe 231, pressing plate 212 form the frame to packaging bag shaping
The two sides of body, packaging bag are compressed by baffle 232, and the top surface of packaging bag drives pressing plate 212 to compress by guide rod cylinder 211, packet
The underrun of pack breeches pipe 231 arranged in parallel is held, and single grabs two packet packaging bags simultaneously, completes clamping workpiece；
Step 5. operates horizontal drive mechanism 20, vertical driving mechanism 30, attitude-adjusting system 40 and arm mechanism 50, will
Workpiece moves to discharge position；
The piston rod of step 6. cylinder 22 drives crank and rotary shaft 234 is driven to rotate, so that bearing bracket stand 235 be driven to put
Dynamic, so that breeches pipe 231 unclamps packaging bag, while driving the baffle 232 of the two sides of packaging bag to unclamp, guide rod cylinder 211 is driven
Dynamic pressure plate 212 rises, and completes entire discharge process.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. the robot palletizer of high efficiency delivery workpiece, which is characterized in that including pedestal, horizontal drive mechanism, perpendicular drive machine
Structure, attitude-adjusting system, arm mechanism and wrist；The lower end of the arm mechanism respectively with the horizontal drive mechanism and institute
Vertical driving mechanism connection is stated, the upper end of the arm mechanism is connected with Triangular Arm, and the attitude-adjusting system includes first flat
Row quadrilateral connecting rod mechanism and the second parallelogram linkage, the lower end of first parallelogram linkage and institute
Wrist connection is stated, the upper end of first parallelogram linkage is connect with the Triangular Arm, second parallel four side
The lower end of shape link mechanism is connect with the horizontal drive mechanism, and the upper end of second parallelogram linkage and institute
State Triangular Arm connection；The lower end of the wrist is connected with fixture, and the fixture includes rack frame and material grasping folder, the rack frame
Upper end be equipped with mounting blocks, be equipped in the mounting blocks and be embedded in interior mounting groove for wrist, be equipped with and be used in the mounting groove
The retaining mechanism of wrist is locked, the retaining mechanism includes two poke rods positioned opposite and is connected to the poke rod
The crushing block of lower end, the upper end of the poke rod extend to the top of the mounting blocks, formation operation portion, the operation portion it is outer
Side, which is formed with, pulls block, and pillar is equipped in the mounting groove, and the middle part of the poke rod is connect with the pillar, and described stirs
It is equipped between the lower end of bar and the side wall of the mounting groove and drives the poke rod towards the mobile reset in the center of the mounting groove
Reset spring, the side of the wrist is equipped with embedded groove, and the inside of the operation portion is equipped with for being embedded in the embedded groove
Interior embedded block, the depth of the mounting groove are greater than the depth of the embedded block.
2. the robot palletizer of high efficiency delivery workpiece as described in claim 1, which is characterized in that the material grasping folder includes pressure
Trigger structure, a pair of of cylinder and a pair of symmetrical breeches pipe mechanism, the breeches pipe mechanism include parallel breeches pipe, baffle, connecting rod,
Connecting rod is fixed on by elbow bend in one end of rotary shaft and a pair of bearings frame, the breeches pipe, and the other end of the breeches pipe is logical
It crosses billiard table and is directed toward the same side, the baffle is vertically set to the top of breeches pipe, and fixes with the connecting rod, a pair of bearing
Frame is fixed on connecting rod, and bearing is individually fixed in supporting plate, piston rod and rotation by rotation axis connection, a pair of cylinder
Axis connection, the press plate mechanism include guide rod cylinder and pressing plate, and the guide rod cylinder is vertical at Wrist fixing board, and guide rod hangs down
Direct-connected to be connected to pressing plate, the pressing plate is arranged in parallel between breeches pipe and guide rail, and uniformly distributed there are four the air holes of flute profile.
3. the robot palletizer of high efficiency delivery workpiece as claimed in claim 2, which is characterized in that the rack frame includes one
To parallel sliding rail and Wrist fixing board, the rack frame is set to the top of material grasping folder, and the rack frame includes a pair of flat
The top of capable guide rail and a pair of of supporting plate, a pair of sliding rail passes through nut and the fixed Wrist fixing board of gasket, the peace
Dress block is connected on the Wrist fixing board；The both ends of a pair of guide rail lower surface are arranged in a pair of supporting plate.
4. the robot palletizer of high efficiency delivery workpiece as claimed in claim 3, which is characterized in that the outer rim of the bearing bracket stand
Equipped with boss, for the boss against there is vertical Shock-proof bolt, the Shock-proof bolt is connected to supporting plate by nut.
5. the robot palletizer of high efficiency delivery workpiece as claimed in claim 4, which is characterized in that the fixture further includes fixed
Position mechanism, the positioning mechanism include two positioning sliding blocks and a reverse-flighted screw, and the positioning sliding block is set to the top of same side rail,
And connect respectively with the supporting plate, the reverse-flighted screw is arranged between two positioning sliding blocks, and is connected through a screw thread respectively
It is fixed.
6. the robot palletizer of high efficiency as claimed in claim 5 delivery workpiece, which is characterized in that the arm mechanism includes
Sequentially connected forearm, lower linking arm, cross bar and postbrachium, the lower end of the lower linking arm auxiliary arm under are connected to the level
Driving mechanism, the upper end of the lower linking arm connect a fulcrum of the Triangular Arm, the another two fulcrum difference of the Triangular Arm
It is connected with front bar and rear bar, the front bar is correspondingly connected with the wrist by preceding auxiliary bar and the forearm, and the rear bar passes through
Connecting rod is connect with the horizontal drive mechanism.
7. the robot palletizer of high efficiency delivery workpiece as claimed in claim 6, which is characterized in that first parallel four side
Shape link mechanism is made of wrist, forearm, the first arm of the Triangular Arm, front bar and preceding auxiliary bar, second parallelogram
Link mechanism by the second arm of the Triangular Arm, rear bar, connecting rod, under auxiliary arm and lower linking arm constitute, the horizontal drive mechanism,
The vertical driving mechanism is connected by support arm, and is mounted on the pedestal, the vertical driving mechanism and the postbrachium
Connection.
8. the robot palletizer of high efficiency delivery workpiece as claimed in claim 7, which is characterized in that the vertical driving mechanism
Including fixed plate, vertical slipper, vertical slide rail, attachment base, horizontal axis, ball screw and first servo motor, the fixed plate
A vertical slipper is fixed at both ends, and two vertical slide rails are parallelly mounted to pedestal, and each vertical slipper correspondence is installed on
Vertical slide rail, each vertical slide rail are fixed along the vertical direction of pedestal, and the fixed plate is fixed, and there are two parallel attachment base, institutes
Horizontal axis is stated across two attachment bases, and support by tapered roller bearing, the postbrachium is socketed on horizontal axis, the ball screw edge
The vertical direction of pedestal is fixed on fixed plate, and is connected by power with first servo motor, and one end of the fixed plate is equipped with limit
Plate.
9. the operating method of robot palletizer, which is characterized in that specific step is as follows:
Step 1. clicks robot palletizer and releases the button, horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system and
Arm mechanism rotation, drives fixture to turn on direction locating for workpiece；
The tie point of auxiliary arm and horizontal drive mechanism is the horizontal active joint of arm mechanism under step 2., with horizontal drive machine
Structure makees horizontal rectilinear motion；Postbrachium is the vertical active joint of arm mechanism with the tie point of vertical driving mechanism, with vertical
Driving mechanism makees vertical linear motion, horizontal drive mechanism make lower linking arm and under auxiliary arm horizontal active articulation level it is mobile
When, realize that horizontal direction is mobile；When vertical driving mechanism vertically moves the vertical active joint of postbrachium, realize in Vertical Square
To movement, to 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, and fixture is dropped to work
At part；
The piston rod of step 4. cylinder drives crank and rotary shaft is driven to rotate, to drive bearing bracket stand to swing, so that fork
Pipe grabs packaging bag, and baffle, breeches pipe, pressing plate form the framework to packaging bag shaping, and the two sides of packaging bag are compressed by baffle,
The top surface 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
Two packet packaging bags are grabbed simultaneously, complete clamping workpiece；
Step 5. operates horizontal drive mechanism, vertical driving mechanism, attitude-adjusting system and arm mechanism, and workpiece is moved to discharging
Position；
The piston rod of step 6. cylinder drives crank and rotary shaft is driven to rotate, to drive bearing bracket stand to swing, so that fork
Pipe unclamps packaging bag, while the baffle of the two sides of packaging bag being driven to unclamp, and guide rod cylinder drives pressing plate to rise, and completes entire discharging
Process.
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108263675B (en) * | 2018-03-27 | 2024-04-02 | 瑞光（上海）电气设备有限公司 | Packaging bag conveying 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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| CN105905620A (en) | 2016-08-31 |
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