CN109051479A - It is a kind of for carrying the robot palletizer of cloth - Google Patents
It is a kind of for carrying the robot palletizer of cloth Download PDFInfo
- Publication number
- CN109051479A CN109051479A CN201810701347.7A CN201810701347A CN109051479A CN 109051479 A CN109051479 A CN 109051479A CN 201810701347 A CN201810701347 A CN 201810701347A CN 109051479 A CN109051479 A CN 109051479A
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- China
- Prior art keywords
- shaft
- crossbeam
- arm
- robot palletizer
- supporting part
- 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.)
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- 239000004744 fabric Substances 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 13
- 230000033001 locomotion Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the robot palletizers for carrying cloth.The robot palletizer includes pedestal, the crane being fixed on pedestal, the supporting arm moved up and down by crane drive；The supporting arm includes crossbeam, the oscillating arm mechanisms being slidably connected with crossbeam and driving oscillating arm mechanisms along the first power mechanism of crossbeam transverse shifting；The oscillating arm mechanisms include collet to be slidably connected U-shaped sliding seat on crossbeam and with crossbeam, it is fixed on the second power mechanism on U-shaped sliding seat, the shaft to connect with the second power mechanism output end, the swing arm that the bearing block supported and lower end are fixed with shaft and can swing with shaft rotation is provided to shaft；The transmission belt of first power mechanism is fixedly connected with U-shaped sliding seat.Robot palletizer of the present invention can move the materials such as cloth and proper alignment is taken out on shelf or from shelf, and work efficiency is high.
Description
Technical field
The present invention relates to robotic technology fields more particularly to a kind of for carrying the robot palletizer of cloth.
Background technique
Robot is often used in present industrial production line instead of manpower by workpiece handling and proper alignment is on shelf.But
Cloth still mostly uses basket to be stored greatly at present, could be by the cloth of needs by tools such as manpower or fork trucks when needing cloth
It takes out, supply production, this mode working efficiency is low.Thus need one kind cloth can be moved and proper alignment on shelf
Or the robot palletizer taken out from shelf.
Summary of the invention
The object of the present invention is to provide a kind of for carrying the robot palletizer of cloth, which can be by cloth
The materials such as material are moved and proper alignment is taken out on shelf or from shelf.
Above-mentioned purpose that the invention is realized by the following technical scheme:
It is a kind of for carrying the robot palletizer of cloth, including pedestal, the crane being fixed on pedestal, by crane band
The dynamic supporting arm moved up and down；The supporting arm includes crossbeam, the oscillating arm mechanisms being slidably connected with crossbeam and driving swing arm machine
Structure is along the first power mechanism of crossbeam transverse shifting；The oscillating arm mechanisms include collet to be slidably connected U-shaped on crossbeam and with crossbeam
Sliding seat is fixed on the second power mechanism on U-shaped sliding seat, and the shaft to connect with the second power mechanism output end proposes shaft
The swing arm that bearing block and lower end and shaft for bearing are fixed and can be swung with shaft rotation；First power mechanism
Transmission belt be fixedly connected with U-shaped sliding seat.
When material reaches shelf designated position, material can be placed on shelf by the wallowing motion of swing arm.And work as
When needing to take out material from shelf, swing arm inclination, material can be taken out by then rotating to vertical position.
The swing arm includes arm, supporting part as a preferred technical solution, and the arm lower end and shaft fix and can
It rotates and swings with shaft；The upper end of the supporting part and arm is rotated by rotary shaft to be connected；The swing arm further includes connection
The transmission mechanism of shaft and supporting part drives supporting part rotation by transmission mechanism when shaft rotates.
The transmission mechanism includes being fixedly sheathed in first gear in shaft as a preferred technical solution, is fixedly attached
In the second gear of the rotary shaft of supporting part, and first gear power is transferred to the chain of second gear.
It as a preferred technical solution, further include the detection device for monitoring swing arm position；The detection device includes fixing
The cam being socketed in shaft, and transmit the first inductor of the lug boss position signal of cam.
Compared with the prior art, the present invention have it is following the utility model has the advantages that
1, the oscillating arm mechanisms can be suitble to carry the material of the such strip of cloth and quality weight along cross beam movement.
2, it can be achieved to move the materials such as cloth and proper alignment taken out on shelf or from shelf, work efficiency is high.
Detailed description of the invention
Included attached drawing is used to provide that a further understanding of the embodiments of the present application, and which constitute one of specification
Point, for illustrating presently filed embodiment, and with verbal description come together to illustrate the principle of the application.Under it should be evident that
Attached drawing in the description of face is only some embodiments of the present application, for those of ordinary skill in the art, is not paying wound
Under the premise of the property made is laborious, it is also possible to obtain other drawings based on these drawings.In the accompanying drawings:
Fig. 1 show the main view of the embodiment of the present invention one；
Fig. 2 show the perspective view at one one visual angle of the embodiment of the present invention；
Fig. 3 show the perspective view at another visual angle of the embodiment of the present invention one；
Fig. 4 is the portion A enlarged view in Fig. 3；
Fig. 5 show the perspective view of the embodiment of the present invention two；
Fig. 6 is the portion B enlarged view in Fig. 5.
In figure: 1, pedestal；2, crane；3, supporting arm；4, crossbeam；5, oscillating arm mechanisms；6, the first power mechanism；7, U-shaped
Sliding seat；8, shaft；81, the second power mechanism；9, bearing block；10, swing arm；11, transmission belt；12, the first guide rail；13, first
Sliding block；14, arm；15, supporting part；16, first gear；17, chain；18, cam；19, the first inductor；20, sensing chip；
21, the second inductor；22, traveling wheel；23, third power mechanism；24, buffer；25, third gear；26, pulley；27, main branch
Bolster；28, L shape frame；29, the 4th power mechanism.
Specific embodiment
In order to facilitate the understanding of those skilled in the art, being carried out below in conjunction with attached drawing and embodiment to the present invention further
Description.
In the description of invention, it is to be understood that term " on ", "lower", "vertical", "horizontal", "top", "bottom",
The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are only used for retouching
Purpose is stated, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.By
This defines " first ", the feature of " second " can explicitly or implicitly include one or more of the features.In addition,
Term " includes " and its any deformation, it is intended that cover and non-exclusive include.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be straight
Connect it is connected, can also be indirectly connected through an intermediary.For the ordinary skill in the art, it can be managed with concrete condition
Solve the concrete meaning of above-mentioned term in the present invention.
It is a kind of for carrying the embodiment one of the robot palletizer of cloth that Fig. 1 to Fig. 4 show the present invention.
Referring to Fig. 1 to Fig. 3, described for carrying the robot palletizer of cloth, structure includes pedestal 1, is fixed on pedestal 1
On crane 2, the supporting arm 3 that moves up and down driven by crane 2.The supporting arm 3 includes that crossbeam 4 and the sliding of crossbeam 4 connect
The oscillating arm mechanisms 5 and driving oscillating arm mechanisms 5 connect are along 4 the first power mechanism of transverse shifting 6 of crossbeam.
Referring to fig. 4, the oscillating arm mechanisms 5 include that collet is slidably connected U-shaped sliding seat 7 on crossbeam 4 and with crossbeam 4, Gu
Due to the second power mechanism 81 on U-shaped sliding seat 7, the shaft 8 to connect with 81 output end of the second power mechanism provides shaft 8
The swing arm 10 that the bearing block 9 of bearing and lower end and shaft 8 are fixed and can be swung with the rotation of shaft 8.
In the present embodiment, first power mechanism 6 and the second power mechanism 81 are motor, first engine
The transmission belt 11 of structure 6 is fixedly connected with U-shaped sliding seat 7, and crossbeam 4 is equipped with the first guide rail 12, be equipped on the inside of U-shaped sliding seat 7 with
First sliding block 13 of guide rail cooperation, when the first power mechanism 6 works, transmission belt 11 drives U-shaped sliding seat 7 along crossbeam 4
It is laterally moved, and then oscillating arm mechanisms 5 is driven to be moved along the transverse direction of crossbeam 4.
When the materials such as cloth are sent to shelf designated position by robot palletizer, the second power mechanism 81 is driven by shaft 8
So that swing arm 10 is carried out wallowing motion, slide material to shelf from swing arm 10, subsequent second power mechanism 81 is again by turning
Axis 8 drives swing arm 10 to return back to vertical state.And when needing to take out material from shelf, robot palletizer arrives swing arm 10
Up to designated position, then the second power mechanism 81 drives swing arm 10 to be rotated by vertical state to being tilted a certain angle by shaft 8,
Subsequent second power mechanism 81 drives swing arm 10 to return back to vertical state by shaft 8 again, so that material be taken out from shelf.
Referring to fig. 4, the swing arm 10 includes arm 14, supporting part 15.14 lower end of arm and shaft 8 are fixed and can be with
Shaft 8 is rotated and is swung；The upper end of the supporting part 15 and arm 14 is connected by the rotation of rotary shaft 8.The swing arm 10 is also wrapped
The transmission mechanism of connection shaft 8 and supporting part 15 is included, drives supporting part 15 to rotate by transmission mechanism when shaft 8 rotates.
In the present embodiment, the quantity of the swing arm 10 is two, is located at the lateral both ends of U-shaped sliding seat 7.The branch
Bearing portion 15 is overall triangular in shape, and when arm 14 is in a vertical state, the upper surface of the supporting part 15 is in horizontality, i.e.,
State shown in Fig. 4.The transmission mechanism includes being fixedly sheathed in first gear 16 in shaft 8, is fixedly sheathed in supporting part 15
The second gear (being not drawn into figure) of rotary shaft 8, and 16 power of first gear is transferred to the chain 17 of second gear.
In order to monitor 10 position of swing arm, the robot palletizer further includes detection device, and the detection device includes fixing
The cam 18 being socketed in shaft 8, and transmit the first inductor 19 of the lug boss position signal of cam 18.The present embodiment
In, the first inductor 19 is installed on the side of cam 18, when the lug boss of cam 18 is close to the first inductor 19, at swing arm 10
In vertical state, the first inductor 19 sends the lug boss position signal of cam 18 to the control system of robot palletizer at this time,
To control system it can be seen that the state of swing arm 10.
Referring to Fig. 1 and Fig. 3, sensing chip 20 is set, the crossbeam 4 is equipped with two second inductors on the U-shaped sliding seat 7
21, second inductor 21 is for detecting the both ends spacing place whether oscillating arm mechanisms 5 reach crossbeam 4.When oscillating arm mechanisms 5 reach
When the both ends spacing place of crossbeam 4, the second inductor 21 senses the position of sensing chip 20, sends position to control system immediately and believes
Breath, control system make the first power mechanism 6 stop working, to prevent oscillating arm mechanisms 5 beyond mobile limit journey.
Referring to Fig. 1 to Fig. 3, the pedestal 1 is equipped with traveling wheel 22, the third power mechanism 23 for driving pedestal 1 mobile, and
Buffer 24 positioned at the rear and front end of 1 direction of travel of pedestal；The buffer 24 is sent out for buffering robot palletizer and foreign object
Impact force when raw collision.In the present embodiment, the third power mechanism 23 is motor, the output end cap of third power mechanism 23
Equipped with third gear 25, the rack gear of third gear 25 and track (being not drawn into figure) cooperates, to drive shifting before and after robot palletizer
It is dynamic.The pedestal 1 is additionally provided with the pulley 26 positioned at the left and right ends of 1 direction of travel of pedestal, and the pulley 26 is used for and track (figure
In be not drawn into) left and right limit guide rail cooperation, to limit the run trace of robot palletizer.
Referring to Fig. 1 to Fig. 3, the crane 2 includes the L that vertical main backbar 27 and main backbar 27 are slidably connected
Shape frame 28, and the 4th power mechanism 29 that driving L shape frame 28 is moved up and down along main backbar 27.In the present embodiment, described
Four power mechanisms 29 are motor, which drives L shape frame 28 along the main sliding above and below of backbar 27 by chain 17.The crossbeam 4
Be fixedly installed on L shape frame 28, thus motor by chain 17 drive L shape frame 28 along main backbar 27 above and below sliding while,
Also oscillating arm mechanisms 5 are driven to move up and down.
It is a kind of for carrying the embodiment two of the robot palletizer of cloth that Fig. 5 and Fig. 6 show the present invention.
The present embodiment and the structure of embodiment one are essentially identical, the difference is that: the quantity of the swing arm 10 is three,
It is equally distributed on U-shaped sliding seat 7.The supporting part 15 is overall V-shaped, described when arm 14 is in a vertical state
The opening of supporting part 15 is straight up.
Some embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. it is a kind of for carrying the robot palletizer of cloth, it is driven including pedestal, the crane being fixed on pedestal, by crane
The supporting arm moved up and down；It is characterized by: the supporting arm include crossbeam, the oscillating arm mechanisms being slidably connected with crossbeam and
Drive oscillating arm mechanisms along the first power mechanism of crossbeam transverse shifting；The oscillating arm mechanisms include that collet is slided on crossbeam and with crossbeam
Dynamic connection U-shaped sliding seat, is fixed on the second power mechanism on U-shaped sliding seat, the shaft to connect with the second power mechanism output end,
The swing arm that the bearing block supported and lower end are fixed with shaft and can swing with shaft rotation is provided to shaft；Described first
The transmission belt of power mechanism is fixedly connected with U-shaped sliding seat.
2. robot palletizer according to claim 1, it is characterised in that: the swing arm includes arm, supporting part, the arm
Subordinate end and shaft fix and can rotate and swing with shaft；The upper end of the supporting part and arm is rotated by rotary shaft to be connected
It connects；The swing arm further includes the transmission mechanism for connecting shaft and supporting part, drives supporting part by transmission mechanism when shaft rotates
Rotation.
3. robot palletizer according to claim 2, it is characterised in that: the transmission mechanism includes being fixedly sheathed in shaft
Upper first gear is fixedly sheathed in the second gear of the rotary shaft of supporting part, and first gear power is transferred to the second tooth
The chain of wheel.
4. robot palletizer according to claim 2, it is characterised in that: further include the detection device for monitoring swing arm position；
The detection device includes the cam being fixedly sheathed in shaft, and transmits the first induction of the lug boss position signal of cam
Device.
5. robot palletizer according to claim 4, it is characterised in that: the supporting part is totally triangular in shape, works as arm
When in a vertical state, the upper surface of the supporting part is in horizontality.
6. robot palletizer according to claim 4, it is characterised in that: the supporting part is totally V-shaped, when arm is in
When vertical state, the opening of the supporting part is straight up.
7. robot palletizer according to claim 1, it is characterised in that: sensing chip is set on the U-shaped sliding seat, it is described
Crossbeam is equipped with two second inductors, and second inductor is for detecting the both ends spacing place whether oscillating arm mechanisms reach crossbeam.
8. robot palletizer according to claim 1, it is characterised in that: the pedestal is equipped with traveling wheel, and driving pedestal moves
Dynamic third power mechanism, and the buffer positioned at the rear and front end of pedestal direction of travel；The buffer is used for buffer code
Impact force when pile robot and foreign object collide.
9. robot palletizer according to claim 8, it is characterised in that: the pedestal is additionally provided with positioned at pedestal direction of travel
Left and right ends pulley.
10. robot palletizer according to any one of claims 1 to 9, it is characterised in that: the crane includes vertical
Main backbar, the L shape frame being slidably connected with main backbar, and the 4th power that driving L shape frame is moved up and down along main backbar
Mechanism；The crossbeam is fixedly installed on L shape frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810701347.7A CN109051479A (en) | 2018-06-29 | 2018-06-29 | It is a kind of for carrying the robot palletizer of cloth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810701347.7A CN109051479A (en) | 2018-06-29 | 2018-06-29 | It is a kind of for carrying the robot palletizer of cloth |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109051479A true CN109051479A (en) | 2018-12-21 |
Family
ID=64818681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810701347.7A Pending CN109051479A (en) | 2018-06-29 | 2018-06-29 | It is a kind of for carrying the robot palletizer of cloth |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109051479A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109051477A (en) * | 2018-06-29 | 2018-12-21 | 广东易库智能仓储设备科技有限公司 | It is a kind of for accessing the tiered warehouse facility of cloth |
| CN111483743A (en) * | 2020-05-01 | 2020-08-04 | 陈佳思 | Intelligent storage tunnel stacker |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1143208A (en) * | 1997-07-24 | 1999-02-16 | Aoki Seimitsu Kogyo Kk | Multistage shelf conveying device |
| CN106477227A (en) * | 2016-12-13 | 2017-03-08 | 东莞市创丰科技发展有限公司 | A kind of fully automatic stereo warehousing system |
| CN206654556U (en) * | 2017-04-01 | 2017-11-21 | 程翌 | A kind of equipment for overturning handling |
| CN208531382U (en) * | 2018-06-29 | 2019-02-22 | 广东易库智能仓储设备科技有限公司 | It is a kind of for carrying the robot palletizer of cloth |
-
2018
- 2018-06-29 CN CN201810701347.7A patent/CN109051479A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1143208A (en) * | 1997-07-24 | 1999-02-16 | Aoki Seimitsu Kogyo Kk | Multistage shelf conveying device |
| CN106477227A (en) * | 2016-12-13 | 2017-03-08 | 东莞市创丰科技发展有限公司 | A kind of fully automatic stereo warehousing system |
| CN206654556U (en) * | 2017-04-01 | 2017-11-21 | 程翌 | A kind of equipment for overturning handling |
| CN208531382U (en) * | 2018-06-29 | 2019-02-22 | 广东易库智能仓储设备科技有限公司 | It is a kind of for carrying the robot palletizer of cloth |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109051477A (en) * | 2018-06-29 | 2018-12-21 | 广东易库智能仓储设备科技有限公司 | It is a kind of for accessing the tiered warehouse facility of cloth |
| CN111483743A (en) * | 2020-05-01 | 2020-08-04 | 陈佳思 | Intelligent storage tunnel stacker |
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