CN108000507B - Fixed angle transposition device of palletizing robot tongs - Google Patents
Fixed angle transposition device of palletizing robot tongs Download PDFInfo
- Publication number
- CN108000507B CN108000507B CN201810007960.9A CN201810007960A CN108000507B CN 108000507 B CN108000507 B CN 108000507B CN 201810007960 A CN201810007960 A CN 201810007960A CN 108000507 B CN108000507 B CN 108000507B
- Authority
- CN
- China
- Prior art keywords
- rack
- output shaft
- fixed angle
- palletizing robot
- case
- 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.)
- Active
Links
- 230000017105 transposition Effects 0.000 title claims description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000001133 acceleration Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to a fixed angle indexing device of a palletizing robot gripper, which comprises a machine case and a linear driver, wherein the linear driver is fixedly connected with the machine case, and a rack, an input gear, an input shaft, a driving plate, a groove plate and an output shaft are arranged in the machine case; one end of the rack is connected with the output end of the linear driver; the rack is meshed with the input gear to drive the input shaft to rotate positively and negatively; the input shaft is connected with the output shaft through a grooved pulley mechanism, the grooved pulley mechanism comprises a driving plate and a grooved plate, a radial groove and a locking groove are formed in the grooved plate, and a driving pin protruding locking arc is arranged on the driving plate; the output end of the output shaft extends out of the case and is externally connected with a gripper of the palletizing robot. The indexing device is not driven by a servo motor, but in the indexing process, the output shaft rotates stably, has obvious acceleration and deceleration processes, has no rigid impact, is accurate and reliable in indexing, has a simple structure and low cost, and has higher popularization value.
Description
Technical Field
The invention relates to the field of carrying and stacking devices, in particular to a stacking robot gripper fixed angle indexing device.
Background
With the development of technology and the improvement of the production automation level, the application of robots is becoming wider and wider. The palletizing robot is used as a typical representative of robots, is widely applied to industries such as grains, foods, beverages, feeds, chemical industry, coal and the like, greatly improves the production efficiency of enterprises and reduces the labor cost.
The palletizing robot has various structural forms, and the rectangular coordinate robot has wide application due to simple structure, no interference of the motion of each shaft, easy control and low cost. In the stacking process of goods, the grippers of the stacking robot are often required to perform 90-degree transposition due to different stacking types so as to place the goods in different directions. There are two common driving modes of the indexing action of the gripper: servo motor drive and pneumatic. The indexing mode driven by the servo motor is stable in motion and can realize any-angle indexing, but the cost is high and the control system is complex. The pneumatic indexing mode is to drive the rack to do linear motion by the air cylinder, then the linear motion of the rack is converted into rotary motion of the gripper by the gear rack mechanism, and the stroke of the rack is limited by the fixed stop block, so that the fixed angle indexing is realized. The pneumatic transposition mode has low cost and simple control, but has larger rigid impact at the beginning and the end of transposition, and is easy to cause unstable clamping of goods, so that potential safety hazards exist in the stacking process, and meanwhile, the stability of equipment operation and the stacking quality of goods are also influenced.
Disclosure of Invention
The invention aims to provide a fixed angle indexing device for a palletizing robot gripper, which aims to solve the technical problem of rigid impact of the existing indexing device.
In order to solve the technical problems, the invention adopts the following technical scheme: the fixed angle indexing device of the palletizing robot gripper comprises a machine case and a linear driver, wherein the linear driver is fixedly connected with the machine case, and a rack, an input gear, an input shaft, a driving plate, a groove plate and an output shaft are sequentially arranged in the machine case according to a transmission sequence; one end of the rack is connected with the output end of the linear driver and can be driven by the linear driver to do linear reciprocating motion; the fixed angle of the indexing of the gripper of the palletizing robot is beta, beta is more than or equal to 45 degrees and less than or equal to 90 degrees, and the rack is meshed with the input gear to drive the input shaft to do forward and reverse rotation movement with the angle larger than (180 degrees-beta); the input shaft and the output shaft are arranged in parallel and are respectively connected with the chassis in a rotating way; the input shaft is connected with the output shaft through a grooved pulley mechanism to realize beta-angle transposition of the output shaft, the grooved pulley mechanism comprises a driving plate connected to the input shaft and a groove plate connected to the output shaft, radial grooves are formed in the groove plate, arc-shaped locking grooves are formed in two sides of each radial groove, a cylindrical driving pin is arranged on the driving plate, the diameter of the driving pin is equal to the width of each radial groove, the axial direction of the driving pin is parallel to the axial direction of the input shaft, and convex locking arcs capable of being matched with the locking grooves are arranged in two sides of the driving pin; the output end of the output shaft extends out of the case and is externally connected with a gripper of the palletizing robot.
Further, the fixed angle β=90°.
Further, the linear driver is a pneumatic cylinder, and the rack is connected with a piston rod of the pneumatic cylinder.
Further, a rack guide device is arranged in the case; furthermore, the rack guiding device comprises a guiding wheel and a guiding wheel support, wherein the guiding wheel support is fixedly connected to the inner wall of the chassis, the guiding wheel is rotationally connected with the guiding wheel support through a pin shaft, and the guiding wheel is contacted with one side of the rack opposite to the input gear.
Further, the rack is connected with the output end of the linear driver through a rack connecting piece.
Further, the linear driver is fixedly connected to the side wall of the outer side of the case, and the output end of the linear driver extends into the case and is connected with the rack.
Further, both ends of the input shaft and both ends of the output shaft are rotatably connected with the case through bearings.
Further, the case comprises a case body and a case cover, and the case body and the case cover are detachably connected.
The beneficial effects are that: the indexing device ensures that the output shaft rotates stably in the indexing process through the matching of the driving plate and the groove plate, has obvious acceleration and deceleration process under the condition of uniform linear motion of the rack, has no rigid impact when the indexing is finished, is accurate and reliable in indexing, has a simple structure and low cost, and has higher popularization value.
Drawings
FIG. 1 is a schematic view of the external structure of the present invention;
fig. 2 is a schematic view (front view) of the internal structure of the present invention;
FIG. 3 is a schematic view (top view) of the internal structure of another view of the present invention;
FIG. 4 is a schematic view of a rack guide construction;
fig. 5 is a schematic diagram of the positional relationship of the slot plate and the dial in the locked state;
FIG. 6 is a schematic view of the positional relationship of the slot plate and the dial when the indexing action is completed half way;
the marks in the figure: 1. the device comprises a case, a case body, a case cover, a linear driver, a 3, a rack, a 4, an input gear, a 5, an input shaft, a 6, a driving plate, a 6a, a driving pin, a 6b, a convex locking arc, a 7, a groove plate, a 7a, a radial groove, a 7b, a locking groove, a 8, an output shaft, a 9, a rack guiding device, a 9a, a guiding wheel, a 9b, a guiding wheel support, a 9c, a pin shaft, a 10, a rack connecting piece, a 11, an input shaft end cover, a 12 and an output shaft end cover.
Detailed Description
The invention will be described in further detail below by taking a pallet robot gripper 90 ° indexing (i.e. a fixed angle β=90°, i.e. a gripper performing 90 ° indexing) and a pneumatic cylinder driving as an example, and referring to the accompanying drawings, the details of which are not described below are all available in the prior art or can be achieved by using the prior art.
As shown in fig. 1-3, a 90-degree indexing device of a palletizing robot gripper comprises a case 1 and a linear driver 2, wherein the case 1 comprises a case body 1a and a case cover 1b, the case body 1a and the case cover 1b are detachably connected through bolts, the case cover 1b is arranged above the case body 1a and is used for connecting a vertical shaft of the palletizing robot, the linear driver 2 is a pneumatic cylinder, the pneumatic cylinder is fixedly connected to the outer side wall of the case body 1a, and a piston rod (namely an output end of the linear driver) of the pneumatic cylinder extends into the case body 1 a;
as shown in fig. 2-3, a rack 3, an input gear 4, an input shaft 5, a driving plate 6, a groove plate 7 and an output shaft 8 are sequentially arranged in the box body 1a according to the transmission sequence; one end of the rack 3 is connected with a piston rod of the pneumatic cylinder through a rack connecting piece 10 and can be driven by the pneumatic cylinder to do linear reciprocating motion; the rack 3 moves back and forth and drives the input shaft 5 to do forward and backward rotation (180 degrees forward and backward rotation in the embodiment) of more than 90 degrees (namely 180 degrees beta) through the meshing with the input gear 4; as shown in fig. 3-4, a guide wheel 9a and a guide wheel support 9b are arranged on one side of the rack 3, which faces away from the input gear 4, the guide wheel 9a is arranged on the guide wheel support 9b through a pin shaft 9c, the guide wheel 9a can rotate around the pin shaft 9c, annular bosses extending along the radial direction of the pin shaft 9c are arranged at two ends of the guide wheel 9a, one side of the rack 3, which faces away from the input gear 4, is clamped between the two bosses, the part of the outer annular surface of the guide wheel 9a, which is positioned between the two bosses, is contacted with the back of the rack 3 (the end surface of the rack back, which faces away from the input gear), the guide wheel support 9b is fixedly connected to the inner wall of the box 1a, and the guide wheel 9a, the guide wheel support 9b and the pin shaft 9c are jointly used as a rack guide device 9 to support and guide the rack;
as shown in fig. 2, the input shaft 5 and the output shaft 8 are arranged in parallel; the upper end of the input shaft 5 and the upper end of the output shaft 8 are both in rotary connection with the box cover 1b through bearings, and the lower end of the input shaft 5 and the lower end of the output shaft 8 close to the lower end are both in rotary connection with the bottom of the box body 1a through bearings; the lower end of the input shaft 5 is provided with an input shaft end cover 11, and the input shaft end cover 11 is fixedly connected to the box body 1a through a bolt; the lower end of the output shaft 8 extends out of the outer side of the bottom of the box body 1a and is used for being connected with a gripper of the palletizing robot, and an output shaft end cover 12 and an oil seal are arranged at the position, close to the lower end, of the output shaft 8;
as shown in fig. 2 and 5-6, the input shaft 5 and the output shaft 8 are connected through a geneva mechanism to realize 90-degree indexing of the output shaft 8, the geneva mechanism comprises a driving plate 6 connected to the input shaft 5 and a groove plate 7 connected to the output shaft 8, radial grooves 7a are formed in the groove plate 7, circular arc locking grooves 7b are formed in two sides of the radial grooves 7a, cylindrical shifting pins 6a are arranged on the driving plate 6, the diameter of each shifting pin 6a is equal to (actually slightly smaller than that of each shifting pin is just enough to enter the radial grooves and can not be separated in the transmission process of the two shifting pins, so that the stability of relative movement is guaranteed), the axial direction of each shifting pin 6a is parallel to the axial direction of the input shaft 5, and outer convex locking arcs 6b which can be matched with the corresponding locking grooves 7b are arranged on two sides of each shifting pin 6 a.
Working principle: before the indexing operation starts, referring to fig. 5, one of the locking grooves 7b (first one) of the groove plates 7 is locked by the corresponding outward convex locking arc 6b, at this time, the shifting pin 6a is separated from the radial groove 7a, the axis movement track of the shifting pin 6a is tangential to the center line of the radial groove 7a, and the included angle between the axis connecting line of the input shaft 5 and the output shaft 8 and the center line of the radial groove 7a is 45 ° (namely beta/2); after the indexing action starts, the pneumatic cylinder stretches (or contracts) to drive the rack 3 to make linear motion, the rack 3 drives the input shaft 5 to make rotary motion larger than 90 degrees through the input gear 4, the poking pin 6a enters the radial groove 7a and drives the groove plate 7 to rotate, after the groove plate 7 rotates 45 degrees (namely beta/2), referring to fig. 6, the first locking groove is separated from the outer convex locking arc 6b, the other locking groove 7b (the second locking groove) is not contacted with the outer convex locking arc 6b, the groove plate 7 continues to rotate, after 90 degrees of rotation, referring to fig. 5 (the upper and lower symmetrical overturning of fig. 5), the poking pin 6a is separated from the radial groove 7a again, the second locking groove is locked (the input shaft continues to rotate, and the groove plate does not rotate any more), and 90 degrees of indexing is completed; when the gripper needs to be rotated back to the original position, the pneumatic cylinder is retracted (or extended), the input shaft 5 is reversed, and the output shaft 8 drives the gripper to rotate back to the original position.
When the gripper needs to be indexed at a fixed angle beta which is more than or equal to 45 degrees and less than 90 degrees, the included angle between the axis connecting line of the input shaft 5 and the output shaft 8 and the central line of the radial groove 7a can be reduced to beta/2 on the basis of a 90-degree indexing device, and simultaneously, the radius of the axis movement track of the shifting pin 6a and the distance between the input shaft 5 and the output shaft 8 are relatively reduced; or the size of the groove plate 7 is relatively increased while the included angle between the axis connecting line of the input shaft 5 and the output shaft 8 and the central line of the radial groove 7a is reduced to beta/2.
It should be noted that if the dial 6 and the groove plate 7 are simply divided into two parts in terms of transmission and locking, that is, the dial 6 is divided into one plate containing the dial pin 6a and one plate containing the outer convex locking arc 6b, the groove plate 7 is divided into one plate containing the radial groove 7a and one plate containing the locking groove 7b, and the functions in the present application can still be exerted, it should be understood that the technical features equivalent to those of the dial 6 and the groove plate 7 in the present invention.
In summary, the present invention is not limited to the above embodiments, and variations and modifications made by those skilled in the art without affecting the essential content of the present invention are within the scope of the present invention.
Claims (7)
1. The utility model provides a fixed angle transposition device of palletizing robot tongs which characterized in that: the device comprises a machine case (1) and a linear driver (2), wherein the linear driver (2) is fixedly connected with the machine case (1), and a rack (3), an input gear (4), an input shaft (5), a driving plate (6), a groove plate (7) and an output shaft (8) are sequentially arranged in the machine case (1) according to a transmission sequence;
one end of the rack (3) is connected with the output end of the linear driver (2) and can be driven by the linear driver (2) to do linear reciprocating motion; the fixed angle of the indexing of the gripper of the palletizing robot is beta, beta is more than or equal to 45 degrees and less than or equal to 90 degrees, and the rack (3) drives the input shaft (5) to do forward and reverse rotation movement with the angle larger than 180 degrees to beta degrees through being meshed with the input gear (4);
the input shaft (5) and the output shaft (8) are arranged in parallel and are respectively connected with the chassis (1) in a rotating way; the input shaft (5) is connected with the output shaft (8) through a grooved pulley mechanism to realize beta-angle transposition of the output shaft (8), the grooved pulley mechanism comprises a driving plate (6) connected to the input shaft (5) and a groove plate (7) connected to the output shaft (8), radial grooves (7 a) are formed in the groove plate (7), arc-shaped locking grooves (7 b) are formed in two sides of each radial groove (7 a), a cylindrical driving pin (6 a) is arranged on the driving plate (6), the diameter of the driving pin (6 a) is equal to the width of each radial groove (7 a), the axial direction of the driving pin (6 a) is parallel to the axial direction of the input shaft (5), and convex locking arcs (6 b) which can be matched with the corresponding locking grooves (7 b) are formed in two sides of the driving pin (6 a);
the output end of the output shaft (8) extends out of the case (1) and is used for connecting with a gripper of the palletizing robot;
the linear driver (2) is a pneumatic cylinder, and the rack (3) is connected with a piston rod of the pneumatic cylinder;
a rack guide device (9) is also arranged in the case (1).
2. The palletizing robot gripper fixed angle indexing device of claim 1, wherein: the fixed angle β=90°.
3. The palletizing robot gripper fixed angle indexing device of claim 1, wherein: the rack guide device (9) comprises a guide wheel (9 a) and a guide wheel support (9 b), the guide wheel support (9 b) is fixedly connected to the inner wall of the chassis (1), the guide wheel (9 a) is rotationally connected with the guide wheel support (9 b) through a pin shaft (9 c), and the guide wheel (9 a) is contacted with one side, opposite to the input gear (4), of the rack (3).
4. The palletizing robot gripper fixed angle indexing device of claim 1, wherein: the rack (3) is connected with the output end of the linear driver (2) through a rack connecting piece (10).
5. The palletizing robot gripper fixed angle indexing device of claim 1, wherein: the linear driver (2) is fixedly connected to the side wall of the outer side of the chassis (1), and the output end of the linear driver (2) extends into the chassis (1) and is connected with the rack (3).
6. The palletizing robot gripper fixed angle indexing device of claim 1, wherein: both ends of the input shaft (5) and both ends of the output shaft (8) are rotationally connected with the case (1) through bearings.
7. The palletizing robot gripper fixed angle indexing device of claim 1, wherein: the case (1) comprises a case body (1 a) and a case cover (1 b), and the case body (1 a) and the case cover (1 b) are detachably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007960.9A CN108000507B (en) | 2018-01-04 | 2018-01-04 | Fixed angle transposition device of palletizing robot tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810007960.9A CN108000507B (en) | 2018-01-04 | 2018-01-04 | Fixed angle transposition device of palletizing robot tongs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108000507A CN108000507A (en) | 2018-05-08 |
| CN108000507B true CN108000507B (en) | 2024-02-27 |
Family
ID=62049703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810007960.9A Active CN108000507B (en) | 2018-01-04 | 2018-01-04 | Fixed angle transposition device of palletizing robot tongs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108000507B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2873356Y (en) * | 2005-11-18 | 2007-02-28 | 李德锵 | Full automatic spring coiling machine robot intermittent mechanism |
| CN202007875U (en) * | 2011-04-08 | 2011-10-12 | 湖北汽车工业学院 | Conjugate curve Geneva wheel indexing box |
| JP2013077394A (en) * | 2011-09-29 | 2013-04-25 | Tkd Kk | Three-step switch manipulator |
| CN106374317A (en) * | 2016-10-05 | 2017-02-01 | 周末 | Pulley rail type periodic grooved wheel terminal punching machine |
| CN206747877U (en) * | 2017-04-18 | 2017-12-15 | 长江师范学院 | A kind of Geneva mechanism and automatic soldering device |
| CN207841326U (en) * | 2018-01-04 | 2018-09-11 | 河南科技大学 | A kind of stack robot manipulator fixed angle turn device |
-
2018
- 2018-01-04 CN CN201810007960.9A patent/CN108000507B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2873356Y (en) * | 2005-11-18 | 2007-02-28 | 李德锵 | Full automatic spring coiling machine robot intermittent mechanism |
| CN202007875U (en) * | 2011-04-08 | 2011-10-12 | 湖北汽车工业学院 | Conjugate curve Geneva wheel indexing box |
| JP2013077394A (en) * | 2011-09-29 | 2013-04-25 | Tkd Kk | Three-step switch manipulator |
| CN106374317A (en) * | 2016-10-05 | 2017-02-01 | 周末 | Pulley rail type periodic grooved wheel terminal punching machine |
| CN206747877U (en) * | 2017-04-18 | 2017-12-15 | 长江师范学院 | A kind of Geneva mechanism and automatic soldering device |
| CN207841326U (en) * | 2018-01-04 | 2018-09-11 | 河南科技大学 | A kind of stack robot manipulator fixed angle turn device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108000507A (en) | 2018-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206779780U (en) | Full gas dynamic triaxial positioner | |
| CN201922441U (en) | Mechanical capable of being turned laterally of tail-end actuator for transporting platy workpieces | |
| CN205111421U (en) | Arm robot | |
| CN103433918A (en) | Series-parallel industrial robot with five degrees of freedom | |
| CN107127561B (en) | Three-coordinate type automatic screw locking machine | |
| CN204976628U (en) | Five degree of freedom industrial robot | |
| CN106891024B (en) | A kind of motor-driven fixture | |
| CN202185919U (en) | Driving module for building underwater electric manipulator | |
| CN108656086B (en) | Variable working space redundancy drive 4UPU-R parallel mechanism | |
| CN105269561A (en) | Horizontal four-joint manipulator | |
| CN208914108U (en) | A kind of articulated robot | |
| CN106272365A (en) | A kind of flapping articulation robot Z and the drive mechanism of R axle | |
| CN105173709A (en) | Product overturning mechanism | |
| CN205151162U (en) | Product tilting mechanism | |
| CN108000507B (en) | Fixed angle transposition device of palletizing robot tongs | |
| CN205703273U (en) | A kind of novel vertical sleeping Compositions of metal-working machines | |
| CN103742616A (en) | Single-groove grooved wheel mechanism used for teaching demonstration | |
| CN212287678U (en) | Cylindrical workpiece clamping device for manipulator | |
| CN105364910A (en) | Four-freedom-degree parallel sorting robot driven by rotation pairs | |
| CN207841326U (en) | A kind of stack robot manipulator fixed angle turn device | |
| CN205290938U (en) | High efficiency robot | |
| CN204585203U (en) | Four axle rotary swinging arm robots | |
| CN207724006U (en) | Compound Machining work station based on six-joint robot | |
| CN202985161U (en) | Hinge rod force amplification centrifugal inner bore clamp | |
| CN208977802U (en) | A kind of round machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |