CN105922246A - Box stacking mechanical arm - Google Patents

Box stacking mechanical arm Download PDF

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Publication number
CN105922246A
CN105922246A CN201610361734.1A CN201610361734A CN105922246A CN 105922246 A CN105922246 A CN 105922246A CN 201610361734 A CN201610361734 A CN 201610361734A CN 105922246 A CN105922246 A CN 105922246A
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CN
China
Prior art keywords
clamping plate
pneumatic cylinder
mechanical arm
fixed support
casing
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610361734.1A
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Chinese (zh)
Other versions
CN105922246B (en
Inventor
张洪鑫
宋现义
李静瑶
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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Filing date
Publication date
Application filed by Harbin University of Science and Technology filed Critical Harbin University of Science and Technology
Priority to CN201610361734.1A priority Critical patent/CN105922246B/en
Publication of CN105922246A publication Critical patent/CN105922246A/en
Application granted granted Critical
Publication of CN105922246B publication Critical patent/CN105922246B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A box stacking mechanical arm is a device installed at the tail end of a stacking robot. The box stacking mechanical arm comprises a supporting mechanism, a clamping mechanism, a selecting mechanism and a lifting mechanism. The supporting mechanism is composed of a connecting arm, a fixing plate, a fixing support and a fixing cross rod. The clamping mechanism is composed of a translational motion pneumatic cylinder, a first clamping plate, a second clamping plate, other guiding components and the like. The selecting mechanism is composed of a double-shaft sliding table pneumatic cylinder, a selecting shift fork, an inner spline gear, a spline shaft, an upper rack, a lower rack and the like. The lifting mechanism comprises a rotation pneumatic cylinder, a conical gear, a transmission shaft, a conical roller bearing, a fixing base, a supporting plate and the like. The box stacking mechanical arm has the beneficial effects that a center positioning work manner and a single-side positioning work manner of a box can be achieved, and the box stacking mechanical arm is more adaptive to the complex work conditions; and the heavy box can be lifted in an assisting manner, and the reliability of clamping the heavy box is improved.

Description

A kind of casing palletizing mechanical arm
Technical field
The present invention: a kind of casing palletizing mechanical arm, relates to automated production equipment field, can lift by selecting two kinds of location modes and auxiliary, it is achieved the crawl to casing, carrying or piling, compact conformation, capture firmly.
Background technology
During automated production, need product that a large amount of casings are packed and raw material are carried and piling.Utilize robot palletizer to realize the automated handling to product, it is possible to be greatly saved manpower and spending, improve formation efficiency.Robot palletizer has compact conformation, technology maturation, the advantage such as easy to control and agile, during being widely used in multiple automated production.Palletizing mechanical arm is arranged on the end of robot arm, completes the crawl to casing and placement.The working method design comparison of palletizing mechanical arm is single at present, applies more to the carrying technology of fixed dimension casing.Along with diversity and the complexity of research and development product category, need to design a kind of manipulator being applicable to different size and selecting different working modes, meet the needs of casing automated handling.
Summary of the invention
The present invention: a kind of casing palletizing mechanical arm, during mainly solving automated production, captures and the problem of piling different size and different placing attitude casing.
A kind of casing palletizing mechanical arm, it is characterised in that: manipulator is to be made up of supporting mechanism, gripping body, selection mechanism, lift mechanism.Described supporting mechanism includes the linking arm 1.1 being connected with robot end, it is arranged on fixed plate 1.2(below linking arm 1.1 as shown in Figure 1), being arranged on the fixed support 1.3 below fixed plate 1.2, fixed support 1.3 two ends are mounted with that fixed transverse rod 1.4(is as shown in Figure 3)；Described gripping body includes that the direct acting pneumatic cylinder 2.1(that is arranged on fixed support 1.3 is as shown in Figure 2), it is arranged on the clamping plate I 2.2 of direct acting pneumatic cylinder 2.1 one end, is arranged on the clamping plate II 2.3 with clamping plate I 2.2 symmetry below fixed support 1.3；Described selection mechanism includes that the twin shaft slide unit pneumatic cylinder 3.1(that is arranged on fixed support 1.3 is as shown in Figure 4), it is arranged on the selection shift fork 3.2 of twin shaft slide unit pneumatic cylinder 3.1 one end, shift fork 3.2 is selected to be connected (as shown in Figure 5) with inside spline wheel gear 3.3, inside spline wheel gear 3.3 is arranged on splined shaft 3.4, splined shaft 3.4 is arranged on hold-down support 3.5 by deep groove ball bearing, and hold-down support 3.5 is arranged on fixed support 1.3 (as shown in Figure 4)；Described lift mechanism includes the rotary pneumatic cylinder pressure 4.1 being arranged on clamping plate I 2.2, on rotary pneumatic cylinder pressure 4.1 axle, conical gear I 4.2 is installed, conical gear I 4.2 and bevel gear II 4.3 right angle setting, bevel gear II 4.3 is installed with power transmission shaft 4.5 by key 4.4, power transmission shaft 4.5 is arranged on fixing seat 4.7 (as shown in Figure 6) by taper roll bearing 4.6, fixing seat 4.7 is arranged on clamping plate I 2.2, and power transmission shaft 4.5 lower end and supporting plate 4.8 are by being welded and fixed.
In described gripping body, clamping plate I 2.2 top is arranged on slide block 2.5 by support 2.4, and slide block 2.5 slides on optical axis 2.6, and optical axis 2.6 is fixed on fixed support 1.3 by bearing 2.7；Described clamping plate I 2.2 bottom is welded on dovetail slide block 2.9 (as shown in Figure 7) by tripod 2.8, and dovetail slide block 2.9 can slide (as shown in Figure 3) at the outer dovetail groove of fixed support 1.3；The mounting means on described clamping plate II 2.3 top is identical with clamping plate I 2.2, and clamping plate II 2.3 bottom is welded on dovetail slide block 2.11 by tripod 2.10, by sliding in being arranged on the interior dovetail groove of fixed support 1.3；Described pneumatic cylinder 2.1 gas masthead end is connected with flange 2.13 axle by two-way nut 2.12, and flange 2.13 is connected (as shown in Figure 2) with clamping plate I 2.2.
Inside spline wheel gear 3.3 in described selection mechanism contacts (as shown in Figure 7) with the upper rack 3.6 being arranged on dovetail slide block 2.11 above；Inside spline wheel gear 3.3 contacts (as shown in Figure 8) with the lower tooth bar 3.7 being arranged on dovetail slide block 2.9 below；Stationary rack 3.8(has been welded as shown in Figure 3) on described fixed support 1.3.
Selection shift fork 3.2 the stretching with twin shaft slide unit pneumatic cylinder 3.1 of described selection mechanism, stirs inside spline wheel gear 3.3 and slides on splined shaft 3.4；Described selection mechanism can realize two kinds of working methods: one is that inside spline wheel gear 3.3 contacts with lower tooth bar 3.7, and lower tooth bar 3.7 drives upper rack 3.6 to move by inside spline wheel gear 3.3 so that both sides gripping plate relative movement, it is achieved centralized positioning；Another kind is that inside spline wheel gear 3.3 contacts with stationary rack 3.8, makes clamping plate II 2.3 fixing (as shown in Figure 4), and gripping plate I can way moving, it is achieved unilateral location.
In described lift mechanism, rotary pneumatic cylinder pressure 4.1 can drive the inside 90-degree rotation of supporting plate 4.8 to complete to lift the auxiliary of casing；Wedge shape need to be processed in the inner top side face of described supporting plate (4.8).It is mounted with on described clamping plate I 2.2 whether pressure sensor 1.5, detection casing are gripped.
Beneficial effects of the present invention:
The present invention can realize the centralized positioning to manipulator and unilateral location by selection mechanism so that manipulator is to operation operating mode more adaptability, and two kinds of location modes make operation more flexible.Gripping plate side install lift mechanism can folding and unfolding, simple in construction, save space, auxiliary can be realized for heavier casing and lift, add manipulator gripping weight reliability.
Accompanying drawing explanation
Accompanying drawing 1 is that a kind of casing palletizing mechanical arm master regards tomograph.
Accompanying drawing 2 is that a kind of casing palletizing mechanical arm looks up tomograph.
Accompanying drawing 3 is fixing rack structure figure.
Accompanying drawing 4 is the face upwarding assumption diagram of selection mechanism.
Accompanying drawing 5 is to select shift fork and inside spline wheel gear attachment structure figure.
Accompanying drawing 6 is bevel gear II and transmission shaft connecting structure figure.
Accompanying drawing 7 is dovetail slide block and upper rack attachment structure figure.
Accompanying drawing 8 is dovetail slide block and lower tooth bar attachment structure figure.
Detailed description of the invention
Below in conjunction with accompanying drawing, the operation principle of the present invention is elaborated.
Detailed description of the invention one: a kind of casing palletizing mechanical arm, it is characterised in that: manipulator is to be made up of supporting mechanism, gripping body, selection mechanism, lift mechanism.Described supporting mechanism includes the linking arm 1.1 being connected with robot end, is arranged on the fixed plate 1.2 below linking arm 1.1, is arranged on the fixed support 1.3 below fixed plate 1.2, and fixed support 1.3 is the fixing of whole mechanism and the skeleton supported；Described fixed support 1.3 two ends are mounted with fixed transverse rod 1.4, and mechanism is risen reinforcement effect；Being mounted with pressure sensor 1.5 on described clamping plate I 2.2, be used for measuring the moment of flexure of clamping plate I 2.2, whether detection casing is gripped.
Detailed description of the invention two: described gripping body includes the direct acting pneumatic cylinder 2.1 being arranged on fixed support 1.3, is arranged on the clamping plate I 2.2 of direct acting pneumatic cylinder 2.1 one end, is arranged on the clamping plate II 2.3 with clamping plate I 2.2 symmetry below fixed support 1.3；Described gripping body has upper and lower two kinds to support slide mechanism, and upper support slide mechanism is that clamping plate I 2.2 top is arranged on slide block 2.5 by support 2.4, and slide block 2.5 slides on optical axis 2.6, and optical axis 2.6 is fixed on fixed support 1.3 by bearing 2.7；Lower support slide mechanism is that clamping plate I 2.2 bottom is welded on dovetail slide block 2.9 by tripod 2.8, and dovetail slide block 2.9 can slide at the outer dovetail groove of fixed support 1.3；
The mounting means on described clamping plate II 2.3 top is identical with clamping plate I 2.2, and clamping plate II 2.3 bottom is welded on dovetail slide block 2.11 by tripod 2.10, by sliding in being arranged on the interior dovetail groove of fixed support 1.3；Described pneumatic cylinder 2.1 gas masthead end is connected with flange 2.13 axle by two-way nut 2.12, and the fastening of 2.12, two-way nut and connection function, flange 2.13 is fixed on clamping plate I 2.2.
Detailed description of the invention three: described selection mechanism includes the twin shaft slide unit pneumatic cylinder 3.1 being arranged on fixed support 1.3, the slide unit simultaneous retractable at twin shaft slide unit pneumatic cylinder 3.1 two ends；It is arranged on the selection shift fork 3.2 of twin shaft slide unit pneumatic cylinder 3.1 one end, selects shift fork 3.2 to be connected with inside spline wheel gear 3.3, select shift fork 3.2 and move with inside spline wheel gear 3.3；Inside spline wheel gear 3.3 is arranged on splined shaft 3.4, and inside spline wheel gear 3.3 slides on splined shaft 3.4；Splined shaft 3.4 is arranged on hold-down support 3.5 by deep groove ball bearing, and hold-down support 3.5 is arranged on fixed support 1.3；Described inside spline wheel gear 3.3 contacts with the upper rack 3.6 being arranged on dovetail slide block 2.11 above；Inside spline wheel gear 3.3 contacts with the lower tooth bar 3.7 being arranged on dovetail slide block 2.9 below；Stationary rack 3.8 has been welded on described fixed support 1.3；Selection shift fork 3.2 the stretching with twin shaft slide unit pneumatic cylinder 3.1 of described selection mechanism, stirs inside spline wheel gear 3.3 and slides on splined shaft 3.4；
Described selection mechanism can realize two kinds of working methods: one is that inside spline wheel gear 3.3 contacts with lower tooth bar 3.7, and lower tooth bar 3.7 drives upper rack 3.6 to move by inside spline wheel gear 3.3 so that both sides gripping plate relative movement, it is achieved centralized positioning；Another kind is that inside spline wheel gear 3.3 contacts with stationary rack 3.8, makes clamping plate II 2.3 fix, and gripping plate I can way moving, it is achieved unilateral location.
Detailed description of the invention four: described lift mechanism includes the rotary pneumatic cylinder pressure 4.1 being arranged on clamping plate I 2.2, on rotary pneumatic cylinder pressure 4.1 axle, conical gear I 4.2 is installed, conical gear I 4.2 and bevel gear II 4.3 right angle setting, bevel gear II 4.3 is installed with power transmission shaft 4.5 by key 4.4, power transmission shaft 4.5 is arranged on fixing seat 4.7 by taper roll bearing 4.6, abrasion to fixing seat 4.7 when taper roll bearing 4.6 is used for preventing from capturing heavier casing；Fixing seat 4.7 is arranged on clamping plate I 2.2, and power transmission shaft 4.5 lower end and supporting plate 4.8 are by being welded and fixed.Described rotary pneumatic cylinder pressure 4.1 can drive the inside 90-degree rotation of supporting plate 4.8 to complete to lift the auxiliary of casing, and wedge shape need to be processed in the inner top side face of described supporting plate (4.8), is more conveniently slided into lower box by inclined-plane and lifts.

Claims (6)

1. a casing palletizing mechanical arm, it is characterised in that: manipulator is to be made up of supporting mechanism, gripping body, selection mechanism and lift mechanism；
Described supporting mechanism includes the linking arm (1.1) being connected with robot end, it is arranged on the fixed plate (1.2) of linking arm (1.1) lower section, being arranged on the fixed support (1.3) of fixed plate (1.2) lower section, fixed support (1.3) two ends are mounted with fixed transverse rod (1.4)；Described gripping body includes the direct acting pneumatic cylinder (2.1) being arranged on fixed support (1.3), it is arranged on the clamping plate I (2.2) of direct acting pneumatic cylinder (2.1) one end, with the clamping plate II (2.3) that clamping plate I (2.2) are symmetrically mounted on fixed support (1.3) lower section；Described selection mechanism includes twin shaft slide unit pneumatic cylinder (3.1) being arranged on fixed support (1.3), it is arranged on the selection shift fork (3.2) of twin shaft slide unit pneumatic cylinder (3.1) one end, shift fork (3.2) is selected to be connected with inside spline wheel gear (3.3), inside spline wheel gear (3.3) is arranged on splined shaft (3.4), splined shaft (3.4) is arranged on hold-down support (3.5) by deep groove ball bearing, and hold-down support (3.5) is arranged on fixed support (1.3)；Described lift mechanism includes the rotary pneumatic cylinder pressure (4.1) being arranged on clamping plate I (2.2), conical gear I (4.2) is installed on rotary pneumatic cylinder pressure (4.1) axle, conical gear I (4.2) and bevel gear II (4.3) right angle setting, bevel gear II (4.3) is fixed with power transmission shaft (4.5) by key (4.4), power transmission shaft (4.5) is arranged on fixing seat (4.7) by taper roll bearing (4.6), fixing seat (4.7) is arranged on clamping plate I (2.2), and power transmission shaft (4.5) lower end and supporting plate (4.8) are by being welded and fixed.
2. a kind of casing palletizing mechanical arm described in claim 1, it is characterized in that: in described gripping body, clamping plate I (2.2) top is arranged on slide block (2.5) by support (2.4), slide block (2.5) is in the upper slip of optical axis (2.6), and optical axis (2.6) is fixed on fixed support (1.3) by bearing (2.7)；Described clamping plate I (2.2) bottom is welded on dovetail slide block (2.9) by tripod (2.8), and dovetail slide block (2.9) can slide at the outer dovetail groove of fixed support (1.3)；The mounting means on described clamping plate II (2.3) top is identical with clamping plate I (2.2), and clamping plate II (2.3) bottom is welded on dovetail slide block (2.11) by tripod (2.10), by sliding in being arranged on the interior dovetail groove of fixed support (1.3)；Described pneumatic cylinder (2.1) gas masthead end is connected with flange (2.13) axle by two-way nut (2.12), and flange (2.13) is connected with clamping plate I (2.2).
3. a kind of casing palletizing mechanical arm described in claim 1, it is characterised in that: in described selection mechanism, inside spline wheel gear (3.3) contacts with the upper rack (3.6) being arranged on dovetail slide block (2.11) above；Inside spline wheel gear (3.3) contacts with the lower tooth bar (3.7) being arranged on dovetail slide block (2.9) below；Stationary rack (3.8) has been welded on described fixed support (1.3).
4. a kind of casing palletizing mechanical arm described in claim 1, it is characterised in that: the selection shift fork (3.2) of described selection mechanism stretching with twin shaft slide unit pneumatic cylinder (3.1), stir inside spline wheel gear (3.3) in the upper slip of splined shaft (3.4)；Described selection mechanism can realize two kinds of working methods: one is that inside spline wheel gear (3.3) contacts with lower tooth bar (3.7), lower tooth bar (3.7) drives upper rack (3.6) mobile by inside spline wheel gear (3.3), both sides are made to grip plate relative movement, it is achieved centralized positioning；Another kind is that inside spline wheel gear (3.3) contacts with stationary rack (3.8), makes clamping plate II (2.3) fix, and gripping plate I can way moving, it is achieved unilateral location.
5. a kind of casing palletizing mechanical arm described in claim 1, it is characterised in that: in described lift mechanism, rotary pneumatic cylinder pressure (4.1) can drive supporting plate (4.8) inwardly 90-degree rotation to launch, and completes to lift the auxiliary of crawled casing；Wedge shape need to be processed in the inner top side face of described supporting plate (4.8).
6. a kind of casing palletizing mechanical arm described in claim 1, it is characterised in that: it is mounted with on described clamping plate I (2.2) whether pressure sensor (1.5), detection casing are gripped.
CN201610361734.1A 2016-05-30 2016-05-30 A kind of babinet palletizing mechanical arm Expired - Fee Related CN105922246B (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
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CN105922246B CN105922246B (en) 2018-07-10

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109230578A (en) * 2018-07-26 2019-01-18 广州圣益龙自动控制技术有限公司 A kind of goods stacking machine device people
CN109279344A (en) * 2018-10-18 2019-01-29 哈尔滨理工大学 A kind of telescopic multifunction manipulator of gripper
CN113003208A (en) * 2021-03-12 2021-06-22 湖南省农业装备研究所 Automatic stacking and unstacking device and method
CN113023378A (en) * 2019-12-09 2021-06-25 宁波智能制造技术研究院有限公司 Folding box stacking robot

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DE4004230A1 (en) * 1990-02-12 1991-08-14 Gerhard Engel Gripper with jaw carriers movable along motor support - uses electric or fluidic propulsion unit with gearing to threaded spindles affording max. range of displacement
CN201058431Y (en) * 2007-07-31 2008-05-14 华联机械有限公司 Palletised carry grasper
CN201432994Y (en) * 2009-06-23 2010-03-31 东华大学 Wrist transmission mechanism of stacker robot
KR20100083560A (en) * 2009-01-14 2010-07-22 현대중공업 주식회사 Robot hand for 2 functions with 1 actuator
CN202100677U (en) * 2011-06-20 2012-01-04 江苏泰祥齿轮箱制造有限公司 Clutch assembly for combination gear box
CN103264397A (en) * 2013-06-05 2013-08-28 南通通用机械制造有限公司 Multifunctional robot palletizer gripper
CN203579657U (en) * 2013-11-28 2014-05-07 昆明理工大学 Grabbing mechanism used for aluminum ingot manipulator
CN205734935U (en) * 2016-05-30 2016-11-30 哈尔滨理工大学 A kind of casing conveying robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4004230A1 (en) * 1990-02-12 1991-08-14 Gerhard Engel Gripper with jaw carriers movable along motor support - uses electric or fluidic propulsion unit with gearing to threaded spindles affording max. range of displacement
CN201058431Y (en) * 2007-07-31 2008-05-14 华联机械有限公司 Palletised carry grasper
KR20100083560A (en) * 2009-01-14 2010-07-22 현대중공업 주식회사 Robot hand for 2 functions with 1 actuator
CN201432994Y (en) * 2009-06-23 2010-03-31 东华大学 Wrist transmission mechanism of stacker robot
CN202100677U (en) * 2011-06-20 2012-01-04 江苏泰祥齿轮箱制造有限公司 Clutch assembly for combination gear box
CN103264397A (en) * 2013-06-05 2013-08-28 南通通用机械制造有限公司 Multifunctional robot palletizer gripper
CN203579657U (en) * 2013-11-28 2014-05-07 昆明理工大学 Grabbing mechanism used for aluminum ingot manipulator
CN205734935U (en) * 2016-05-30 2016-11-30 哈尔滨理工大学 A kind of casing conveying robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109230578A (en) * 2018-07-26 2019-01-18 广州圣益龙自动控制技术有限公司 A kind of goods stacking machine device people
CN109230578B (en) * 2018-07-26 2020-06-05 广州圣益龙自动控制技术有限公司 Goods stacking robot
CN109279344A (en) * 2018-10-18 2019-01-29 哈尔滨理工大学 A kind of telescopic multifunction manipulator of gripper
CN109279344B (en) * 2018-10-18 2021-07-23 哈尔滨理工大学 Multi-functional manipulator with telescopic gripper
CN113023378A (en) * 2019-12-09 2021-06-25 宁波智能制造技术研究院有限公司 Folding box stacking robot
CN113003208A (en) * 2021-03-12 2021-06-22 湖南省农业装备研究所 Automatic stacking and unstacking device and method
CN113003208B (en) * 2021-03-12 2022-08-12 湖南省农业装备研究所 Automatic stacking and unstacking device and method

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