CN106395400A - Overload protection device for extrusion loads on connecting rod of palletizing robot - Google Patents
Overload protection device for extrusion loads on connecting rod of palletizing robot Download PDFInfo
- Publication number
- CN106395400A CN106395400A CN201610374186.6A CN201610374186A CN106395400A CN 106395400 A CN106395400 A CN 106395400A CN 201610374186 A CN201610374186 A CN 201610374186A CN 106395400 A CN106395400 A CN 106395400A
- Authority
- CN
- China
- Prior art keywords
- bearing
- rocking arm
- rocker arm
- connecting rod
- overload protection
- Prior art date
- 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
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Classifications
-
- 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
-
- 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
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/40—Safety features of loads, equipment or persons
Abstract
The invention relates to an overload protection device for extrusion loads on a connecting rod of a palletizing robot. The device comprises a rocker arm base, a rocker arm and a buffering component, wherein the buffering component is connected to the rocker arm base and the rocker arm. The rocker arm base is provided with a fixed core shaft, the rocker arm is connected to the core shaft in a rotating mode, and the buffering component is located on the reverse rotating path of the rocker arm. According to the device, the rocker arm base and the rocker arm are separated into separated bodies capable of rotating relative to each other, the buffering component is installed on the reverse rotating path of the rocker arm, and therefore when the robot is mis-operated or the rocker arm receives reverse loads, the rocker arm is protected against bending deformation or even damage caused by rigid connection. The device can be applied to the technical field of logistics devices.
Description
Technical field
The present invention relates to a kind of robot palletizer, especially relate to robot palletizer connecting rod extrusion load overload protection arrangement.
Background technology
Circular cylindrical coordinate multi-joint robot palletizer structure is simple, stable, load is big, to carton, tubbiness, the packaging strong adaptability such as bag-shaped.It is widely used in product automatic stacking, the carrying of the manufacturing enterprises such as chemical industry, food, beverage.Wrist, as the end effector mechanism of robot palletizer, typically requires it need to be with working face holding level in the robot course of work.
The robot of this type is all to realize, by two parallel-crank mechanisms, the level that wrist keeps wrist and working face in the robot course of work on the market at present, and the motion of arm in running drives parallel-crank mechanism to press certain relation motion so that wrist keeps level with working face all the time.
Make connecting rod pressurized because the reasons such as maloperation or shock produce reverse load in robot practical work process, rocking arm due to quadrangular mechanism is to be rigidly connected with arm, in the case that reverse load is excessive, due to pressurized excessive, and can there is the risk that irreversible flexural deformation even destroys in the connecting rod in quadrangular mechanism.
Content of the invention
In order to overcome above-mentioned technical problem, it is an object of the invention to provide a kind of robot palletizer connecting rod extrusion load overload protection arrangement, in the case that reverse load is excessive, robot palletizer can be played a protective role.
A kind of robot palletizer connecting rod extrusion load overload protection arrangement; including rocker arm bracket, rocking arm and buffer component; described buffer component is connected with rocker arm bracket, rocking arm respectively; described rocker arm bracket is provided with fixing mandrel; described rocking arm is rotatably connected on mandrel; buffer component is located on the path of rocking arm backwards rotation, in the case that robot palletizer is subject to reverse load, robot palletizer can be played a protective role.
As the improvement further of technique scheme, described rocker arm bracket is provided with the sensor that can detect rocking arm amount of spin, and described sensor is electrically connected with robot palletizer control system, in the case that reverse load is excessive, closes robot palletizer in time.
As the improvement further of technique scheme, described buffer gear is spring and is in compressive state, and spring applies the pretightning force making rocking arm rotate forward to rocking arm, thus rocking arm is pressed on rocker arm bracket along forward direction.
Improvement further as technique scheme, described rocker arm bracket is provided with low limited step, described rocking arm is provided with the high limited step of compression of interlocking under the pretightning force effect of spring with low limited step, by spacing, and the pretightning force of buffer gear, ensure will not relatively rotate between rocking arm and rocker arm bracket, and eliminate the interference of disturbing load, thus robot can stably run.
As the improvement further of technique scheme, described rocker arm bracket is provided with the overcast hole of fixing spring bottom, and described rocking arm is provided with the high counterbore on fixing spring top.
As the improvement further of technique scheme, on described mandrel, positioning is provided with fore bearing and rear bearing, and described fore bearing is connected with mandrel with the inner ring of rear bearing, and outer ring is connected with rocking arm, reduces resistance when rocking arm rotates with respect to mandrel.
As the improvement further of technique scheme, described mandrel is provided with bearing positioning step, and described rocking arm is provided with one-level bearing mounting hole, and described rear bearing both ends of the surface abut on bearing positioning step and the hole wall of bearing mounting hole respectively.
Improvement further as technique scheme, described mandrel is provided with bearing fasteners, described rocking arm is provided with bearing cap and secondary bearing installing hole, and described fore bearing front end face is compressed by bearing fasteners and bearing cap simultaneously, and so that it is abutted on the hole wall of secondary bearing installing hole.
As the improvement further of technique scheme, described bearing fasteners include jump-ring slot and are contained in the axle card on jump-ring slot.
The invention has the beneficial effects as follows：The present invention is by being divided into relatively turnable chorista by rocker arm bracket and rocking arm, and buffer gear is installed on the path of rocking arm backwards rotation, robot is made to be subject under reverse load condition in maloperation or rocking arm, it is to avoid because rocking arm is to be rigidly connected and occur bending and deformation or even destroy.
Brief description
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is A-A sectional view in Fig. 1.
Fig. 3 is B direction view in Fig. 1.
Specific embodiment
Robot palletizer connecting rod extrusion load overload protection arrangement as Figure 1-3, including rocker arm bracket 1, the rocking arm 2 of connecting rod shape and spring 4.In bearing block shape and bottom surface is plane to described rocker arm bracket 1, is fixed by screws on three axle slide units；Described spring 4 is connected with rocker arm bracket 1, rocking arm 2 respectively；Described rocker arm bracket 1 is provided with a through hole 12, is fixed with mandrel 3, as shown in Figure 2 in through hole 12；Described rocking arm 2 is rotatably connected on mandrel 3, and spring 4 is located on the path of rocking arm 2 backwards rotation, in the case that robot palletizer is subject to reverse load, robot palletizer can be played with buffering, protective effect.
It is further preferred that as shown in figure 1, described rocker arm bracket 1 is provided with the sensor 5 that can detect rocking arm amount of spin, described sensor 5 is connected with robot palletizer control system, described sensor passes through to sense the collapsing length change of spring 4（Or rocking arm 2 rotates the position reaching）, and feed back to robot palletizer control system, when reverse load crosses ambassador's spring 4 collapsing length（Or rocking arm 2 rotates the position reaching）Exceed systemic presupposition critical value when, control system will close robot palletizer in time it is ensured that it is without damage.
Further preferred, with reference to Fig. 1 and Fig. 3, described spring 4 is in compressive state, spring 4 applies the pretightning force making rocking arm 2 rotate forward to rocking arm 2, thus rocking arm 2 is pressed on rocker arm bracket 1 along forward direction, described rocker arm bracket 1 is provided with low limited step 11, described rocking arm 2 is provided with the high limited step of compression of interlocking under the pretightning force effect of spring 4 with low limited step 11, by spacing, and the pretightning force of spring 4 is it is ensured that will not relatively rotate between rocking arm and rocker arm bracket, and eliminate the interference of disturbing load, thus, robot can stably run.
Further preferred, described rocker arm bracket 1 is provided with the overcast hole 13 of fixing spring 4 bottom, it is provided with spring installation step 22 with high limited step 21 opposite end on described rocking arm 2, described spring installation step 22 is provided with the high counterbore 23 on fixing spring 4 top, above-mentioned overcast hole 13 and high counterbore 23 also can be substituted with spring guide shaft, as shown in Figure 1.
It is further preferred that described mandrel 3 is provided with fore bearing and rear bearing, fore bearing and rear bearing are rolling bearing, described fore bearing 42 is connected with mandrel 3 with the inner ring of rear bearing 41, outer ring is connected with rocking arm 2, reduces resistance when rocking arm 2 rotates with respect to mandrel 3, as shown in Figure 2.
It is further preferred that described mandrel 3 is provided with bearing positioning step 31, described rocking arm 2 is provided with one-level bearing mounting hole 24, and described rear bearing 41 both ends of the surface abut on bearing positioning step 31 and the hole wall of bearing mounting hole 24 respectively, as shown in Figure 2.
Further preferred, described mandrel 3 is provided with bearing fasteners, described rocking arm 2 is provided with bearing cap 25 and secondary bearing installing hole 27, bearing fasteners include jump-ring slot 32 and are inserted into the axle card 33 on jump-ring slot 32, described fore bearing 42 front end face is buckled card by bearing and is compressed with bearing cap 25 simultaneously, against on the hole wall of secondary bearing installing hole 27, as shown in Figure 2；Described rocking arm 2 front end face is provided with 8 screwed holes 26, and described bearing cap 25 passes through screwed hole 26 and the screw that is arranged on screwed hole 26 is connected with rocking arm 2, as shown in Figure 1.
In the case of this embodiment normal work, the load that rocking arm 2 is born is the in the reverse direction of prefastening load suffered by spring 4, therefore will not relatively rotate in device normal operation lower shake-changing arm 2 and rocker arm bracket 1, thus ensure that robot normal work；And, when robot is produced weightlessness by windage upwards or suddenly acceleration downwards in the course of the work and even produces reverse load, the pretightning force of spring 4 can eliminate consequent reverse load and ensure that now rocking arm 2 will not be relatively rotated with rocker arm bracket 1, thus ensure that normal, the steady operation of robot；When robot wrist bears improper load; as collision etc. generation excessive reverse load when; if this load is wide enough so that spring 4 continues to compress; then rocking arm 2 and rocker arm bracket can relatively rotate; thus; release the squeezing action to connecting rod for the reverse load; avoid connecting rod to occur to destroy or flexural deformation; and; rocking arm 2 amount of spin is detected by sensor 5 and feeds back to control system; if the amount of spin of rocking arm 2 reaches default value, and control system will be cut off robot and run, thus playing the protective effect to connecting rod for this device.
The above is the preferred embodiment of the present invention, and it does not constitute limiting the scope of the invention.
Claims (9)
1. a kind of robot palletizer connecting rod extrusion load overload protection arrangement it is characterised in that：Including rocker arm bracket（1）, rocking arm（2）And buffer component, described buffer component respectively with rocker arm bracket（1）, rocking arm（2）It is connected, described rocker arm bracket（2）It is provided with fixing mandrel（3）, described rocking arm（2）It is rotatably connected on mandrel（3）On, buffer component is located at rocking arm（2）On the path of backwards rotation.
2. according to claim 1 robot palletizer connecting rod extrusion load overload protection arrangement it is characterised in that：Described rocker arm bracket（1）It is provided with and can detect rocking arm（2）The sensor of amount of spin（5）, described sensor（5）It is electrically connected with robot palletizer control system.
3. robot palletizer connecting rod extrusion load overload protection arrangement according to claim 1 or claim 2 it is characterised in that：Described buffer gear is spring（4）And it is in compressive state, spring（4）To rocking arm（2）Apply to make rocking arm（2）The pretightning force rotating forward, thus by rocking arm（2）It is pressed on rocker arm bracket along forward direction（1）On.
4. according to claim 3 robot palletizer connecting rod extrusion load overload protection arrangement it is characterised in that：Described rocker arm bracket（1）It is provided with low limited step（11）, described rocking arm（2）It is provided with spring（4）Pretightning force effect lower with low limited step（11）The high limited step of staggered compression（21）.
5. according to claim 3 robot palletizer connecting rod extrusion load overload protection arrangement it is characterised in that：Described rocker arm bracket（1）It is provided with fixing spring（4）The overcast hole of bottom（13）, described rocking arm（2）It is provided with fixing spring（4）The high counterbore on top（23）.
6. robot palletizer connecting rod extrusion load overload protection arrangement according to claim 1 or claim 2 it is characterised in that：Described mandrel（3）Upper positioning is provided with fore bearing and rear bearing, the inner ring of described fore bearing and rear bearing and mandrel（3）It is connected, outer ring and rocking arm（2）It is connected.
7. according to claim 6 robot palletizer connecting rod extrusion load overload protection arrangement it is characterised in that：Described mandrel（3）It is provided with bearing positioning step（31）, described rocking arm（2）It is provided with one-level bearing mounting hole（24）, described rear bearing both ends of the surface abut in bearing positioning step respectively（31）With one-level bearing mounting hole（24）Hole wall on.
8. according to claim 6 robot palletizer connecting rod extrusion load overload protection arrangement it is characterised in that：Described mandrel（3）It is provided with bearing fasteners, described rocking arm（2）It is provided with bearing cap（25）With secondary bearing installing hole（27）, described fore bearing front end face is by bearing fasteners and bearing cap（25）Compress, so that fore bearing rear end face abuts in secondary bearing installing hole simultaneously（27）Hole wall on.
9. according to claim 8 robot palletizer connecting rod extrusion load overload protection arrangement it is characterised in that：Described bearing fasteners include jump-ring slot（32）And it is contained in jump-ring slot（32）On axle card（33）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610374186.6A CN106395400B (en) | 2016-05-30 | 2016-05-30 | A kind of robot palletizer connecting rod extrusion load overload protection arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610374186.6A CN106395400B (en) | 2016-05-30 | 2016-05-30 | A kind of robot palletizer connecting rod extrusion load overload protection arrangement |
Publications (2)
| Publication Number | Publication Date |
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| CN106395400A true CN106395400A (en) | 2017-02-15 |
| CN106395400B CN106395400B (en) | 2018-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610374186.6A Active CN106395400B (en) | 2016-05-30 | 2016-05-30 | A kind of robot palletizer connecting rod extrusion load overload protection arrangement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113800030A (en) * | 2020-06-12 | 2021-12-17 | 上海烟草集团有限责任公司 | Cigarette carton output sleeve opening and ZB48 packaging machine |
Citations (7)
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| EP0422983A1 (en) * | 1989-10-02 | 1991-04-17 | Vega Automation | Robot |
| US20030118436A1 (en) * | 2001-12-25 | 2003-06-26 | Komatsu Ltd. | Work loading method for automatic palletizer, work loading method, work loading apparatus and attachment replacing method thereof |
| CN201304650Y (en) * | 2008-12-10 | 2009-09-09 | 常州市荣创自动化设备有限公司 | Anticollision, protection and automatic resetting device for hand of stacker robot |
| CN202985580U (en) * | 2012-12-27 | 2013-06-12 | 中国科学院合肥物质科学研究院 | Passive compliance impedance mechanism applied to service robot mechanical arm |
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
| CN104743139A (en) * | 2015-03-26 | 2015-07-01 | 中国人民解放军装备学院 | Spatial manipulator structure capable of stably grabbing |
| CN205772024U (en) * | 2016-05-30 | 2016-12-07 | 广州启帆工业机器人有限公司 | A kind of robot palletizer connecting rod extrusion load overload protection arrangement |
-
2016
- 2016-05-30 CN CN201610374186.6A patent/CN106395400B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0422983A1 (en) * | 1989-10-02 | 1991-04-17 | Vega Automation | Robot |
| US20030118436A1 (en) * | 2001-12-25 | 2003-06-26 | Komatsu Ltd. | Work loading method for automatic palletizer, work loading method, work loading apparatus and attachment replacing method thereof |
| CN201304650Y (en) * | 2008-12-10 | 2009-09-09 | 常州市荣创自动化设备有限公司 | Anticollision, protection and automatic resetting device for hand of stacker robot |
| CN202985580U (en) * | 2012-12-27 | 2013-06-12 | 中国科学院合肥物质科学研究院 | Passive compliance impedance mechanism applied to service robot mechanical arm |
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
| CN104743139A (en) * | 2015-03-26 | 2015-07-01 | 中国人民解放军装备学院 | Spatial manipulator structure capable of stably grabbing |
| CN205772024U (en) * | 2016-05-30 | 2016-12-07 | 广州启帆工业机器人有限公司 | A kind of robot palletizer connecting rod extrusion load overload protection arrangement |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113800030A (en) * | 2020-06-12 | 2021-12-17 | 上海烟草集团有限责任公司 | Cigarette carton output sleeve opening and ZB48 packaging machine |
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| CN106395400B (en) | 2018-08-28 |
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Effective date of registration: 20220607 Address after: 510230 room J, 16 / F, No. 308, Binjiang Middle Road, Haizhu District, Guangzhou, Guangdong Patentee after: Zhongzheng Data Technology Co.,Ltd. Address before: 510700 2 Luogang District Xin Rui Road, Guangzhou, Guangdong Patentee before: GUANGZHOU START TO SAIL INDUSTRIAL ROBOT Co. |