CN106629088B - A kind of truss robot stacking work station structure and its application method - Google Patents

A kind of truss robot stacking work station structure and its application method Download PDF

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Publication number
CN106629088B
CN106629088B CN201611195509.1A CN201611195509A CN106629088B CN 106629088 B CN106629088 B CN 106629088B CN 201611195509 A CN201611195509 A CN 201611195509A CN 106629088 B CN106629088 B CN 106629088B
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China
Prior art keywords
pallet
platform
cabinet
support
conveyer belt
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CN106629088A (en
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尉越啸
叶利峰
周东
刘黎明
徐佰意
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HANGZHOU WAHAHA PRECISION MACHINERY Co Ltd
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HANGZHOU WAHAHA PRECISION MACHINERY Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Abstract

The present invention relates to pallet stacking technical fields, disclose a kind of truss robot stacking work station structure, including material conveyer belt, truss, the feed end of material conveyer belt is docked with assembly line, the material conveyer belt is drum-type conveyer belt, the side of the material conveyer belt is equipped with push rod, the bottom of the material conveyer belt is equipped with push rod translational drive mechanism, the other side of the material conveyer belt is equipped with the predetermined bit platform of cabinet, the truss is equipped with the horizontal gird vertical with the moving direction of material conveyer belt, the horizontal gird is equipped with sliding seat, sliding seat is equipped with lifting seat, the lower end of the lifting seat is equipped with manipulator;The inside of the predetermined bit platform of cabinet is docked with the side of material conveyer belt, and the outside of the predetermined bit platform of cabinet is equipped with pallet and adjusts support platform.The beneficial effect that the present invention has high degree of automation, stacking high-efficient.

Description

A kind of truss robot stacking work station structure and its application method
Technical field
The present invention relates to a kind of pallet stacking technical field more particularly to a kind of truss robot stacking work station structure and Its application method.
Background technique
Stacking stacks as the term suggests referring to by article is neat;Robot palletizer be article can be stacked automatically it is whole Neat device, equipment etc..At present in automated production field, such as cabinet stacking, need that the cabinet on assembly line is neat Transfer is stacked on pallet, and then whole pile cabinet can directly be circulated by pallet, finally by whole pile cabinet entrucking, carrying.Mesh Preceding common robot palletizer is all that single cabinet is carried stacking to support by manipulator using three-dimensional coordinate robot manipulator structure On disk, whole pile cabinet is then shifted by pallet.However current Stacking Robots the degree of automation is not high, cabinet charging, support The disengaging of disk requires hand fit's adjusting, and the degree of automation is unable to satisfy carrying demand;And three-dimensional coordinate manipulator is free Degree is high, and mobile adjustment movement is more, so as to cause the reduction of cabinet handling efficiency.
Summary of the invention
The present invention is low in order to overcome the shortcomings of stacking machine the degree of automation in the prior art, provides a kind of automation journey The truss robot stacking work station structure and its application method that degree is high, stacking is high-efficient.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of truss robot stacking works station structure, including material conveyer belt, truss, the feed end of material conveyer belt with Assembly line docking, the material conveyer belt are drum-type conveyer belt, and the side of the material conveyer belt is equipped with push rod, the object Expect that the bottom of conveyer belt is equipped with push rod translational drive mechanism, the other side of the material conveyer belt is equipped with the predetermined bit platform of cabinet, The truss is equipped with the horizontal gird vertical with the moving direction of material conveyer belt, and the horizontal gird is equipped with sliding Seat, sliding seat are equipped with lifting seat, and the lower end of the lifting seat is equipped with manipulator;The inside of the predetermined bit platform of cabinet and material are defeated The side of band is sent to dock, the outside of the predetermined bit platform of cabinet is equipped with pallet and adjusts support platform.One column cabinet is moved up in assembly line Dynamic, pallet, which is adjusted, is equipped with pallet in support platform, when a column cabinet is moved on material conveyer belt, cabinet is in material conveyer belt X-direction forms a line, and push rod translational drive mechanism drives push rod translation, and the column cabinet on material conveyer belt is pushed by push rod On the predetermined bit platform of cabinet, push rod repetitive operation shifts multiple row cabinet on the predetermined bit platform of cabinet onto, when the predetermined bit platform of cabinet On cabinet when just can be with one layer of cloth full tray, manipulator is moved to above the predetermined bit platform of cabinet along Y-axis by all casees Body disposable is transported to stacking on pallet;The manipulator of this kind of work station only has the movement of Y-axis, Z axis, and X-axis directly passes through material Conveyer belt and push rod realize cabinet positioning, to simplify the movement of manipulator, the handling efficiency of manipulator is significantly improved, finally Improve stacking efficiency.
Preferably, the manipulator includes sucker stand, the sucker ontology for being located at sucker stand bottom, the sucker It is connected between the upper end and lifting seat of bracket by rotation seat, is evenly distributed with several vacuum slots on the sucker ontology, The downside of the sucker ontology is equipped with spongy layer.By vacuum slot absorption casing, simply, conveniently.
Preferably, two end side surfaces that the pallet adjusts support platform are respectively equipped with pallet feeding web, pallet Discharging conveyor belts, the pallet feeding web and pallet, which are adjusted, is equipped with pallet separating mechanism between support platform.Whole folded support Disk is placed on pallet feeding web, is separated nethermost pallet by pallet separating mechanism, the pallet after separation enters support Disk, which is adjusted, prepares stacking in support platform, and the pallet after stacking is good enters pallet discharging conveyor belts.
Preferably, the pallet separating mechanism includes the support frame for being located at the discharge end of pallet feeding web, institute It states and is equipped with lifting support in support frame, the lifting support is equipped with two horizontal tray lift bars, sets in support frame as described above There is lifting support driving mechanism.
Preferably, the lifting support driving mechanism includes lifting motor, retarder, shaft, the shaft end of retarder It is connect between shaft by sprocket wheel, chain, the both ends of the shaft are equipped with eccentric attachment base, and the bias attachment base passes through drawing Rope is connect with lifting support, drives lifting support to rise when lifting motor rotates forward, and is driven under lifting support when lifting motor inverts Drop.Pallet moves forward in the effect of pallet feeding web, and tray lift bar insertion penultimate pallet simultaneously proposes whole tray It rises (except a nethermost pallet), pallet feeding web is mobile to be moved to pallet adjusting support platform for a pallet On, tray lift bar decline, pallet feeding web moves backward, and pallet is separated with tray lift bar, repeats above-mentioned movement, will Whole tray successively separates from top to bottom, and pallet separation is highly stable, safe.
Preferably, the pallet adjust support platform include pallet adjust conveying mechanism, the first pallet lift platform, Second pallet lift platform, the pallet adjust conveying mechanism and include tray supporter, are located at the mutual flat of tray supporter both sides Capable tray support adjustable track, the tray support adjustable track is parallel with material conveyer belt, the first pallet lift platform, Second pallet lift platform is respectively positioned between tray support adjustable track, the top of the first pallet lift platform be equipped with and pallet into Expect that the pallet of conveyer belt docking feeds guide rail, the top of the second pallet lift platform is equipped with docks with pallet discharging conveyor belts Pallet discharge guide rail.
Preferably, when the first pallet lift platform, the second pallet lift platform rise to extreme position, pallet charging Guide rail is concordant with pallet feeding web, and pallet discharges, and guide rail is concordant with pallet discharging conveyor belts, and pallet charging is drawn Guideway is concordant with pallet discharging guide rail, and pallet charging guide rail, pallet discharging guide rail are above tray support Adjustable track;When the first pallet lift platform, the second pallet lift platform drop to extreme position, pallet feeds guide rail Road, pallet discharging guide rail are below tray support adjustable track.
Preferably, the both ends of the predetermined bit platform of cabinet are equipped with postive stop baffle, the side of the postive stop baffle is equipped with Levelling lever, the upper outside in postive stop baffle of the predetermined bit platform of cabinet are equipped with connecting column, the levelling lever It is slidably connected across connecting column formation, the top of the connecting column is equipped with locking bolt.By the adjusting of postive stop baffle to several Column cabinet is limited, and can be adjusted according to the needs the distance between postive stop baffle.
A kind of application method of truss robot stacking work station, comprising the following steps:
A, pallet separates: a tray overlays on pallet feeding web, and pallet feeding web drives whole tray Forward, the insertion of tray lift bar is from top to bottom in penultimate pallet, lifting support rise penultimate pallet and its Above pallet lifts, and the first pallet lift platform rises to, pallet feeding web movement concordant with pallet feeding web Nethermost pallet is moved on the first pallet lift platform;Lifting support decline, it is defeated that remaining pallet returns to pallet charging It send and takes, pallet feeding web is fallen back, so that tray lift bar is separated with pallet;
B, pallet is adjusted: the decline of the first pallet lift platform, pallet by tray support adjustable track support and with the The separation of one pallet lift platform, tray support adjustable track drive pallet are moved to the surface of the second pallet lift platform;Support The upper remaining pallet of disk charging conveying repeats step a, so that second pallet is moved on the first pallet lift platform;
C, the cabinet on assembly line continuously enters on material conveyer belt along assembly line, X-axis of the cabinet in material conveyer belt Direction forms a line, and push rod translational drive mechanism drives push rod translation, and the column cabinet on material conveyer belt is pushed into case by push rod On the predetermined bit platform of body, push rod repetitive operation shifts multiple row cabinet on the predetermined bit platform of cabinet onto, when on the predetermined bit platform of cabinet Cabinet when just can be with one layer of cloth full tray, the layer box body that manipulator has good positioning the arrangement on the predetermined bit platform of cabinet It is transferred on pallet together, the position of pallet can move back and forth fine tuning by tray support adjustable track;Step c is repeated, directly Cabinet on to pallet is stacked to the number of plies of needs;
D, the second pallet lift platform rises, and the pallet for piling with cabinet is separated with tray support adjustable track, pallet discharging Guide rail drives pallet to enter pallet discharging conveyor belts, the pallet discharging after realizing stacking;
E, the first pallet lift platform declines, and second pallet is moved to the second pallet liter by tray support adjustable track The surface of platform is dropped, stacking is waited.
Therefore, the beneficial effect that the present invention has high degree of automation, stacking high-efficient.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the structural schematic diagram of material conveyer belt.
Fig. 4 is enlarged diagram at A in Fig. 3.
Fig. 5 is the structural schematic diagram of manipulator.
Fig. 6 is the connection schematic diagram that pallet adjusts support platform and pallet feeding web, pallet discharging conveyor belts.
Fig. 7 is the top view that pallet adjusts support platform.
Fig. 8 is the structural schematic diagram of pallet separating mechanism.
Fig. 9 is the structure schematic diagram of Fig. 8.
Figure 10 is pallet the stacked state schematic diagram.
In figure: material conveyer belt 1, truss 2, assembly line 3, push rod 4, horizontal gird 5, sliding seat 6, lifting seat 7, manipulator 8, pallet adjusts support platform 9, the predetermined bit platform 10 of cabinet, postive stop baffle 11, levelling lever 12, connecting column 13, locking spiral shell Bolt 14, pallet feeding web 15, pallet discharging conveyor belts 16, pallet separating mechanism 17, pallet 18, cabinet 19, sucker stand 80, sucker ontology 81, vacuum slot 82, spongy layer 83, support frame 170, lifting support 171, tray lift bar 172, lifting electricity Machine 173, retarder 174, shaft 175, sprocket wheel 176, chain 177, eccentric attachment base 178, drag-line 179, pallet adjust conveyer Structure 90, the first pallet lift platform 91, the second pallet lift platform 92, tray supporter 900, tray support adjustable track 901, support Disk feeds guide rail 910, pallet discharging guide rail 920.
Specific embodiment
Present invention will be further described below with reference to the accompanying drawings and specific embodiments:
A kind of truss robot stacking work station structure as depicted in figs. 1 and 2, including material conveyer belt 1, truss 2, object The feed end of material conveyer belt is docked with assembly line 3, and material conveyer belt is drum-type conveyer belt, and the side of material conveyer belt, which is equipped with, to push away Bar 4, the bottom of material conveyer belt are equipped with push rod translational drive mechanism, and the other side of material conveyer belt is equipped with the predetermined bit platform of cabinet 10, truss is equipped with the horizontal gird 5 vertical with the moving direction of material conveyer belt, and horizontal gird is equipped with sliding seat 6, sliding Seat is equipped with lifting seat 7, and the lower end of lifting seat is equipped with manipulator 8;The inside of the predetermined bit platform 10 of cabinet and material conveyer belt Side docking, the outside of the predetermined bit platform 10 of cabinet are equipped with pallet and adjust support platform 9;
As shown in Figure 3 and Figure 4, the both ends of the predetermined bit platform 10 of cabinet are equipped with postive stop baffle 11, the side of postive stop baffle 11 Equipped with levelling lever 12, the upper outside in postive stop baffle of the predetermined bit platform of cabinet is equipped with connecting column 13, and levelling lever is worn It crosses connecting column formation to be slidably connected, the top of connecting column is equipped with locking bolt 14.
As shown in figure 5, manipulator 8 includes sucker stand 80, the sucker ontology 81 for being located at sucker stand bottom, sucker stand Upper end and lifting seat between connected by rotation seat, be evenly distributed with several vacuum slots 82, sucker ontology on sucker ontology Downside be equipped with spongy layer 83;Sucker ontology can draw a cabinet, can also draw multiple cabinets.
As shown in Fig. 6, Fig. 8 and Fig. 9, pallet feeding web 15 and pallet are adjusted between support platform 9 equipped with pallet point It disembarks structure 17;Pallet separating mechanism 17 includes the support frame 170 for being located at the discharge end of pallet feeding web, and support frame is gantry Bracket, support frame is interior to be equipped with lifting support 171, and the lower end outside of lifting support is equipped with two horizontal tray lift bars 172, branch It is equipped with lifting support driving mechanism in support, lifting support driving mechanism includes lifting motor 173, retarder 174, shaft 175, It is connected between the shaft end and shaft of retarder by sprocket wheel 176, chain 177, the both ends of shaft are equipped with eccentric attachment base 178, partially Heart attachment base is connect by drag-line 179 with lifting support, drives lifting support to rise when lifting motor rotates forward, lifting motor reversion When drive lifting support decline;The two sides of support frame are equipped with shield.
As shown in fig. 7, pallet adjust support platform 9 include pallet adjust conveying mechanism 90, the first pallet lift platform 91, Second pallet lift platform 92, pallet adjust conveying mechanism 90 and include tray supporter 900, are located at the mutual flat of tray supporter both sides Capable tray support adjustable track 901, tray support adjustable track is parallel with material conveyer belt, the first pallet lift platform 91, Second pallet lift platform 92 is respectively positioned between tray support adjustable track 901, and the top of the first pallet lift platform 91 is equipped with The pallet charging guide rail 910 docked with pallet feeding web, the top of the second pallet lift platform 92 is equipped with and pallet The pallet discharging guide rail 920 of discharging conveyor belts docking;Tray support adjustable track 901, pallet charging guide rail 910, The movement of pallet discharging guide rail 920 passes through independent servo motor active drive.
When the first pallet lift platform 91, the second pallet lift platform 92 rise to extreme position, pallet charging guidance Track 910 is concordant with pallet feeding web 15, and pallet discharging guide rail 920 is concordant with pallet discharging conveyor belts 16, pallet It is concordant with pallet discharging guide rail 920 to feed guide rail 910, pallet feeds guide rail 910, pallet discharging guide rail 920 are above tray support adjustable track 901;When the first pallet lift platform, the second pallet lift platform drop to limit position When setting, pallet charging guide rail, pallet discharging guide rail are below tray support adjustable track.
A kind of application method of truss robot stacking work station, comprising the following steps:
A, pallet separates: as shown in Figure 10, a tray 18 overlays on pallet feeding web 15, pallet charging conveying Band 15 drives whole tray to move forward, and for the insertion of tray lift bar 162 from top to bottom in penultimate pallet, lifting support rises will Penultimate pallet and its more than pallet lift, the first pallet lift platform 91 rises to flat with pallet feeding web 15 Together, pallet feeding web 15 is mobile is moved to the charging guidance of the pallet on the first pallet lift platform 91 for nethermost pallet On track 910;Lifting support decline, remaining pallet return on pallet feeding web, and pallet feeding web 15 is fallen back, and make Tray lift bar is obtained to separate with pallet;
B, pallet adjust: the first pallet lift platform 91 decline, pallet by tray support adjustable track 901 support and It is separated with the first pallet lift platform 91, tray support adjustable track 901 drives pallet to be moved to the second pallet lift platform 92 Surface;The upper remaining pallet of pallet charging conveying repeats step a, so that second pallet is moved to the first pallet lift and puts down On platform;
C, the cabinet 19 on assembly line continuously enters on material conveyer belt 1 along assembly line 3, and cabinet is in material conveyer belt X-direction forms a line, and push rod translational drive mechanism drives push rod 4 to translate, and push rod 4 pushes away the column cabinet on material conveyer belt Enter on cabinet pre-determined bit platform 10, push rod repetitive operation shifts multiple row cabinet on the predetermined bit platform of cabinet onto, when cabinet is pre-positioned When cabinet on platform just can be with one layer of cloth full tray, manipulator 8 has good positioning the arrangement on the predetermined bit platform of cabinet One layer box body is transferred on pallet together, and the position of pallet can move back and forth fine tuning by tray support adjustable track 901;Weight Multiple step c, until the cabinet on pallet is stacked to the number of plies of needs;Manipulator is only changed in the mobile position of Y-axis, manipulator Movement it is very single, therefore manipulator response rapidly, carry cabinet it is very quick;
D, the second pallet lift platform 92 rises, and the pallet for piling with cabinet is separated with tray support adjustable track 901, pallet Discharging guide rail 920 drives pallet to enter pallet discharging conveyor belts 16, the pallet discharging after realizing stacking;
E, the first pallet lift platform 91 declines, and second pallet is moved to the second pallet by tray support adjustable track The surface of hoistable platform 92 waits stacking.
Whole process is coordinated, is coherent very much, and without waiting for time, high degree of automation, cabinet stacking is high-efficient.

Claims (7)

  1. The station structure 1. a kind of truss robot stacking works, including material conveyer belt, truss, the feed end and stream of material conveyer belt Waterline docking, characterized in that the material conveyer belt is drum-type conveyer belt, and the side of the material conveyer belt, which is equipped with, to push away Bar, the bottom of the material conveyer belt are equipped with push rod translational drive mechanism, and it is pre- that the other side of the material conveyer belt is equipped with cabinet Locating platform, the truss are equipped with the horizontal gird vertical with the moving direction of material conveyer belt, the horizontal gird It is equipped with sliding seat, sliding seat is equipped with lifting seat, and the lower end of the lifting seat is equipped with manipulator;The predetermined bit platform of cabinet it is interior Side is docked with the side of material conveyer belt, and the outside of the predetermined bit platform of cabinet is equipped with pallet and adjusts support platform, the pallet Two end side surfaces for adjusting support platform are respectively equipped with pallet feeding web, pallet discharging conveyor belts, and the pallet charging is defeated It send band to adjust with pallet and is equipped with pallet separating mechanism between support platform, it includes that pallet is adjusted that the pallet, which adjusts support platform, Conveying mechanism, the first pallet lift platform, the second pallet lift platform, it includes pallet branch that the pallet, which adjusts conveying mechanism, Frame, the tray support adjustable track being parallel to each other for being located at tray supporter both sides, the tray support adjustable track and material Conveyer belt is parallel, and the first pallet lift platform, the second pallet lift platform are respectively positioned between tray support adjustable track, the first support The top of disk hoistable platform is equipped with the pallet charging guide rail docked with pallet feeding web, the second pallet lift platform Top is equipped with the pallet discharging guide rail docked with pallet discharging conveyor belts.
  2. The station structure 2. a kind of truss robot stacking according to claim 1 works, characterized in that the mechanical handbag The sucker ontology for including sucker stand, being located at sucker stand bottom passes through rotation between the upper end and lifting seat of the sucker stand Seat connects, and several vacuum slots are evenly distributed on the sucker ontology, and the downside of the sucker ontology is equipped with spongy layer.
  3. The station structure 3. a kind of truss robot stacking according to claim 1 works, characterized in that the pallet separation Mechanism includes the support frame for being located at the discharge end of pallet feeding web, is equipped with lifting support, the lifting in support frame as described above Bracket is equipped with two horizontal tray lift bars, is equipped with lifting support driving mechanism in support frame as described above.
  4. The station structure 4. a kind of truss robot stacking according to claim 3 works, characterized in that the lifting support Driving mechanism includes lifting motor, retarder, shaft, is connected between the shaft end and shaft of retarder by sprocket wheel, chain, described The both ends of shaft are equipped with eccentric attachment base, and the bias attachment base is connect by drag-line with lifting support, when lifting motor rotates forward It drives lifting support to rise, lifting support decline is driven when lifting motor inverts.
  5. The station structure 5. a kind of truss robot stacking according to claim 1 works, characterized in that when the first pallet lift When platform, the second pallet lift platform rise to extreme position, pallet charging guide rail is concordant with pallet feeding web, support Disk discharges, and guide rail is concordant with pallet discharging conveyor belts, and pallet charging guide rail is concordant with pallet discharging guide rail, support Disk charging guide rail, pallet discharging guide rail are above tray support adjustable track;When the first pallet lift platform, second When pallet lift platform drops to extreme position, pallet charging guide rail, pallet discharging guide rail are below tray support Adjustable track.
  6. The station structure 6. a kind of truss robot stacking according to claim 1 works, characterized in that the cabinet pre-determined bit The both ends of platform are equipped with postive stop baffle, and the side of the postive stop baffle is equipped with levelling lever, on the predetermined bit platform of cabinet It is equipped with connecting column positioned at the outside of postive stop baffle, the levelling lever passes through connecting column formation and is slidably connected, the connection The top of column is equipped with locking bolt.
  7. 7. a kind of application method of truss robot stacking work station, characterized in that the following steps are included:
    A, pallet separates: a tray overlays on pallet feeding web, and pallet feeding web drives whole tray Forward, The insertion of tray lift bar is from top to bottom in penultimate pallet, lifting support rise by penultimate pallet and its more than Pallet lifts, and the first pallet lift platform rises to concordant with pallet feeding web, and the movement of pallet feeding web will be most lower The pallet in face is moved on the first pallet lift platform;Lifting support decline, remaining pallet return on pallet feeding web, Pallet feeding web is fallen back, so that tray lift bar is separated with pallet;
    B, pallet adjust: the first pallet lift platform decline, pallet by tray support adjustable track support and with the first support The separation of disk hoistable platform, tray support adjustable track drive pallet are moved to the surface of the second pallet lift platform;Pallet into The upper remaining pallet of material conveying repeats step a, so that second pallet is moved on the first pallet lift platform;
    C, the cabinet on assembly line continuously enters on material conveyer belt along assembly line, X-direction of the cabinet in material conveyer belt It forms a line, push rod translational drive mechanism drives push rod translation, and push rod is pre- by the column cabinet push-in cabinet on material conveyer belt On locating platform, push rod repetitive operation shifts multiple row cabinet on the predetermined bit platform of cabinet onto, the case on the predetermined bit platform of cabinet When body just can be with one layer of cloth full tray, the layer box body that manipulator has good positioning the arrangement on the predetermined bit platform of cabinet is together It is transferred on pallet, the position of pallet can move back and forth fine tuning by tray support adjustable track;Step c is repeated, until support Cabinet on disk is stacked to the number of plies of needs;
    D, the second pallet lift platform rises, and the pallet for piling with cabinet is separated with tray support adjustable track, pallet discharging guidance Track drives pallet to enter pallet discharging conveyor belts, the pallet discharging after realizing stacking;
    E, the first pallet lift platform declines, and second pallet is moved to the second pallet lift by tray support adjustable track and puts down The surface of platform waits stacking.
CN201611195509.1A 2016-12-22 2016-12-22 A kind of truss robot stacking work station structure and its application method Active CN106629088B (en)

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