CN109129453A - Roller shutter servo conveying robot - Google Patents
Roller shutter servo conveying robot Download PDFInfo
- Publication number
- CN109129453A CN109129453A CN201710508298.0A CN201710508298A CN109129453A CN 109129453 A CN109129453 A CN 109129453A CN 201710508298 A CN201710508298 A CN 201710508298A CN 109129453 A CN109129453 A CN 109129453A
- Authority
- CN
- China
- Prior art keywords
- positioning
- speed reducer
- permutation
- roller shutter
- conveying robot
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
本发明公开了一种卷帘伺服搬运机械手，包括码垛框体，伺服电机，减速机和无动力滚筒组；所述码垛框体包括两块机身固定板，且所述机身固定板通过铝型材对称固定为一体；所述各机身固定板上分别安装有一组传动链轮；且各组传动链轮上分别套接一条循环传动链条，所述无动力滚筒组的两端分别连接在两根循环传动链条上；所述伺服电机连接减速机、带动减速机旋转；所述减速机与传动链轮啮合；所述铝型材顶部设有安装法兰、该安装法兰连接外设驱动机构。本发明结构简单，易于制备。其能够实现一次性搬运和码垛整层箱体，大幅提高箱体搬运的速度和效率。
The invention discloses a roller blind servo handling manipulator, comprising a stacking frame body, a servo motor, a reducer and an unpowered roller group; the stacking frame body includes two body fixing plates, and the body fixing plates Symmetrically fixed as a whole by aluminum profiles; a group of transmission sprockets are respectively installed on the fixing plates of the fuselage; and a circulating transmission chain is sleeved on each group of transmission sprockets, and the two ends of the unpowered roller group are respectively connected On two circulating transmission chains; the servo motor is connected to the reducer and drives the reducer to rotate; the reducer meshes with the transmission sprocket; the top of the aluminum profile is provided with a mounting flange, which is connected to the peripheral drive mechanism. The invention has simple structure and easy preparation. It can realize one-time handling and stacking of the whole layer of boxes, greatly improving the speed and efficiency of box handling.
Description
Technical field
The present invention relates to field of mechanical technique, relate in particular to a kind of roller shutter servo conveying robot, for canned
The rear end of milk powder process line carries out cabinet stacking.
Background technique
With progress of the epoch, canned milk powder has been come into the daily life of huge numbers of families.Existing canned milk powder processing
Assembly line includes unloading tank, canned, wraps up in packet, multiple independent manufacturing procedures such as stacking.Wherein, the carton for wrapping up in packet to completion carries out code
Pile stacking is an important link.The conveying robot that existing carton stacking uses, including rigidity rack, grip block, folder
Tight driving cylinder, anti-lost hook, the components such as adjustment cylinder；Its course of work is as follows: clamping cylinder drives grip block to move along
Sliding rail moves horizontally, and clamps cabinet, and by anti-lost hook anticlockwise campaign, guarantee product does not fall, is voluminous in the process of running
Product adjust the width of cylinder adjustment grip block.But only there are two stations for multi-product adjustment cylinder.Therefore, this structure is disposable
It can only at most select to clamp simultaneously and transport one or two cartons.The problem of it is caused is: single carry cabinet quantity compared with
Production capacity few, that the not upper headend equipment of stacking speed is continuously improved.It can not if more palletizing mechanical arms are set simultaneously
Meet requirement of the producer to save the cost and labour.Therefore, a kind of novel roller shutter servo conveying robot how is developed
Device can greatly improve the quantity that single carries cabinet, be this to adapt to the speed of production of upper front end assembly line high speed development
Field technical staff needs the direction studied.
Summary of the invention
The present invention provides a kind of roller shutter servo conveying robot, disposable carry and stacking flood case can be realized
Body greatly improves the speed and efficiency of cabinet carrying.
The specific technical solution that it is used is as follows:
A kind of roller shutter servo conveying robot, including stacking framework, servo motor, speed reducer and no-power drum group；The code
Pile framework includes two pieces of fuselage fixed plates, and the fuselage fixed plate is symmetrically fixed as one by aluminum profile；Each fuselage
One group of drive sprocket is separately installed in fixed plate；And a circulation driving chain is socketed on each group drive sprocket respectively, it is described
The both ends of no-power drum group are connected on two circulation driving chains；The servo motor connection speed reducer, drive subtract
Fast machine rotation；The speed reducer is engaged with drive sprocket；It is outer equipped with mounting flange, mounting flange connection at the top of the aluminum profile
If driving mechanism.
By using this technical solution: roller shutter servo conveying robot is connected by mounting flange and peripheral hardware driving mechanism
It connects, is carried while realization to whole heap carton.Roller shutter servo conveying robot is moved to preposition assembly line by peripheral hardware driving mechanism
First station of end, at this point, the bottom pad that no-power drum group is located at the bottom position of stacking framework, constitutes stacking framework
Plate；Carton entering in stacking framework by the whole heap of push rod on preposition assembly line.Then, peripheral hardware driving mechanism is by roller shutter servo
Conveying robot is moved to the second station above stacking position.At this point, servo motor driving speed reducer work, speed reducer, which drives, to be passed
Movable sprocket rotation, rotating sprocket drives circulation driving chain circulation transmission, so that no-power drum group quickly moves to stacking frame
The top position of body, so that the bottom-open of stacking framework, so that the carton of whole heap falls on stacking work from stacking framework simultaneously
On position, it is achieved in the carrying and stacking mode for disposably carrying whole heap carton, greatly improves the quantity that single carries cabinet.
Preferably, in above-mentioned roller shutter servo conveying robot: further including arranging-in-row device, the arranging-in-row device includes permutation
Push plate and permutation cylinder；The permutation cylinder connection permutation push plate, driving permutation push plate are moved back and forth along aluminum profile axial direction；
The permutation push plate shares two groups, is symmetrically arranged in two pieces of fuselage fixed plates.
By using this technical solution: when whole heap carton enters in stacking framework, permutation cylinder respectively drives two groups
Stacks of boxes is pressed towards the middle position of stacking framework, prevents whole heap carton from entering stacking framework by permutation push plate relative motion
During each other gap become larger.Subsequent stacking requirement is not met.
It is further preferred that in above-mentioned roller shutter servo conveying robot: further including positioning device, the positioning device includes whole
Template, positioning transmission chain, positioning motor and positioning speed reducer；The positioning transmission chain shares two groups, is symmetrically arranged on two pieces of machines
In body fixed plate；The integer board ends are installed on positioning transmission chain, the positioning motor driving positioning speed reducer rotation, institute
It states positioning speed reducer and drives positioning transmission chain cycle rotation.
By using this technical solution: positioning motor driving positioning speed reducer movement, positioning speed reducer are passed by positioning
Dynamic chain drives integer plate to do back rotary motion, comes shaping product gap.It is moved in no-power drum group from stacking framework bottom
When top, to the stack of cartons in stacking framework play the role of barrier positioning, prevent its with no-power drum group movement from
The side of stacking framework drops out.
It may further be preferable that in above-mentioned roller shutter servo conveying robot: further including position photoelectric detector, the position
Photoelectric detector is installed in stacking framework.
By using this technical solution: being examined with the product space that position photodetector pair enters in stacking framework
It surveys, and will test signal and be transferred in the control system of peripheral hardware, realize the accurate positioning to stacks of boxes, optimize control system.
Compared with prior art, the configuration of the present invention is simple, it is easily prepared.Can disposably carry with stacking flood cabinet,
Greatly improve the speed and efficiency of cabinet carrying.
Detailed description of the invention
Present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:
Fig. 1 is the overall structure figure of carrying implement, and wherein a-quadrant component is roller shutter servo conveying robot of the invention；
Fig. 2 is the schematic perspective view of the embodiment of the present invention 1；
Fig. 3 is the overlooking structure figure of Fig. 2；
Fig. 4 is the side block diagram of Fig. 2, and positioning motor is omitted in detail in this figure；
Fig. 5 is the partial enlarged view of B area in Fig. 2.
Each appended drawing reference and component names corresponding relationship are as follows:
1, stacking framework；2, servo motor；3, speed reducer；4, no-power drum group；11, fuselage fixed plate；12, aluminum profile；13,
Drive sprocket；14, driving chain is recycled；15, mounting flange；51, permutation push plate；52, permutation cylinder；61, integer plate；62, fixed
Position transmission chain；64, speed reducer is positioned；7, photoelectric detector.
Specific embodiment
In order to illustrate more clearly of technical solution of the present invention, below in conjunction with attached drawing, the invention will be further described.
As shown in Figs. 1-5 it is the embodiment of the present invention 1:
A kind of roller shutter servo conveying robot, including stacking framework 1, servo motor 2, speed reducer 3 and no-power drum group 4, also
Including arranging-in-row device, positioning device and photoelectric detector 7.
The stacking framework 1 includes two pieces of fuselage fixed plates 11, and the fuselage fixed plate 11 is symmetrical by aluminum profile 12
It is fixed as one；One group of drive sprocket 13 is separately installed in each fuselage fixed plate 11；And divide on each group drive sprocket 13
Not Tao Jie a circulation driving chain 14, the both ends of the no-power drum group 4 are connected to two circulation driving chains 14
On；The servo motor 2 connects speed reducer 3, speed reducer 3 is driven to rotate；The speed reducer 3 is engaged with drive sprocket 13；It is described
Mounting flange 15 is equipped at the top of aluminum profile 12, the mounting flange 15 connects peripheral hardware driving mechanism.The arranging-in-row device includes permutation
Push plate 51 and permutation cylinder 52；The permutation cylinder 52 connects permutation push plate 51, drives permutation push plate 51 axial along aluminum profile 12
Direction moves back and forth；The permutation push plate 51 shares two groups, is symmetrically arranged in two pieces of fuselage fixed plates 11.The positioning
Device includes integer plate 61, positioning transmission chain 62, positioning motor and positioning speed reducer 64；The positioning transmission chain 62 shares two
Group is symmetrically arranged in two pieces of fuselage fixed plates 11；61 both ends of integer plate are installed on positioning transmission chain 62, the positioning
Motor driven positions speed reducer 64 and rotates, and the positioning speed reducer 64 drives 62 cycle rotation of positioning transmission chain.The position light
Photodetector 7 is installed in stacking framework 1.
In practice, the course of work is as follows:
Roller shutter servo conveying robot is connect by mounting flange 15 with peripheral hardware driving mechanism, is removed while realization to whole heap carton
Fortune.Roller shutter servo conveying robot is moved to the first station of preposition assembly line end by peripheral hardware driving mechanism, at this point, unpowered
Roller group 4 is located at the bottom position of stacking framework 1, constitutes the backing plate at bottom of stacking framework 1；Carton on preposition assembly line passes through
In the push-in stacking framework 1 of the whole heap of push rod.At this point, permutation cylinder 52 respectively drives two groups of 51 relative motions of permutation push plate, by case
Body heap is pressed towards the middle position of stacking framework 1, and preventing whole heap carton, gap becomes larger each other during entering stacking framework 1
And subsequent stacking requirement is not met.Meanwhile positioning motor driving positioning speed reducer 64 moves, positioning speed reducer 64 is passed by positioning
Dynamic chain 62 drives integer plate 61 to do back rotary motion, comes shaping product gap.Then, peripheral hardware driving mechanism carries roller shutter servo
Manipulator is moved to the second station above stacking position.At this point, servo motor 2 drives speed reducer 3 to work, speed reducer 3, which drives, to be passed
Movable sprocket 13 rotates, and the drive sprocket 13 of rotation drives the circulation circulation transmission of driving chain 14, so that no-power drum group 4 is quick
The top position of stacking framework 1 is moved to, so that the bottom-open of stacking framework 1, so that the carton of whole heap is directly from stacking frame
It is fallen in piling station in body 1, is achieved in the carrying processing method for disposably carrying whole heap carton, greatly improve single carrying
The quantity of cabinet.
The above, only specific embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any ripe
The technical staff of art technology is known in technical scope disclosed by the invention, any changes or substitutions that can be easily thought of, should all contain
Lid is within protection scope of the present invention.Protection scope of the present invention is subject to the scope of protection of the claims.
Claims (4)
1. a kind of roller shutter servo conveying robot, it is characterised in that: including stacking framework (1), servo motor (2), speed reducer (3)
With no-power drum group (4)；
The stacking framework (1) includes two pieces of fuselage fixed plates (11), and the fuselage fixed plate (11) passes through aluminum profile (12)
Symmetrically it is fixed as one；One group of drive sprocket (13) is separately installed on each fuselage fixed plate (11)；And each group transmission chain
It is socketed a circulation driving chain (14) respectively on wheel (13), the both ends of the no-power drum group (4) are connected to two
It recycles on driving chain (14)；Servo motor (2) connection speed reducer (3) drives speed reducer (3) rotation；The speed reducer
(3) it is engaged with drive sprocket (13)；It is outer equipped with mounting flange (15), the mounting flange (15) connection at the top of the aluminum profile (12)
If driving mechanism.
2. roller shutter servo conveying robot as described in claim 1, it is characterised in that: it further include arranging-in-row device, the permutation dress
It sets including permutation push plate (51) and permutation cylinder (52)；Permutation cylinder (52) connection permutation push plate (51), driving permutation push away
Plate (51) is moved back and forth along aluminum profile (12) axial direction；The permutation push plate (51) shares two groups, is symmetrically arranged on described two
In block fuselage fixed plate (11).
3. roller shutter servo conveying robot as claimed in claim 2, it is characterised in that: it further include positioning device, the positioning dress
It sets including integer plate (61), positioning transmission chain (62), positioning motor and positioning speed reducer (64)；The positioning transmission chain (62) is altogether
There are two groups, is symmetrically arranged on two pieces of fuselage fixed plates (11)；Integer plate (61) both ends are installed on positioning transmission chain (62)
On, positioning motor driving positioning speed reducer (64) rotation, the positioning speed reducer (64) drives positioning transmission chain (62) to follow
Ring rotation.
4. roller shutter servo conveying robot as claimed in claim 3, it is characterised in that: further include position photoelectric detector (7), institute
Rheme is set photoelectric detector (7) and is installed on stacking framework (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508298.0A CN109129453A (en) | 2017-06-28 | 2017-06-28 | Roller shutter servo conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508298.0A CN109129453A (en) | 2017-06-28 | 2017-06-28 | Roller shutter servo conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109129453A true CN109129453A (en) | 2019-01-04 |
Family
ID=64803530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710508298.0A Pending CN109129453A (en) | 2017-06-28 | 2017-06-28 | Roller shutter servo conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109129453A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239964A (en) * | 2019-07-05 | 2019-09-17 | 上海松盛机器人系统有限公司 | A kind of flood clamp for stacking |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201376790Y (en) * | 2009-01-06 | 2010-01-06 | 广州市万世德包装机械有限公司 | Rolling type grippers conveying mechanism of stacker crane |
| CN201634236U (en) * | 2010-03-22 | 2010-11-17 | 广州达意隆包装机械股份有限公司 | Swinging arm type single upright stacker crane |
| CN103129975A (en) * | 2013-03-04 | 2013-06-05 | 广州达意隆包装机械股份有限公司 | Stacking robot and control method thereof |
| CN104773517A (en) * | 2015-03-30 | 2015-07-15 | 青岛宝佳自动化设备有限公司 | Robot whole-layer stacking terminal executing device |
| CN207127888U (en) * | 2017-06-28 | 2018-03-23 | 上海昱庄机械科技有限公司 | Roller shutter servo conveying robot |
-
2017
- 2017-06-28 CN CN201710508298.0A patent/CN109129453A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201376790Y (en) * | 2009-01-06 | 2010-01-06 | 广州市万世德包装机械有限公司 | Rolling type grippers conveying mechanism of stacker crane |
| CN201634236U (en) * | 2010-03-22 | 2010-11-17 | 广州达意隆包装机械股份有限公司 | Swinging arm type single upright stacker crane |
| CN103129975A (en) * | 2013-03-04 | 2013-06-05 | 广州达意隆包装机械股份有限公司 | Stacking robot and control method thereof |
| CN104773517A (en) * | 2015-03-30 | 2015-07-15 | 青岛宝佳自动化设备有限公司 | Robot whole-layer stacking terminal executing device |
| CN207127888U (en) * | 2017-06-28 | 2018-03-23 | 上海昱庄机械科技有限公司 | Roller shutter servo conveying robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239964A (en) * | 2019-07-05 | 2019-09-17 | 上海松盛机器人系统有限公司 | A kind of flood clamp for stacking |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5709771B2 (en) | Product bag removal device | |
| CN106240884B (en) | A kind of fully-automatic packaging production line | |
| CN103227134B (en) | A kind of carrying screening plant of battery component and carrying screening technique | |
| CN206395022U (en) | New detection packing machine | |
| CN107097003A (en) | A kind of laser cutting machine loading and unloading robot | |
| CN203566704U (en) | Both-way conveying manipulator | |
| CN201376790Y (en) | Rolling type grippers conveying mechanism of stacker crane | |
| TW201904818A (en) | Double station edible fungus culture bag automatic collar, framer | |
| CN111776270A (en) | A production line item automatic packing machine | |
| CN117068707A (en) | A kind of automatic carton sealing and palletizing equipment | |
| CN101948018B (en) | Cartoning push rod device for automatic cartoner | |
| CN102085924A (en) | Filling sealing machine of bag-mouth-free standing bags | |
| CN207127888U (en) | Roller shutter servo conveying robot | |
| WO2018076162A1 (en) | Packaging machine for square candies, capable of folding with pointed corners at either end | |
| CN109573201B (en) | Full-automatic glove screening and packaging machine | |
| CN105730757A (en) | Power strip packaging machine | |
| CN104332438A (en) | Solar silicon chip transmission rectification mechanism | |
| CN205396644U (en) | Novel packing machine | |
| CN105253373B (en) | A kind of plastic film packing machine | |
| CN205441697U (en) | An integrated conveying mechanism with tracking and tracking functions | |
| CN112621253B (en) | Intelligent bagging collar gland framing all-in-one machine | |
| CN211712053U (en) | Lighter processing is with automatic box manipulator equipment that changes | |
| CN105710860A (en) | Two-degree-of-freedom mechanical arm for transferring | |
| CN201914477U (en) | Filling-sealing machine for non-mouth self-supporting bags | |
| CN110525752B (en) | Combined counting device for automatic production line of bag packing 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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190104 |