CN105945950A - Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot - Google Patents
Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot Download PDFInfo
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- CN105945950A CN105945950A CN201610386104.XA CN201610386104A CN105945950A CN 105945950 A CN105945950 A CN 105945950A CN 201610386104 A CN201610386104 A CN 201610386104A CN 105945950 A CN105945950 A CN 105945950A
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- wrist
- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fixture capable of facilitating carrying of workpieces, a palletizing robot and an operation method of the palletizing robot. The fixture comprises a rack frame and a gripper, wherein the gripper comprises a pressing plate mechanism and a pair of fork tube mechanisms; each fork tube mechanism comprises fork tubes, inner ends of the fork tubes are rotationally connected with the rack frame, and spherical platforms are arranged at outer ends of the fork tubes; the pressing plate mechanism is arranged above the fork tubes; vertical baffles are connected above the fork tubes; a mounting block is arranged at the upper end of the rack frame; a mounting groove for embedding a mechanical arm is formed in the mounting block; and a locking mechanism for locking the mechanical arm is arranged in the mounting groove. The spherical platform is adopted at the outer end of each fork tube, the spherical shape of the spherical platform makes contact with a packaging bag, so that the condition that the tip of the fork tube makes contact with the packaging bag and punctures the packaging bag is avoided; meanwhile, the baffles, the fork tubes and the pressing plate mechanism form a frame for shaping the packaging bag, and thus the workpieces are convenient to carry; the connection stability of the mechanical arm and the fixture is improved by the aid of the arranged locking mechanism, unsmooth carrying of the workpieces due to loosening of the fixture is avoided, and accordingly, the workpiece carrying efficiency is further improved.
Description
Technical field
The present invention relates to the technical field of robot, be especially easy to carry the fixture of workpiece and include the robot palletizer of this fixture and the operational approach of robot palletizer.
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, existing end effector mechanism typically uses handgrip to capture end product packing, goods for packaging bag, the end spine of handgrip and easily puncture packaging bag, when carrying out shaping after capturing packaging bag, packaging bag surface irregularity, cause handling process the most damaged, carrying inconvenience, and robot complicated integral structure, floor space is big.
Summary of the invention
It is an object of the invention to provide the fixture and robot palletizer and operational approach thereof being easy to carry workpiece, aiming to solve the problem that in prior art, the fixture of robot palletizer easily punctures packaging bag, carrying inconvenience, and the structure of whole robot is complicated, the problem that floor space is big.
The present invention is realized in, it is easy to carry the fixture of workpiece, press from both sides including frame frame and material grasping, described material grasping presss from both sides the press plate mechanism and a pair breeches pipe mechanism positioned opposite including longitudinally moving back and forth, described breeches pipe mechanism includes the breeches pipe that several intervals are arranged and can be clamped and unclamp, inner and the described frame frame of described breeches pipe is rotationally connected, the outer end of described breeches pipe is provided with billiard table, described press plate mechanism is located at the top of described breeches pipe, and the baffle plate being connected above vertical shape layout of described breeches pipe；The upper end of described frame frame is provided with mounting blocks, is provided with and is embedded in interior mounting groove for mechanical arm, be provided with the retaining mechanism for locking mechanical arm in described mounting groove in described mounting blocks.
Further, 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, formed and between operating portion, and the sidewall of the lower end of described poke rod and described mounting groove, be provided with the back-moving spring driving described poke rod to move reset towards the center of described mounting groove.
Further, described frame frame includes pair of parallel guide rail and a pair support plate, the top of guide rail described in a pair is fixed with Wrist fixing board by nut and pad, described mounting blocks is fixed on the upper end of described Wrist fixing board, described guide rail is provided with groove, support plate described in a pair is arranged on the two ends of the lower surface of guide rail described in a pair, and is slidably mounted in the groove of described guide rail.
Further, described breeches pipe mechanism includes connecting rod, rotary shaft and pair of bearings frame, and the inner of described breeches pipe utilizes nut and pad to be fixed on described connecting rod by elbow bend, is bolted fixing between described baffle plate and described connecting rod；Bearing bracket stand described in a pair is secured by bolts in described connecting rod, and described bearing bracket stand is connected with described rotary shaft by bearing, and described support plate has been bolted a pair cylinder, and the piston rod of described cylinder is connected with described rotary shaft by crank；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 described support plate by nut.
Further, described press plate mechanism includes guide rod cylinder, described guide rod cylinder is secured by bolts in described Wrist fixing board, the guide rod of described guide rod cylinder is vertically connected at described pressing plate, described pressing plate is set in parallel between described breeches pipe and described guide rail, and described pressing plate is evenly equipped with the air-vent of four flute profiles.
Present invention also offers robot palletizer, the fixture of being easy to carry workpiece including above-mentioned, around base, the large arm parallel-crank mechanism vertically swung, the parallelogram arm mechanism that vertical direction rotates, drive described parallelogram arm mechanism vertically to swing and keep the wrist parallel-crank mechanism of horizontal attitude of wrist, triangular coupling rod and the wrist rotated around vertical direction；The lower end of described large arm parallel-crank mechanism and the lower end of described wrist parallel-crank mechanism are connected with described base respectively, the upper end of described wrist parallel-crank mechanism is connected with described triangular coupling rod, the upper end of described parallelogram arm mechanism is connected with the upper end of described large arm parallel-crank mechanism, described wrist is connected to the lower end of described parallelogram arm mechanism, and the two ends of described wrist are provided with embedded groove, the inner side of described operating portion is provided with when wrist is connected the projection being embedded in described embedded groove with fixture, the outside of described operating portion is provided with and pulls block.
Further, described swivel base is provided with swivel base, and the lower end of described large arm parallel-crank mechanism and the lower end of described wrist parallel-crank mechanism are connected with described swivel base respectively.
Further, described large arm parallel-crank mechanism includes large arm, positioning linkage rod, connecting rod and the little elbow being sequentially connected with；Described wrist parallel-crank mechanism includes described large arm, swivel base block, post-tensioning rod and the low back bar being sequentially connected with；Described triangular coupling rod includes Attacking Midfielder's bar, low back bar and the bottom bar that head and the tail connect, and the upper end of described large arm is connected to the junction of described Attacking Midfielder's bar and described low back bar, and described post-tensioning rod is connected to the junction of described low back bar and described bottom bar；Described parallelogram arm mechanism includes forearm, Attacking Midfielder's bar, front tension bar rod and the forearm connecting rod being sequentially connected with, and described little elbow is connected with described forearm, and described forearm connecting rod is connected with described wrist.
Further, described connecting rod is connected with described little elbow by the first connector, described first connector includes pitman shaft, described pitman shaft passes connecting rod, little elbow, described pitman shaft is arranged with a rotary oil seal and two taper roll bearings successively, sealed by joint lid near described taper roll bearing one end, rotary oil seal described in one is connected with the bore seal of described little elbow, the outer ring of taper roll bearing described in two is installed on the inner chamber of little elbow, one end of described pitman shaft is fixed by the first screw, and the other end is fixed by the second screw through joint lid.
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 swivel base rotates, and drives large arm parallel-crank mechanism, wrist parallel-crank mechanism, triangular coupling rod, parallelogram arm mechanism and fixture to turn on the direction residing for workpiece；
Step 2. large arm parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, wrist parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, triangular coupling rod and the rotation of large arm, and keep the horizontal attitude of wrist until fixture is positioned at the top of workpiece；
Step 3. wrist rotates around vertical direction, drives fixture to turn to the breeches pipe of fixture and the aligned in position of workpiece around vertical direction；
Step 4. large arm parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, wrist parallel-crank mechanism drives parallelogram arm machine vertically to swing, triangular coupling rod and the rotation of large arm, and the horizontal attitude of holding wrist, fixture is dropped at workpiece；
The piston rod of step 5. cylinder drives crank axle to be rotated and rotates, thus drive bearing bracket stand to swing, and then make breeches pipe capture packaging bag, the both sides simultaneously driving packaging bag are compressed by baffle plate, guide rod cylinder drives the end face of pressing plate pressing package bag, completes to grip workpiece；
Step 6. large arm parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, wrist parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, triangular coupling rod and the rotation of large arm, and the horizontal attitude of holding wrist, workpiece is moved to discharge position；
The piston rod of step 7. 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, what the present invention provided is easy to carry the fixture of workpiece, breeches pipe arranged in parallel is used by arranging the breeches pipe mechanism of symmetry, and the outer end of each breeches pipe uses billiard table, the ball shape of billiard table contacts with packaging bag, avoid breeches pipe nib contacts packaging bag and puncture, baffle plate simultaneously, breeches pipe, press plate mechanism 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, the breeches pipe that the underrun of packaging bag is arranged in parallel is held, thus reach preferable packaging bag shaping effect, carrying workpiece is convenient；The retaining mechanism additionally arranged improves the steadiness that mechanical arm is connected with fixture, prevents loosening the causing of fixture from carrying having some setbacks of workpiece, improves the efficiency of carrying workpiece further.
Accompanying drawing explanation
Fig. 1 is the perspective view (removal mounting blocks) being easy to carry the fixture of workpiece that the embodiment of the present invention provides；
Fig. 2 is the main TV structure schematic diagram (removal mounting blocks) being easy to carry the fixture of workpiece that the embodiment of the present invention provides；
Fig. 3 is the plan structure schematic diagram being easy to carry the fixture of workpiece that the embodiment of the present invention provides；
Fig. 4 is the left view structural representation (removal mounting blocks) being easy to carry the fixture of workpiece that the embodiment of the present invention provides；
Fig. 5 is the main TV structure schematic diagram of the robot palletizer that the embodiment of the present invention provides；
Fig. 6 is the connecting rod cross-sectional schematic with little elbow junction of embodiment of the present invention offer；
Fig. 7 is the rear rod cross-sectional schematic with low back bar junction of embodiment of the present invention offer；
Fig. 8 is the cutting structural representation of the mounting blocks 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 ~ 8, the preferred embodiment provided for the present invention.
What the present embodiment provided is easy to carry the fixture of workpiece, can be used in robot palletizer, it is achieved carton, packaging bag, fill, the difformity finished product packing such as box-packed, bottled are carried out piling.
It is easy to carry the fixture of workpiece, 2 are pressed from both sides including frame frame 1 and material grasping, wherein, material grasping presss from both sides 2 press plate mechanism 21 including longitudinally moving back and forth and a pair breeches pipe mechanism 23 positioned opposite, breeches pipe mechanism 23 includes the breeches pipe 231 that several intervals are arranged and can be clamped and unclamp, and the inner of breeches pipe 231 is rotationally connected with frame frame 1, and the outer end of this breeches pipe 231 is provided with billiard table 237, press plate mechanism 21 is located at the top of breeches pipe 231, and the baffle plate 232 being connected above vertical shape layout of breeches pipe 231；The upper end of frame frame 1 is provided with mounting blocks 41, is provided with and is embedded in interior mounting groove 42 for mechanical arm, be provided with the retaining mechanism for locking mechanical arm in mounting groove 42 in this mounting blocks 41.
Above-mentioned is easy to carry the fixture of workpiece, breeches pipe 231 arranged in parallel is used by arranging the breeches pipe mechanism 23 of symmetry, and the outer end of each breeches pipe 231 uses billiard table 237, the ball shape of billiard table 237 contacts with packaging bag, avoid breeches pipe 231 nib contacts packaging bag and puncture, baffle plate 232 simultaneously, breeches pipe 231, press plate mechanism 21 defines the framework to packaging bag shaping, the both sides of packaging bag are compressed by baffle plate 232, the end face of packaging bag is compressed by pressing plate 212, the breeches pipe 231 that the underrun of packaging bag is arranged in parallel is held, thus reach preferable packaging bag shaping effect, carrying workpiece is convenient；The retaining mechanism additionally arranged improves the steadiness that mechanical arm is connected with fixture, prevents loosening the causing of fixture from carrying having some setbacks of workpiece, improves the efficiency of carrying workpiece further.
Above-mentioned 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, formed and between operating portion, and the sidewall of the lower end of poke rod and mounting groove 42, be provided with the back-moving spring 45 driving poke rod to move reset towards the center of mounting groove 42；When needing mechanical arm is installed with fixture, the lower end of mechanical arm is inserted in mounting groove 42 along the gap between two poke rods, mechanical arm 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, additionally, back-moving spring 45 can be to 46 1 counteracting forces of crushing block, drive crushing block 46 clamping machine mechanical arm, when needing demountor mechanical arm, only need to stir operating portion outwardly, the lower end of poke rod is moved the most outwardly, thus unclamp the clamping to mechanical arm, additionally, back-moving spring 45 resets simultaneously, driving poke rod resets.
The two side ends of mounting blocks 41 is provided with for screw through the installing hole locking mechanical arm.
In the present embodiment, above-mentioned frame frame 1 includes pair of parallel guide rail 11 and a pair support plate 12, as the body frame of this robot palletizer.The top of pair of guide rails 11 is fixed with Wrist fixing board 13 by nut and pad, above-mentioned mounting blocks 41 is fixed on the upper end of Wrist fixing board 13, guide rail 11 is provided with groove, a pair support plate 12 is arranged on the two ends of the lower surface of pair of guide rails 11, and be slidably mounted in the groove of guide rail 11, can horizontally slip along guide rail 11.
Further, above-mentioned breeches pipe mechanism 23 includes connecting rod 233, rotary shaft 234 and pair of bearings frame 235, the inner of described breeches pipe 231 utilizes nut and pad to be fixed on connecting rod 233 by elbow bend, is bolted fixing between baffle plate 232 and connecting rod 233.Pair of bearings frame 235 is secured by bolts in connecting rod 233, and it is connected with rotary shaft 234 by bearing, and support plate 12 has been bolted a pair cylinder 22, and the piston rod of cylinder 22 is connected with rotary shaft 234 by crank.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 handle turns rotary shaft 234 to rotate, thus the folding realizing breeches pipe mechanism 23 captures.
Additionally, press plate mechanism 21 includes that guide rod cylinder 211, guide rod cylinder 211 are fixed on Wrist fixing board 13 vertically through bolt, and its guide rod is vertically connected at pressing plate 212, 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.
The above-mentioned fixture being easy to carry workpiece also includes detent mechanism 3, detent mechanism 3 includes 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.
Present invention also offers robot palletizer, the fixture of being easy to carry workpiece including above-mentioned, the base 10 rotated around vertical direction, the large arm parallel-crank mechanism 20 vertically swung, parallelogram arm mechanism 50, driving parallelogram arm mechanism 50 vertically swing and keep the wrist parallel-crank mechanism 30 of horizontal attitude of wrist 70, triangular coupling rod 40 and the wrist 70 rotated around vertical direction；The lower end of large arm parallel-crank mechanism 20 and the lower end of wrist parallel-crank mechanism 30 are connected with base 10 respectively, the upper end of wrist parallel-crank mechanism 303 is connected with triangular coupling rod 40, the upper end of parallelogram arm mechanism 50 is connected with the upper end of large arm parallel-crank mechanism 202, wrist 70 is connected to the lower end of parallelogram arm mechanism 50, and the two ends of wrist 70 are provided with embedded groove, the inner side of operating portion is provided with the projection 43 being embedded in embedded groove when wrist 70 is connected with fixture, and the outside of operating portion is provided with and pulls block 44.
Base 10 can rotate around vertical direction, it is achieved the first axle rotates；Large arm parallel-crank mechanism 202 drives parallelogram arm mechanism 50 vertically to swing and wrist parallel-crank mechanism 30 drives parallelogram arm mechanism 50 vertically to swing and keeps the horizontal attitude of wrist 70, it is achieved the second axle swings；Triangular coupling rod 23040 and the rotation of large arm 210 junction, it is achieved the 3rd axle rotates；Wrist 70 rotates around vertical direction, it is achieved the 4th axle rotates, and therefore can realize four axle joint motions, and that adds fixture moves horizontally gripping, defines the robot palletizer of multi joint motion gripping.
In the present embodiment, above-mentioned base 10 is provided with swivel base 60, swivel base 60 is connected with reductor by servomotor and drives it to rotate around vertical direction, and the lower end of above-mentioned large arm parallel-crank mechanism 20 and the lower end of wrist parallel-crank mechanism 30 are connected with swivel base 60 respectively.
Further, large arm parallel-crank mechanism 20 includes the large arm 210 being sequentially connected with, positioning linkage rod 220, connecting rod 230 and the little elbow 240 being connected with parallelogram arm mechanism 50, large arm 210 is connected with the junction of positioning linkage rod 220 the second servomotor 110, and large arm parallel-crank mechanism 20 is connected with reductor by the second servomotor 110 and drives parallelogram arm mechanism 50 vertically to swing.
Additionally, wrist parallel-crank mechanism 30 includes post-tensioning rod 330 and the low back bar 420 that the large arm 210 being sequentially connected with, swivel base block 320 be connected with triangular coupling rod 40, the upper end of large arm 210 is connected with triangular coupling rod 40, and wrist parallel-crank mechanism 30 is connected with reductor by servomotor and drives parallelogram arm mechanism 50 vertically to swing and keep the horizontal attitude of wrist 70.
Further, triangular coupling rod 40 includes Attacking Midfielder's bar 410, low back bar 420 and the bottom bar 430 that head and the tail connect, and the upper end of large arm 210 is connected to the junction of Attacking Midfielder's bar 410 and low back bar 420, and post-tensioning rod 330 is connected to the junction of low back bar 420 and bottom bar 430.
In the present embodiment, forearm 510, Attacking Midfielder's bar 410, front tension bar rod 520 and the forearm connecting rod 530 that parallelogram arm mechanism 50 includes being sequentially connected with; little elbow 240 is connected with forearm 510; forearm connecting rod 530 is connected with wrist 70, forearm connecting rod 530 is connected with reductor by the first servomotor and drives wrist 70 to rotate around vertical direction.
Additionally, connecting rod 230 is connected with little elbow 240 by the first connector 90, first connector 90 includes pitman shaft 910, pitman shaft 910 is through connecting rod 230, little elbow 240, pitman shaft 910 is arranged with rotary oil seal 920 and two taper roll bearings 930 successively, sealed by joint lid 940 near taper roll bearing 930 one end, one rotary oil seal 920 is connected with the bore seal of little elbow 240, the outer ring of two taper roll bearings 930 is installed on the inner chamber of little elbow 240, one end of pitman shaft 910 is fixed by the first screw 950, the other end is fixed by the second screw 960 through joint lid 940.
And, post-tensioning rod 330 is connected with low back bar 420 by the second connector 100, second connector 100 includes pull rod shaft 1010, pull rod shaft 1010 is through post-tensioning rod 330, low back bar 420, one end of pull rod shaft 1010 is limited in low back bar 420 by gear platform 1010a, the 3rd screw 1020 other end of cylinder lever connecting rod axle 1010 are inserted in post-tensioning rod 330 side, and the threaded shank of the 3rd screw 1020 is locked by holding screw 1030.
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 swivel base 60 rotates, and drives large arm parallel-crank mechanism 20, wrist parallel-crank mechanism 30, triangular coupling rod 40, parallelogram arm mechanism 50 and fixture to turn on the direction residing for workpiece；
Step 2. large arm parallel-crank mechanism 20 drives parallelogram arm mechanism 50 vertically to swing, wrist parallel-crank mechanism 30 drives parallelogram arm mechanism 50 vertically to swing, triangular coupling rod 40 and the rotation of large arm 210, and keep the horizontal attitude of wrist 70 until fixture is positioned at the top of workpiece；
Step 3. wrist 70 rotates around vertical direction, drives fixture to turn to the breeches pipe 231 of fixture and the aligned in position of workpiece around vertical direction；
Step 4. large arm parallel-crank mechanism 20 drives parallelogram arm mechanism 50 vertically to swing, wrist parallel-crank mechanism 30 drives parallelogram arm mechanism 50 vertically to swing, triangular coupling rod 40 and the rotation of large arm 210, and the horizontal attitude of holding wrist 70, fixture is dropped at workpiece；
The piston rod of step 5. 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 capture packaging bag, the both sides simultaneously driving packaging bag are compressed by baffle plate 232, guide rod cylinder 211 drives the end face of pressing plate 212 pressing package bag, completes to grip workpiece；
Step 6. large arm parallel-crank mechanism 20 drives parallelogram arm mechanism 50 vertically to swing, wrist parallel-crank mechanism 30 drives parallelogram arm mechanism 50 vertically to swing, triangular coupling rod 40 and the rotation of large arm 210, and the horizontal attitude of holding wrist 70, workpiece is moved to discharge position；
The piston rod of step 7. 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. it is easy to carry the fixture of workpiece, it is characterized in that, press from both sides including frame frame and material grasping, described material grasping presss from both sides the press plate mechanism and a pair breeches pipe mechanism positioned opposite including longitudinally moving back and forth, described breeches pipe mechanism includes the breeches pipe that several intervals are arranged and can be clamped and unclamp, and the inner and described frame frame of described breeches pipe is rotationally connected, and the outer end of described breeches pipe is provided with billiard table, described press plate mechanism is located at the top of described breeches pipe, and the baffle plate being connected above vertical shape layout of described breeches pipe；The upper end of described frame frame is provided with mounting blocks, is provided with and is embedded in interior mounting groove for mechanical arm, be provided with the retaining mechanism for locking mechanical arm in described mounting groove in described mounting blocks.
It is easy to carry the fixture of workpiece the most as claimed in claim 1, it is characterized in that, 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, formed and between operating portion, and the sidewall of the lower end of described poke rod and described mounting groove, be provided with the back-moving spring driving described poke rod to move reset towards the center of described mounting groove.
It is easy to carry the fixture of workpiece the most as claimed in claim 2, it is characterized in that, described frame frame includes pair of parallel guide rail and a pair support plate, the top of guide rail described in a pair is fixed with Wrist fixing board by nut and pad, described mounting blocks is fixed on the upper end of described Wrist fixing board, described guide rail is provided with groove, and support plate described in a pair is arranged on the two ends of the lower surface of guide rail described in a pair, and is slidably mounted in the groove of described guide rail.
It is easy to carry the fixture of workpiece the most as claimed in claim 3, it is characterized in that, described breeches pipe mechanism includes connecting rod, rotary shaft and pair of bearings frame, the inner of described breeches pipe utilizes nut and pad to be fixed on described connecting rod by elbow bend, is bolted fixing between described baffle plate and described connecting rod；Bearing bracket stand described in a pair is secured by bolts in described connecting rod, and described bearing bracket stand is connected with described rotary shaft by bearing, and described support plate has been bolted a pair cylinder, and the piston rod of described cylinder is connected with described rotary shaft by crank；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 described support plate by nut.
It is easy to carry the fixture of workpiece the most as claimed in claim 4, it is characterized in that, described press plate mechanism includes guide rod cylinder, described guide rod cylinder is secured by bolts in described Wrist fixing board, the guide rod of described guide rod cylinder is vertically connected at described pressing plate, described pressing plate is set in parallel between described breeches pipe and described guide rail, and described pressing plate is evenly equipped with the air-vent of four flute profiles.
6. robot palletizer, it is characterized in that, including described in any one of claim 1 to 5 being easy to carry workpiece fixture, around base, the large arm parallel-crank mechanism vertically swung, the parallelogram arm mechanism that vertical direction rotates, drive described parallelogram arm mechanism vertically to swing and keep the wrist parallel-crank mechanism of horizontal attitude of wrist, triangular coupling rod and the wrist rotated around vertical direction；The lower end of described large arm parallel-crank mechanism and the lower end of described wrist parallel-crank mechanism are connected with described base respectively, the upper end of described wrist parallel-crank mechanism is connected with described triangular coupling rod, the upper end of described parallelogram arm mechanism is connected with the upper end of described large arm parallel-crank mechanism, described wrist is connected to the lower end of described parallelogram arm mechanism, and the two ends of described wrist are provided with embedded groove, the inner side of described operating portion is provided with when wrist is connected the projection being embedded in described embedded groove with fixture, the outside of described operating portion is provided with and pulls block.
7. robot palletizer as claimed in claim 6, it is characterised in that described swivel base is provided with swivel base, and the lower end of described large arm parallel-crank mechanism and the lower end of described wrist parallel-crank mechanism are connected with described swivel base respectively.
8. robot palletizer as claimed in claim 7, it is characterised in that described large arm parallel-crank mechanism includes large arm, positioning linkage rod, connecting rod and the little elbow being sequentially connected with；Described wrist parallel-crank mechanism includes described large arm, swivel base block, post-tensioning rod and the low back bar being sequentially connected with；Described triangular coupling rod includes Attacking Midfielder's bar, low back bar and the bottom bar that head and the tail connect, and the upper end of described large arm is connected to the junction of described Attacking Midfielder's bar and described low back bar, and described post-tensioning rod is connected to the junction of described low back bar and described bottom bar；Described parallelogram arm mechanism includes forearm, Attacking Midfielder's bar, front tension bar rod and the forearm connecting rod being sequentially connected with, and described little elbow is connected with described forearm, and described forearm connecting rod is connected with described wrist.
9. robot palletizer as claimed in claim 8, it is characterized in that, described connecting rod is connected with described little elbow by the first connector, described first connector includes pitman shaft, described pitman shaft passes connecting rod, little elbow, described pitman shaft is arranged with a rotary oil seal and two taper roll bearings successively, sealed by joint lid near described taper roll bearing one end, rotary oil seal described in one is connected with the bore seal of described little elbow, the outer ring of taper roll bearing described in two is installed on the inner chamber of little elbow, one end of described pitman shaft is fixed by the first screw, the other end is fixed by the second screw through joint lid.
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 swivel base rotates, and drives large arm parallel-crank mechanism, wrist parallel-crank mechanism, triangular coupling rod, parallelogram arm mechanism and fixture to turn on the direction residing for workpiece；
Step 2. large arm parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, wrist parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, triangular coupling rod and the rotation of large arm, and keep the horizontal attitude of wrist until fixture is positioned at the top of workpiece；
Step 3. wrist rotates around vertical direction, drives fixture to turn to the breeches pipe of fixture and the aligned in position of workpiece around vertical direction；
Step 4. large arm parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, wrist parallel-crank mechanism drives parallelogram arm machine vertically to swing, triangular coupling rod and the rotation of large arm, and the horizontal attitude of holding wrist, fixture is dropped at workpiece；
The piston rod of step 5. cylinder drives crank axle to be rotated and rotates, thus drive bearing bracket stand to swing, and then make breeches pipe capture packaging bag, the both sides simultaneously driving packaging bag are compressed by baffle plate, guide rod cylinder drives the end face of pressing plate pressing package bag, completes to grip workpiece；
Step 6. large arm parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, wrist parallel-crank mechanism drives parallelogram arm mechanism vertically to swing, triangular coupling rod and the rotation of large arm, and the horizontal attitude of holding wrist, workpiece is moved to discharge position；
The piston rod of step 7. 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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| CN201610386104.XA CN105945950A (en) | 2016-06-03 | 2016-06-03 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
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| CN201610386104.XA CN105945950A (en) | 2016-06-03 | 2016-06-03 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
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| CN105945950A true CN105945950A (en) | 2016-09-21 |
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| CN108555168A (en) * | 2018-05-07 | 2018-09-21 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
| 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 |
| CN109110514A (en) * | 2018-10-19 | 2019-01-01 | 山东省药用玻璃股份有限公司 | Dissipate bottle stacking composite fixture |
| CN109220869A (en) * | 2018-09-18 | 2019-01-18 | 合肥启迪农业发展有限公司 | A kind of agricultural livestock-raising cleaning device |
| CN109531545A (en) * | 2018-12-25 | 2019-03-29 | 华中科技大学鄂州工业技术研究院 | It is a kind of for lifting the robot of weight |
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| CN110238594A (en) * | 2019-07-17 | 2019-09-17 | 苏州哈工易科机器人有限公司 | A kind of water cooling welding tool setup of workpiece |
| CN110480609A (en) * | 2019-08-20 | 2019-11-22 | 南京博约智能科技有限公司 | A kind of self-compensating robot palletizer of position and attitude error and its palletizing method |
| CN110525986A (en) * | 2019-08-02 | 2019-12-03 | 南京博约智能科技有限公司 | A kind of multi-purpose robot palletizer and working method |
| CN110640740A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform with two-stage speed reduction gear |
| CN110640742A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform of multi-mode control |
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN110640744A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot with fuzzy control of motor |
| CN110666800A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Industrial robot with multithreading strategy demonstrator |
| CN110666803A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Grabbing industrial robot for RF center positioning workpiece |
| CN110666802A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Industrial robot platform with dual-core motion controller |
| CN110759111A (en) * | 2019-09-30 | 2020-02-07 | 广西机械工业研究院有限责任公司 | Pile up neatly machine people tongs device |
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| CN111775168A (en) * | 2020-07-03 | 2020-10-16 | 宜兴市中川米业有限公司 | Stacking robot |
| CN111791259A (en) * | 2020-08-24 | 2020-10-20 | 朱圣亭 | Braided bag snatchs anchor clamps |
| CN112248021A (en) * | 2020-09-29 | 2021-01-22 | 北海职业学院 | Robot-based pneumatic chuck clamping device |
| CN112976053A (en) * | 2021-03-01 | 2021-06-18 | 浙江大学山东工业技术研究院 | Industrial automation robot convenient to remove |
| CN113264369A (en) * | 2021-06-21 | 2021-08-17 | 江苏经贸职业技术学院 | Efficient commodity circulation is unloaded and is used automatic pile up neatly device |
| CN113291830A (en) * | 2021-05-26 | 2021-08-24 | 漳州必佳自动化设备有限公司 | Stacking assembly line |
| CN113500618A (en) * | 2021-08-17 | 2021-10-15 | 四川吉浦森建材有限公司 | Clamping jaw for gypsum board |
| CN114955529A (en) * | 2022-07-01 | 2022-08-30 | 杭州国领科技有限公司 | Efficient stacking robot clamp |
| CN115196296A (en) * | 2022-07-06 | 2022-10-18 | 青岛宝佳智能装备股份有限公司 | Turn over a packet and transport mechanism |
| CN117245679A (en) * | 2023-11-01 | 2023-12-19 | 兴化市聚鑫不锈钢有限公司 | Production corrosion resistant plate material transport manipulator |
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| CN107511822A (en) * | 2017-09-20 | 2017-12-26 | 湖北三江航天红阳机电有限公司 | A kind of mechanical arm |
| CN107934572A (en) * | 2017-12-18 | 2018-04-20 | 广东美的智能机器人有限公司 | De-stacking device and unstacking robot |
| CN107934572B (en) * | 2017-12-18 | 2024-03-01 | 广东美的智能机器人有限公司 | Destacking device and destacking robot |
| CN108555168A (en) * | 2018-05-07 | 2018-09-21 | 苏州神运机器人有限公司 | A kind of robot gripper disc spins micro-adjusting mechanism |
| CN108555168B (en) * | 2018-05-07 | 2023-09-15 | 苏州神运机器人有限公司 | Robot gripper rotating fine adjustment mechanism |
| 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 |
| CN109220869A (en) * | 2018-09-18 | 2019-01-18 | 合肥启迪农业发展有限公司 | A kind of agricultural livestock-raising cleaning device |
| CN109110514A (en) * | 2018-10-19 | 2019-01-01 | 山东省药用玻璃股份有限公司 | Dissipate bottle stacking composite fixture |
| CN110666802A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Industrial robot platform with dual-core motion controller |
| CN110666803A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Grabbing industrial robot for RF center positioning workpiece |
| CN110666800A (en) * | 2018-11-07 | 2020-01-10 | 宁波赛朗科技有限公司 | Industrial robot with multithreading strategy demonstrator |
| CN110640744A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot with fuzzy control of motor |
| CN110640740A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform with two-stage speed reduction gear |
| CN110640742A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot platform of multi-mode control |
| CN110640737A (en) * | 2018-11-07 | 2020-01-03 | 宁波赛朗科技有限公司 | Industrial robot for measuring data fusion attitude |
| CN109531545A (en) * | 2018-12-25 | 2019-03-29 | 华中科技大学鄂州工业技术研究院 | It is a kind of for lifting the robot of weight |
| CN109650046A (en) * | 2019-01-21 | 2019-04-19 | 安徽永成电子机械技术有限公司 | A kind of production line material transmitting robot arm device |
| CN109650046B (en) * | 2019-01-21 | 2024-02-13 | 安徽永成电子机械技术有限公司 | Material transfer mechanical arm device of production line |
| CN110217524A (en) * | 2019-06-19 | 2019-09-10 | 哈尔滨工程大学 | A kind of robot for the mobile carrying of logistic storage |
| CN110238594A (en) * | 2019-07-17 | 2019-09-17 | 苏州哈工易科机器人有限公司 | A kind of water cooling welding tool setup of workpiece |
| CN110525986A (en) * | 2019-08-02 | 2019-12-03 | 南京博约智能科技有限公司 | A kind of multi-purpose robot palletizer and working method |
| CN110480609A (en) * | 2019-08-20 | 2019-11-22 | 南京博约智能科技有限公司 | A kind of self-compensating robot palletizer of position and attitude error and its palletizing method |
| CN110480609B (en) * | 2019-08-20 | 2021-07-30 | 南京涵铭置智能科技有限公司 | Pose error self-compensation stacking robot and stacking method thereof |
| CN110759111A (en) * | 2019-09-30 | 2020-02-07 | 广西机械工业研究院有限责任公司 | Pile up neatly machine people tongs device |
| CN110759111B (en) * | 2019-09-30 | 2022-02-11 | 广西机械工业研究院有限责任公司 | Pile up neatly machine people tongs device |
| CN111590627A (en) * | 2020-05-29 | 2020-08-28 | 苏州天准科技股份有限公司 | Clamping jaw device |
| CN111775168B (en) * | 2020-07-03 | 2022-11-04 | 宜兴市中川米业有限公司 | Stacking robot |
| CN111775168A (en) * | 2020-07-03 | 2020-10-16 | 宜兴市中川米业有限公司 | Stacking robot |
| CN111791259A (en) * | 2020-08-24 | 2020-10-20 | 朱圣亭 | Braided bag snatchs anchor clamps |
| CN112248021A (en) * | 2020-09-29 | 2021-01-22 | 北海职业学院 | Robot-based pneumatic chuck clamping device |
| CN112976053A (en) * | 2021-03-01 | 2021-06-18 | 浙江大学山东工业技术研究院 | Industrial automation robot convenient to remove |
| CN112976053B (en) * | 2021-03-01 | 2022-07-12 | 浙江大学山东工业技术研究院 | Industrial automation robot convenient to remove |
| CN113291830A (en) * | 2021-05-26 | 2021-08-24 | 漳州必佳自动化设备有限公司 | Stacking assembly line |
| CN113264369B (en) * | 2021-06-21 | 2022-11-25 | 江苏经贸职业技术学院 | Efficient commodity circulation is unloaded and is used automatic pile up neatly device |
| CN113264369A (en) * | 2021-06-21 | 2021-08-17 | 江苏经贸职业技术学院 | Efficient commodity circulation is unloaded and is used automatic pile up neatly device |
| CN113500618B (en) * | 2021-08-17 | 2022-08-30 | 四川吉浦森建材有限公司 | Clamping jaw for gypsum board |
| CN113500618A (en) * | 2021-08-17 | 2021-10-15 | 四川吉浦森建材有限公司 | Clamping jaw for gypsum board |
| CN114955529A (en) * | 2022-07-01 | 2022-08-30 | 杭州国领科技有限公司 | Efficient stacking robot clamp |
| CN115196296A (en) * | 2022-07-06 | 2022-10-18 | 青岛宝佳智能装备股份有限公司 | Turn over a packet and transport mechanism |
| CN115196296B (en) * | 2022-07-06 | 2023-03-24 | 青岛宝佳智能装备股份有限公司 | Turn over a packet and transport mechanism |
| CN117245679A (en) * | 2023-11-01 | 2023-12-19 | 兴化市聚鑫不锈钢有限公司 | Production corrosion resistant plate material transport manipulator |
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