CN107352263A - Robot palletizer shovel plate mechanism - Google Patents
Robot palletizer shovel plate mechanism Download PDFInfo
- Publication number
- CN107352263A CN107352263A CN201710805262.9A CN201710805262A CN107352263A CN 107352263 A CN107352263 A CN 107352263A CN 201710805262 A CN201710805262 A CN 201710805262A CN 107352263 A CN107352263 A CN 107352263A
- Authority
- CN
- China
- Prior art keywords
- shovel board
- shovel
- plate
- servomotor
- stop hook
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot palletizer shovel plate mechanism, and it includes shovel board, transmission mechanism and frame.Described transmission mechanism is arranged in frame, and it is connected with shovel board, the first servomotor on transmission mechanism drives shovel board to move up and down, and the second servomotor can realize shovel board second lift, and the 3rd servomotor and electric pushrod on shovel plate mechanism are completed to pile up goods.The present invention is controlled by numerical control program, is realized full-automation, is improved operating efficiency, reduce labour cost.
Description
Technical field
The invention belongs to robot palletizer technical field, more particularly to a kind of robot palletizer shovel plate mechanism.
Background technology
With the continuous development of China's economy advanced by leaps and bounds with scientific and technical so that robot stacking is in logistics, production
The industries such as line, supermarket, which have, to be quite widely applied.Robot palletizer being capable of high efficiency, low cost, easy to operate to quantity
Huge container carries out piling up processing.Robot palletizer shovel plate mechanism is that robot palletizer is realized automated production and ensured
One of important mechanism compared with high efficiency.
Drive connection mode in robot palletizer shovel plate mechanism between shovel board and transmission mechanism is piled up to robot palletizer
Container has important influence.Existing robot palletizer often occurs piling up container out-of-flatness, and piles up inefficient etc. ask
Topic.
The content of the invention
Based on technical problem existing for background technology, it is an object of the invention to provide a kind of simple in construction, efficiency high,
Full-automation, manufacturing cost is low, piles up smooth robot palletizer shovel plate mechanism.
For the attainment of one's purpose, technical scheme provided by the invention is：
The invention provides a kind of robot palletizer shovel plate mechanism, it includes：Shovel board, transmission mechanism and frame；Described
Transmission mechanism is arranged in front of frame, is connected with shovel board, and transmission mechanism is by drive block, shovel board drive rail, driving chain, the
One servomotor, drive link and Die Sheng mechanisms composition；The first described servomotor is fixed in frame, through reduction box and biography
Dynamic chain is connected with the chain gear transmission on drive link, and drive link is supported in frame by bearing, and its both ends is provided with four altogether
Sprocket wheel, each sprocket wheel are connected with driving chain respectively；Drive block is fixed with the driving chain of shovel board driving chain mechanism, is passed
Motion block and the shovel board drive rail being fixed in frame form sliding pair, and Die Sheng mechanisms are provided with drive rail, installed in drive block
Upper composition sliding pair；
Described shovel board includes shovel board support, plate body, the 3rd servomotor, timing belt, driving pulley, first electronic pushed away
Bar, driven pulley, slide attachment plate, straight line round guide, kicker baffle, horizontal push rod；Plate body is hinged with shovel board support in rear end；
The shovel board support is fixed in the Die Sheng mechanisms of transmission mechanism both sides；3rd servomotor passes through reduction box and driving pulley
Dynamic connection, driving pulley are connected with the timing belt on driven pulley by timing belt pressing plate, and driving pulley and driven pulley are pacified
On shovel board support, slide attachment plate is fixed with timing belt, shovel board support is straight provided with being engaged with slide attachment plate
Line round guide, slide attachment plate are fixed with horizontal push rod；First electric pushrod be arranged on shovel board support on, the first electric pushrod with
Kicker baffle is connected, and kicker baffle is arranged on below plate body.
Preferably, described Die Sheng mechanisms include the second servomotor and ball-screw, and the second servomotor is through reduction box
It is connected with shaft coupling with ball-screw-transmission.
Preferably, described shovel board also include the second electric pushrod, stop hook, connecting rod, pin, the second electric pushrod and
Stop hook is located on shovel board support, and the second electric pushrod is connected to form revolute pair with stop hook, and connecting rod is located at below plate body, baffle plate
In front of plate body, connecting rod and pin are all connected with stop hook.
Preferably, described stop hook quantity is 4, and parallel arrangement is on shovel board support and below plate body, left side two
Individual stop hook is connected by head rod, and two, right side stop hook is connected by the second connecting rod, and four pan hooks connect with pin
Connect.
Preferably, laser sensor is additionally provided with described shovel board, described laser sensor is arranged on shovel board support two
Sidepiece.
Using technical scheme provided by the invention, compared with prior art, having the advantages that is：
1st, robot palletizer shovel plate mechanism provided by the invention is controlled by numerical control program, realizes full-automatic, unmanned behaviour
Make, operating efficiency is high.
2nd, robot palletizer shovel plate mechanism provided by the invention is simple in construction, and manufacturing cost is low, and at work, it is adjustable
The distance of the whole wall of container two, is piled up smooth.
3rd, the Die Sheng mechanisms on shovel board transmission mechanism of the present invention can complete second lift.
4th, shovel plate mechanism of the present invention is provided with stop hook, can prevent container from sliding.
Brief description of the drawings
Fig. 1 is the structural perspective of robot palletizer shovel plate mechanism of the present invention；
Fig. 2 is the structural perspective of transmission mechanism of the present invention；
Fig. 3 is the structural perspective of shovel board of the present invention；
Fig. 4 is the partial sectional view of shovel board of the present invention；
Fig. 5 is the partial enlarged drawing of part A in Fig. 4；
Mark explanation in schematic diagram：1 transmission mechanism；2 shovel boards；3 frames；1-1 drive blocks；1-2 shovel board drive rails；
1-3 driving chains；The servomotors of 1-4 first；1-5 drive links；The servomotors of 1-6 second；1-7 Die Sheng mechanisms；2-1 the 3rd is watched
Take motor；2-2 timing belts；2-3 driving pulleys；2-4 slide attachment plates；2-5 straight line round guides；2-6 electric pushrods；2-7 is driven
Belt wheel；2-8 laser sensors；The electric pushrods of 2-9 second；2-10 proximity switches；2-11 connecting rods；2-12 pins；2-13 is kept off
Hook；2-14 kicker baffles；The horizontal push rods of 2-15；2-16 plate bodys；2-17 shovel board supports.
Embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described reality
Apply the part of the embodiment that example is only the present invention, rather than whole embodiments.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to guarantor of the present invention
The scope of shield.
As shown in figure 1, the present invention relates to a kind of robot palletizer shovel plate mechanism, it includes transmission mechanism 1, shovel board 2 and machine
Frame 3；Described transmission mechanism 1 is arranged on the front of frame 3, is connected with shovel board 2.
As shown in Figure 2, described transmission mechanism 1 is by drive block 1-1, shovel board drive rail 1-2, driving chain 1-3,
One servomotor 1-4, drive link 1-5 and Die Sheng mechanism 1-7 are formed；The first described servomotor 1-4 is fixed in frame 3,
It is connected through reduction box and driving chain 1-3 with the chain gear transmission on drive link 1-5, drive link 1-5 is supported on frame by bearing
On 3, its both ends is provided with four sprocket wheels altogether, and each sprocket wheel is connected with driving chain 1-3 respectively；Shovel board driving chain mechanism
Drive block 1-1, drive block 1-1 and the shovel board drive rail 1-2 being fixed in frame 3 is fixed with driving chain 1-3 to form and slide
Dynamic pair, Die Sheng mechanisms 1-7 are provided with drive rail, sliding pair are formed on drive block 1-1.
Described Die Sheng mechanisms 1-7 includes the second servomotor 1-6 and ball-screw, and the second servomotor 1-6 is through slowing down
Case and shaft coupling are connected with ball-screw-transmission.Second servomotor 1-6 gyration is converted into straight line fortune by ball-screw
It is dynamic so that Die Sheng mechanisms can slide up and down.
By the drive link 1-5 of the first servomotor 1-4 driving driving chain 1-3 connections, drive link 1-5 is passed by shovel board
The driving chain 1-3 of dynamic link chain mechanism drives the shovel board 2 being fixed on Die Sheng mechanisms 1-7 to rise 210cm distance, then by the
Two servomotor 1-6 drivings Die Sheng mechanism 1-7 realize the second lift of shovel board 2, and during second is lifted, shovel board 2 can lift 12cm
Height.
With reference to shown in Fig. 3,4 and 5, described shovel board 2 includes the 3rd servomotor 2-1, timing belt 2-2, driving pulley 2-
3rd, slide attachment plate 2-4, straight line round guide 2-5, the first electric pushrod 2-6, driven pulley 2-7, laser sensor 2-8, second
Electric pushrod 2-9, proximity switch 2-10, connecting rod 2-11, pin 2-12, stop hook 2-13, kicker baffle 2-14, horizontal push rod 2-
15th, plate body 2-16 and shovel board support 2-17；Described plate body 2-16 and shovel board support 2-17 is hinged in rear end；Shovel board support 2-
17 are fixed on the Die Sheng mechanisms 1-7 of the both sides of transmission mechanism 1；3rd servomotor 2-1 passes through reduction box and driving pulley 2-3
Dynamic connection, driving pulley 2-3 are connected with the timing belt 2-2 on driven pulley 2-7 by timing belt pressing plate, driving pulley 2-3 with
Driven pulley 2-7 is installed on shovel board support；Slide attachment plate 2-4 is fixed with timing belt 2-2, on shovel board support 2-17
Fixed provided with straight line the round guide 2-5, slide attachment plate 2-4 being engaged with slide attachment plate 2-4 with horizontal push rod 2-15；First
Electric pushrod 2-6 is arranged on shovel board support 2-17, and the first electric pushrod 2-6 and kicker baffle 2-14 are connected, be oriented to every
Plate 2-14 is arranged on below plate body 2-16.Second electric pushrod 2-9 and stop hook 2-13 is located on shovel board support 2-17, the second electricity
Dynamic push rod 2-9 is connected to form revolute pair with stop hook 2-13, and connecting rod 2-11 is located at below plate body 2-16, and pin 2-12 is located at plate
In front of body 2-16, stop hook 2-13 quantity is 4, and parallel arrangement is left on shovel board support 2-17 and below plate body 2-16
The stop hook 2-13 of side two is connected by head rod 2-11, two, right side stop hook 2-13 by the second connecting rod 2-11 connections,
Four pan hook 2-13 are connected with pin 2-11.
After goods enters the plate body 2-16 of shovel board from the miscellaneous part of robot palletizer, the second electric pushrod 2-9 drives
Dynamic stop hook 2-13 rises 10 to 15 angle, while the pin 2-12 and connecting rod 2-11 that connect stop hook 2-13 drive plate body 2-
Same angle is risen in 16 front ends, can prevent the container on plate body 2-16 from dropping；When row's chest on plate body 2-16 code
During complete propulsion container, stop hook 2-13 falls after rise together with pin 2-12, connecting rod 2-11 and plate body 2-16；First electric pushrod 2-6
Kicker baffle 2-14 is driven to forward extend out, container is pushed into kicker baffle 2-14 by other mechanisms on robot palletizer, is oriented to
It is more smooth than plate body 2-16 every 2-14, it can prevent that chest is damaged in shipping process is promoted.Robot palletizer is in numerical control journey
Sequence control is lower to be pushed to the container on shovel plate mechanism in closed container or free space by other mechanisms.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks
Domain, it is included within the scope of the present invention.
Claims (5)
1. a kind of robot palletizer shovel plate mechanism, it is characterised in that it includes shovel board, transmission mechanism and frame；Described transmission
Mechanism is arranged in front of frame, is connected with shovel board, transmission mechanism is by drive block, shovel board drive rail, driving chain, the first servo
Motor, drive link and Die Sheng mechanisms composition；The first described servomotor is fixed in frame, through reduction box and driving chain with
Chain gear transmission connection on drive link, drive link are supported in frame by bearing, and its both ends is provided with four sprocket wheels altogether, each
Sprocket wheel is connected with driving chain respectively；Drive block, drive block and fixation are fixed with the driving chain of shovel board driving chain mechanism
Shovel board drive rail in frame forms sliding pair, and Die Sheng mechanisms are provided with drive rail, forms and slides on drive block
It is secondary；
Described shovel board include shovel board support, plate body, the 3rd servomotor, timing belt, driving pulley, the first electric pushrod, from
Movable belt pulley, slide attachment plate, straight line round guide, kicker baffle, horizontal push rod；Plate body is hinged with shovel board support in rear end；The shovel
Board mount is fixed in the Die Sheng mechanisms of transmission mechanism both sides；3rd servomotor is connected through reduction box and driving pulley,
Driving pulley is connected with the timing belt on driven pulley by timing belt pressing plate, and driving pulley and driven pulley are installed in shovel board
On support, slide attachment plate is fixed with timing belt, shovel board support is provided with the straight line round guide being engaged with slide attachment plate,
Slide attachment plate is fixed with horizontal push rod；First electric pushrod is arranged on shovel board support, and the first electric pushrod passes with kicker baffle
Dynamic connection, kicker baffle are arranged on below plate body.
2. robot palletizer shovel plate mechanism according to claim 1, it is characterised in that described Die Sheng mechanisms include second
Servomotor and ball-screw, the second servomotor are connected through reduction box and shaft coupling with ball-screw-transmission.
3. robot palletizer shovel plate mechanism according to claim 1, it is characterised in that described shovel board also includes the second electricity
Dynamic push rod, stop hook, connecting rod, pin, the second electric pushrod and stop hook are located on shovel board support, and the second electric pushrod connects with stop hook
Connect to form revolute pair, connecting rod is located at below plate body, and pin is located in front of plate body, and connecting rod and pin are all connected with stop hook.
4. robot palletizer shovel plate mechanism according to claim 3, it is characterised in that described stop hook quantity is 4, is put down
Row is arranged on shovel board support and below plate body, and two, left side stop hook is connected by head rod, two, right side stop hook
Connected by the second connecting rod, four pan hooks are connected with pin.
5. robot palletizer shovel plate mechanism according to claim 1, it is characterised in that be additionally provided with laser in described shovel board
Sensor, described laser sensor are arranged on shovel board support both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710805262.9A CN107352263B (en) | 2017-09-08 | 2017-09-08 | Robot palletizer shovel plate mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710805262.9A CN107352263B (en) | 2017-09-08 | 2017-09-08 | Robot palletizer shovel plate mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107352263A true CN107352263A (en) | 2017-11-17 |
| CN107352263B CN107352263B (en) | 2023-08-08 |
Family
ID=60291403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710805262.9A Active CN107352263B (en) | 2017-09-08 | 2017-09-08 | Robot palletizer shovel plate mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107352263B (en) |
Citations (10)
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|---|---|---|---|---|
| JPH07304515A (en) * | 1994-05-12 | 1995-11-21 | Murata Kogyo Kk | Carrying device |
| WO2002032796A1 (en) * | 2000-10-19 | 2002-04-25 | Suntory Limited | Container group delivery mechanism, and equipment and method for transporting container |
| DE102007028418B3 (en) * | 2007-06-20 | 2008-06-05 | Grenzebach Maschinenbau Gmbh | Plate shaped bodies i.e. plate shaped insulating materials, stacking device, has support chuck preventing reconducting movement of plate shaped body if front and rear tray chucks exactly control falling movement of plate shaped body |
| CN101618799A (en) * | 2009-07-29 | 2010-01-06 | 中冶长天国际工程有限责任公司 | Lifting type guide chute for sealing-tape machine |
| CN103010713A (en) * | 2012-12-24 | 2013-04-03 | 东南大学建筑设计研究院有限公司 | Material guide device with belt conveyor |
| CN203903550U (en) * | 2014-05-09 | 2014-10-29 | 浙江恒立数控科技股份有限公司 | Roll material guide table |
| CN105417194A (en) * | 2015-12-17 | 2016-03-23 | 洛阳瑞临煤炭物资有限公司 | Scraper conveyer of unloading car |
| CN105645118A (en) * | 2016-04-06 | 2016-06-08 | 孟永江 | Stacking robot |
| CN205419020U (en) * | 2015-12-15 | 2016-08-03 | 武汉乾冶工程技术有限公司 | Telescopic belted steel slab band guide platform |
| CN205712970U (en) * | 2016-05-03 | 2016-11-23 | 徐学铖 | A kind of finishing is with quickly shoveling cement plant |
-
2017
- 2017-09-08 CN CN201710805262.9A patent/CN107352263B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07304515A (en) * | 1994-05-12 | 1995-11-21 | Murata Kogyo Kk | Carrying device |
| WO2002032796A1 (en) * | 2000-10-19 | 2002-04-25 | Suntory Limited | Container group delivery mechanism, and equipment and method for transporting container |
| DE102007028418B3 (en) * | 2007-06-20 | 2008-06-05 | Grenzebach Maschinenbau Gmbh | Plate shaped bodies i.e. plate shaped insulating materials, stacking device, has support chuck preventing reconducting movement of plate shaped body if front and rear tray chucks exactly control falling movement of plate shaped body |
| CN101618799A (en) * | 2009-07-29 | 2010-01-06 | 中冶长天国际工程有限责任公司 | Lifting type guide chute for sealing-tape machine |
| CN103010713A (en) * | 2012-12-24 | 2013-04-03 | 东南大学建筑设计研究院有限公司 | Material guide device with belt conveyor |
| CN203903550U (en) * | 2014-05-09 | 2014-10-29 | 浙江恒立数控科技股份有限公司 | Roll material guide table |
| CN205419020U (en) * | 2015-12-15 | 2016-08-03 | 武汉乾冶工程技术有限公司 | Telescopic belted steel slab band guide platform |
| CN105417194A (en) * | 2015-12-17 | 2016-03-23 | 洛阳瑞临煤炭物资有限公司 | Scraper conveyer of unloading car |
| CN105645118A (en) * | 2016-04-06 | 2016-06-08 | 孟永江 | Stacking robot |
| CN205712970U (en) * | 2016-05-03 | 2016-11-23 | 徐学铖 | A kind of finishing is with quickly shoveling cement plant |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107352263B (en) | 2023-08-08 |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180326 Address after: No. 200, Zhi Xia Trade Street, the Fuchun River Town, Tonglu County, Hangzhou, Zhejiang Applicant after: HANGZHOU ZHONGSHUI ROBOT MANUFACTURING CO.,LTD. Address before: No. 200, Zhi Xia Trade Street, the Fuchun River Town, Tonglu County, Hangzhou, Zhejiang Applicant before: HANGZHOU ZHONGSHUI TECHNOLOGY CO.,LTD. |
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| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |