CN107352263B - Robot palletizer shovel plate mechanism - Google Patents
Robot palletizer shovel plate mechanism Download PDFInfo
- Publication number
- CN107352263B CN107352263B CN201710805262.9A CN201710805262A CN107352263B CN 107352263 B CN107352263 B CN 107352263B CN 201710805262 A CN201710805262 A CN 201710805262A CN 107352263 B CN107352263 B CN 107352263B
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- China
- Prior art keywords
- transmission
- plate
- shovel plate
- shovel
- servo motor
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Classifications
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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
- 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
Abstract
The invention relates to a robot palletizer shovel plate mechanism which comprises a shovel plate, a transmission mechanism and a frame. The transmission mechanism is arranged on the frame and is in transmission connection with the shovel plate, the first servo motor on the transmission mechanism drives the shovel plate to move up and down, the second servo motor can realize the secondary lifting of the shovel plate, and the third servo motor and the electric push rod on the shovel plate mechanism finish stacking goods. The invention is controlled by a numerical control program, realizes full automation, improves the working efficiency and reduces the labor cost.
Description
Technical Field
The invention belongs to the technical field of palletizing robots, and particularly relates to a palletizing robot shovel plate mechanism.
Background
With the sustainable development of the economy and the rapid progress of the science and technology in China, the robot palletizing has quite wide application in the industries of logistics, production lines, supermarkets and the like. The palletizing robot can carry out palletizing treatment on huge number of containers with high efficiency, low cost and convenient operation. The palletizing robot shovel plate mechanism is one of important mechanisms for realizing automatic production and ensuring higher production efficiency of palletizing robots.
The transmission connection mode between the shovel plate and the transmission mechanism in the shovel plate mechanism of the palletizing robot has important influence on stacking containers by the palletizing robot. The existing stacking robot often has the problems that stacking containers are uneven, stacking efficiency is low and the like.
Disclosure of Invention
Based on the technical problems in the background art, the invention aims to provide the palletizing robot shovel plate mechanism which is simple in structure, high in efficiency, full-automatic, low in manufacturing cost and flat in stacking.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention provides a palletizing robot shovel plate mechanism, which comprises: the shovel plate, the transmission mechanism and the frame; the transmission mechanism is arranged in front of the frame and connected with the shovel plate, and consists of a transmission block, a shovel plate transmission guide rail, a transmission chain, a first servo motor, a transmission rod and a stacking mechanism; the first servo motor is fixed on the frame, is in transmission connection with chain wheels on the transmission rod through a reduction gearbox and a transmission chain, the transmission rod is supported on the frame through a bearing, four chain wheels are arranged at two ends of the transmission rod in total, and each chain wheel is connected with the transmission chain respectively; a transmission block is fixed on a transmission chain of the shovel plate transmission chain mechanism, the transmission block and a shovel plate transmission guide rail fixed on the frame form a sliding pair, the lifting mechanism is provided with a transmission guide rail, and the transmission block is arranged to form the sliding pair;
the shovel plate comprises a shovel plate bracket, a plate body, a third servo motor, a synchronous belt, a driving belt pulley, a first electric push rod, a driven belt pulley, a slide block connecting plate, a linear circular guide rail, a guide baffle plate and a transverse push rod; the plate body is hinged with the shovel plate bracket at the rear end; the shovel plate bracket is fixed on the stacking mechanisms at two sides of the transmission mechanism; the third servo motor is in transmission connection with the driving belt pulley through a reduction gearbox, a synchronous belt on the driving belt pulley and a synchronous belt on the driven belt pulley are connected through a synchronous belt pressing plate, the driving belt pulley and the driven belt pulley are both arranged on a shovel plate support, a slide block connecting plate is fixed on the synchronous belt, a linear round guide rail matched with the slide block connecting plate is arranged on the shovel plate support, and the slide block connecting plate is fixed with the transverse push rod; the first electric push rod is arranged on the shovel plate support, the first electric push rod is in transmission connection with the guide partition plate, and the guide partition plate is arranged below the plate body.
Preferably, the stacking mechanism comprises a second servo motor and a ball screw, and the second servo motor is in transmission connection with the ball screw through a speed reducing box and a coupler.
Preferably, the shovel plate further comprises a second electric push rod, a blocking hook, a connecting rod and a blocking rod, wherein the second electric push rod and the blocking hook are positioned on the shovel plate support, the second electric push rod is connected with the blocking hook to form a revolute pair, the connecting rod is positioned below the plate body, the blocking plate is positioned in front of the plate body, and the blocking hook is connected with the connecting rod and the blocking rod.
Preferably, the number of the blocking hooks is 4, the blocking hooks are arranged on the shovel plate support in parallel and are positioned below the plate body, the two blocking hooks on the left side are connected through the first connecting rod, the two blocking hooks on the right side are connected through the second connecting rod, and the four clawing hooks are all connected with the stop lever.
Preferably, the shovel plate is also provided with a laser sensor, and the laser sensor is arranged at two side parts of the shovel plate support.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
1. the shovel plate mechanism of the palletizing robot is controlled by a numerical control program, so that full automation is realized, unmanned operation is realized, and the working efficiency is high.
2. The stacking robot shovel plate mechanism provided by the invention has the advantages of simple structure and low manufacturing cost, and can adjust the distance between two walls of a container during working, and stacking is smooth.
3. The stacking mechanism on the shovel plate transmission mechanism can complete secondary lifting.
4. The plate shoveling mechanism is provided with the blocking hook, so that the container can be prevented from sliding down.
Drawings
FIG. 1 is a perspective view of the construction of the palletizing robot blade mechanism of the present invention;
FIG. 2 is a perspective view of the structure of the transmission mechanism of the present invention;
FIG. 3 is a perspective view of the structure of the blade of the present invention;
FIG. 4 is a partial cross-sectional view of a blade of the present invention;
FIG. 5 is an enlarged partial view of portion A of FIG. 4;
labeling in the schematic illustration: 1, a transmission mechanism; 2, a shovel plate; 3 a frame; 1-1 transmission block; 1-2 shovel plate transmission guide rails; 1-3 a transmission chain; 1-4 a first servo motor; 1-5 transmission rods; 1-6 second servo motor; 1-7 stacking mechanisms; 2-1 a third servo motor; 2-2 synchronous belt; 2-3 driving pulleys; 2-4 connecting plates of sliding blocks; 2-5 linear round guide rails; 2-6 electric push rod; 2-7 driven pulleys; 2-8 laser sensors; 2-9 second electric push rod; 2-10 proximity switches; 2-11 connecting rods; 2-12 stop bars; 2-13 catch hooks; 2-14 guide partition plates; 2-15 transverse pushing rods; 2-16 plate bodies; 2-17 shovel board brackets.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the invention relates to a palletizing robot shovel plate mechanism, which comprises a transmission mechanism 1, a shovel plate 2 and a frame 3; the transmission mechanism 1 is arranged in front of the frame 3 and is connected with the shovel plate 2.
The transmission mechanism 1 is shown in FIG. 2 and consists of a transmission block 1-1, a shovel plate transmission guide rail 1-2, a transmission chain 1-3, a first servo motor 1-4, a transmission rod 1-5 and a stacking mechanism 1-7; the first servo motor 1-4 is fixed on the frame 3, is in transmission connection with chain wheels on the transmission rod 1-5 through a reduction gearbox and a transmission chain 1-3, the transmission rod 1-5 is supported on the frame 3 through a bearing, four chain wheels are arranged at two ends of the transmission rod, and each chain wheel is connected with the transmission chain 1-3 respectively; the shovel plate transmission chain mechanism comprises a shovel plate transmission chain mechanism, wherein a transmission block 1-1 is fixed on a transmission chain 1-3 of the shovel plate transmission chain mechanism, the transmission block 1-1 and a shovel plate transmission guide rail 1-2 fixed on a frame 3 form a sliding pair, a transmission guide rail is arranged on a stacking mechanism 1-7, and the sliding pair is formed by being arranged on the transmission block 1-1.
The stacking mechanism 1-7 comprises a second servo motor 1-6 and a ball screw, and the second servo motor 1-6 is in transmission connection with the ball screw through a reduction gearbox and a coupler. The ball screw converts the rotary motion of the second servo motor 1-6 into linear motion, so that the stacking mechanism can slide up and down.
The first servo motor 1-4 drives the transmission rod 1-5 connected with the transmission chain 1-3, the transmission rod 1-5 drives the shovel plate 2 fixed on the stacking mechanism 1-7 to ascend by a distance of 210cm through the transmission chain 1-3 of the shovel plate transmission chain mechanism, and the second servo motor 1-6 drives the stacking mechanism 1-7 to realize secondary lifting of the shovel plate 2, wherein in the secondary lifting, the shovel plate 2 can be lifted by a height of 12 cm.
Referring to fig. 3, 4 and 5, the shovel plate 2 includes a third servo motor 2-1, a synchronous belt 2-2, a driving pulley 2-3, a slide block connecting plate 2-4, a linear circular guide rail 2-5, a first electric push rod 2-6, a driven pulley 2-7, a laser sensor 2-8, a second electric push rod 2-9, a proximity switch 2-10, a connecting rod 2-11, a stop lever 2-12, a stop hook 2-13, a guide partition plate 2-14, a transverse push rod 2-15, a plate body 2-16 and a shovel plate bracket 2-17; the plate body 2-16 is hinged with the shovel plate bracket 2-17 at the rear end; the shovel board brackets 2-17 are fixed on the stacking mechanisms 1-7 at two sides of the transmission mechanism 1; the third servo motor 2-1 is in transmission connection with the driving belt pulley 2-3 through a reduction gearbox, the driving belt pulley 2-3 is connected with the synchronous belt 2-2 on the driven belt pulley 2-7 through a synchronous belt pressing plate, and the driving belt pulley 2-3 and the driven belt pulley 2-7 are both arranged on the shovel plate bracket; a slide block connecting plate 2-4 is fixed on the synchronous belt 2-2, a linear round guide rail 2-5 matched with the slide block connecting plate 2-4 is arranged on the shovel plate bracket 2-17, and the slide block connecting plate 2-4 is fixed with a transverse push rod 2-15; the first electric push rod 2-6 is arranged on the shovel plate bracket 2-17, the first electric push rod 2-6 is in transmission connection with the guide partition plate 2-14, and the guide partition plate 2-14 is arranged below the plate body 2-16. The second electric push rod 2-9 and the catch hooks 2-13 are positioned on the shovel plate support 2-17, the second electric push rod 2-9 is connected with the catch hooks 2-13 to form a revolute pair, the connecting rod 2-11 is positioned below the plate body 2-16, the catch rods 2-12 are positioned in front of the plate body 2-16, the number of the catch hooks 2-13 is 4, the catch hooks 2-13 are arranged on the shovel plate support 2-17 in parallel and positioned below the plate body 2-16, the two catch hooks 2-13 on the left side are connected through the first connecting rod 2-11, the two catch hooks 2-13 on the right side are connected through the second connecting rod 2-11, and the four catch hooks 2-13 are connected with the catch rods 2-11.
After goods enter the plate body 2-16 of the shovel plate from other parts of the palletizing robot, the second electric push rod 2-9 drives the stop hook 2-13 to rise by an angle of 10 to 15, and meanwhile, the stop rod 2-12 and the connecting rod 2-11 connected with the stop hook 2-13 drive the front end of the plate body 2-16 to rise by the same angle, so that the container on the plate body 2-16 can be prevented from falling; when a row of boxes are coded on the plate body 2-16 to push the container, the catch hook 2-13 together with the stop lever 2-12, the connecting rod 2-11 and the plate body 2-16 fall back; the first electric push rod 2-6 drives the guide baffle plate 2-14 to extend forwards, the container is pushed into the guide baffle plate 2-14 by other mechanisms on the palletizing robot, the guide baffle plate 2-14 is smoother than the plate body 2-16, and the damage of the container can be prevented in the process of pushing the container. The palletizing robot pushes the container on the shovel plate mechanism to a closed container or a free space through other mechanisms under the control of a numerical control program.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (1)
1. The shovel plate mechanism of the palletizing robot is characterized by comprising a shovel plate, a transmission mechanism and a rack; the transmission mechanism is arranged in front of the frame and connected with the shovel plate, and consists of a transmission block, a shovel plate transmission guide rail, a transmission chain, a first servo motor, a transmission rod and a stacking mechanism; the first servo motor is fixed on the frame, is in transmission connection with chain wheels on the transmission rod through a reduction gearbox and a transmission chain, the transmission rod is supported on the frame through a bearing, four chain wheels are arranged at two ends of the transmission rod in total, and each chain wheel is connected with the transmission chain respectively; a transmission block is fixed on a transmission chain of the shovel plate transmission chain mechanism, the transmission block and a shovel plate transmission guide rail fixed on the frame form a sliding pair, the lifting mechanism is provided with a transmission guide rail, and the transmission block is arranged to form the sliding pair;
the shovel plate comprises a shovel plate bracket, a plate body, a third servo motor, a synchronous belt, a driving belt pulley, a first electric push rod, a driven belt pulley, a slide block connecting plate, a linear circular guide rail, a guide baffle plate and a transverse push rod; the plate body is hinged with the shovel plate bracket at the rear end; the shovel plate bracket is fixed on the stacking mechanisms at two sides of the transmission mechanism; the third servo motor is in transmission connection with the driving belt pulley through a reduction gearbox, the synchronous belt on the driving belt pulley and the driven belt pulley is connected through a synchronous belt pressing plate, the driving belt pulley and the driven belt pulley are both arranged on a shovel plate support, a slide block connecting plate is fixed on the synchronous belt, a linear circular guide rail matched with the slide block connecting plate is arranged on the shovel plate support, and the slide block connecting plate is fixed with the transverse push rod; the first electric push rod is arranged on the shovel plate bracket and is in transmission connection with the guide partition plate, and the guide partition plate is arranged below the plate body;
the stacking mechanism comprises a second servo motor and a ball screw, and the second servo motor is in transmission connection with the ball screw through a reduction gearbox and a coupler;
the shovel plate further comprises a second electric push rod, a blocking hook, a connecting rod and a stop lever, wherein the second electric push rod and the blocking hook are positioned on the shovel plate bracket, the second electric push rod is connected with the blocking hook to form a revolute pair, the connecting rod is positioned below the plate body, the stop lever is positioned in front of the plate body, and the connecting rod and the stop lever are both connected with the blocking hook;
the number of the blocking hooks is 4, the blocking hooks are arranged on the shovel plate support in parallel and are positioned below the plate body, the two blocking hooks on the left side are connected through a first connecting rod, the two blocking hooks on the right side are connected through a second connecting rod, and the four clang hooks are connected with the stop lever;
the shovel plate is also provided with a laser sensor, and the laser sensor is arranged at two side parts of the shovel plate bracket.
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 CN107352263A (en) | 2017-11-17 |
| CN107352263B true CN107352263B (en) | 2023-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710805262.9A Active CN107352263B (en) | 2017-09-08 | 2017-09-08 | Robot palletizer shovel plate mechanism |
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| Country | Link |
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| CN (1) | CN107352263B (en) |
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 |
| 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 |
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| Publication number | Publication date |
|---|---|
| CN107352263A (en) | 2017-11-17 |
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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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