CN109159150A - A kind of robot palletizer being accurately positioned control mechanism - Google Patents
A kind of robot palletizer being accurately positioned control mechanism Download PDFInfo
- Publication number
- CN109159150A CN109159150A CN201811138524.1A CN201811138524A CN109159150A CN 109159150 A CN109159150 A CN 109159150A CN 201811138524 A CN201811138524 A CN 201811138524A CN 109159150 A CN109159150 A CN 109159150A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- angle
- disk
- shaft
- sliding seat
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Abstract
The invention discloses a kind of robot palletizers for being accurately positioned control mechanism, including fixing seat, the first driving motor is embedded with inside the fixing seat, and first driving motor output shaft on be rotatably connected to sliding seat, the fixing seat upper surface is welded with first angle disk, the sliding seat upper surface is welded with first mechanical arm, and the first mechanical arm top is rotatably connected to second mechanical arm by shaft.When first mechanical arm of the present invention drives its rotation by sliding seat, the pointer being provided on sliding seat can rotate on first angle disk, the angle of its rotation can intuitively be observed, second mechanical arm is by the second shaft when the second driving motor electric device rotates, the pointer being arranged in shaft can rotate on second angle disk, can intuitive viewer rotation angle, convenient for accurately connecting the angle of first mechanical arm and second mechanical arm rotation, accurate location control is carried out to it, improves its stability used.
Description
Technical field
The invention belongs to robot palletizer technical field, specially a kind of robot palletizer for being accurately positioned control mechanism.
Background technique
Robot palletizer is the mechanical product organically combined with computer program.Higher life is provided for modern production
Produce efficiency.Stacking machine has in stacking industry to be quite widely applied.Labour is greatly saved in robot palletizer, saves empty
Between.Robot palletizer flexible in operation precisely, rapidly and efficiently, stability it is high, operating efficiency is high, and robot palletizer system uses patent
The installation occupied space flexible compact of the coordinate robot of technology.Efficiently section can be built within the scope of lesser occupied area
The conception of the fully-automatic building block forming machine production line of energy comes true.
Existing robot palletizer when in use, angle can be carried out by the rotation of mechanical arm and orientation is adjusted, but made
User can not intuitively observe the angle of mechanical arm rotation, cannot achieve accurate location control, and single relying on drives
Motor drives mechanical arm to be rotated, and the stability of rotation is relatively low, so can not meet the demand of user.
Summary of the invention
It is an object of the invention to: in order to solve existing robot palletizer when in use, the rotation of mechanical arm can be passed through
It carries out angle and orientation is adjusted, but user can not intuitively observe the angle of mechanical arm rotation, cannot achieve accurate
Location control, and single dependence driving motor drives mechanical arm to be rotated, the relatively low problem of the stability of rotation provides
A kind of robot palletizer being accurately positioned control mechanism.
The technical solution adopted by the invention is as follows:
A kind of robot palletizer being accurately positioned control mechanism, including fixing seat are embedded with first inside the fixing seat
Driving motor, and sliding seat is rotatably connected on the output shaft of the first driving motor, the fixing seat upper surface is welded with first
Angle scale, the sliding seat are slidably connected by limit slide bar with first angle disk, and the sliding seat upper surface is welded with first
Mechanical arm, the first mechanical arm top are rotatably connected to second mechanical arm by shaft, and is nested and fixed in the shaft
Two angle scales, the second angle disk back side are fixed with the second driving motor for driving shaft rotation, weld on the sliding seat
There is position-arresting disk, second sliding slot is offered on the position-arresting disk, the second mechanical arm is slidably connected by sliding block and position-arresting disk.
Wherein, first angle disk upper surface, which offers to cooperate, limits the first sliding groove that slide bar uses, and described first jiao
Scale edge is provided with the first graduated scale, and the first driving motor of cooperation is offered at the center of first angle disk upper surface
The circular hole that output shaft uses.
Wherein, the pointer that cooperation first angle disk uses is welded on the sliding seat.
Wherein, it is welded with the pointer that uses of cooperation second angle disk in the shaft, and is provided with the on second angle disk
Two graduated scales.
Wherein, there are four the limit slide bar is arranged altogether, and four limit slide bars are distributed in a ring, adjacent two limits slide bar
Between at 90 degree of angles.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1, in the present invention, when first mechanical arm drives its rotation by sliding seat, the pointer that is provided on sliding seat can be
It is rotated on first angle disk, can intuitively observe the angle of its rotation, second mechanical arm is by the second shaft in the second driving
The pointer being arranged when motor powered device rotates, in shaft can rotate on second angle disk, can intuitive viewer rotation
Angle carries out accurate location control to it, mentions convenient for accurately connecting the angle of first mechanical arm and second mechanical arm rotation
The high stability that it is used.
2, in the present invention, second mechanical arm is slidably connected by the position-arresting disk welded on the second sliding block and sliding seat, is limited
The setting of disk can carry out auxiliary stopper to second mechanical arm, improve second mechanical arm by the rotation of shaft and carry out angle
When adjusting, more stability, to improve the stability that second mechanical arm carries out angular adjustment.
Detailed description of the invention
Fig. 1 is structure schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of second angle disk in the present invention；
Fig. 3 is the structural schematic diagram of first angle disk in the present invention.
Marked in the figure: 1, fixing seat；2, the first driving motor；3, first angle disk；4, slide bar is limited；5, sliding seat；6,
Position-arresting disk；7, first mechanical arm；8, second angle disk；9, the second graduated scale；10, shaft；11, second sliding slot；12, second is mechanical
Arm；13, sliding block；14, the second driving motor；15, circular hole；16, first sliding groove；17, the first graduated scale.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Referring to Fig.1-3, a kind of robot palletizer being accurately positioned control mechanism, including fixing seat 1,1 inside of fixing seat are embedding
Equipped with the first driving motor 2, and sliding seat 5 is rotatably connected on the output shaft of the first driving motor 2, the weldering of 1 upper surface of fixing seat
It is connected to first angle disk 3, sliding seat 5 is slidably connected by limiting slide bar 4 with first angle disk 3, and 5 upper surface of sliding seat is welded with
First mechanical arm 7,7 top of first mechanical arm are rotatably connected to second mechanical arm 12 by shaft 10, are sleeved and fixed in shaft 10
There is second angle disk 8,8 back side of second angle disk is fixed with the second driving motor 14 for driving shaft 10 to rotate, welds on sliding seat 5
It is connected to position-arresting disk 6, second sliding slot 11 is offered on position-arresting disk 6, second mechanical arm 12 is connected by sliding block 13 and the sliding of position-arresting disk 6
It connects.
4 upper surface of first angle disk offers the first sliding groove 16 that cooperation limit slide bar 4 uses, 4 corner of first angle disk
Place is provided with the first graduated scale 17, and the output shaft of the first driving motor 2 of cooperation is offered at 17 upper surface center of first angle disk
The circular hole 15 used is welded with the pointer that cooperation first angle disk 3 uses on sliding seat 5, is welded with cooperation in shaft 10
The pointer that second angle disk 8 uses, and the second graduated scale 9 is provided on second angle disk 8.
Slide bar 4 is limited altogether there are four settings, and four limit slide bars 4 are distributed in a ring, between adjacent two limits slide bar 4 at
90 degree of angles, limit slide bar 4 improve sliding seat 5 under the drive of the first driving motor 2 for limiting to sliding seat 5
The stability of rotation.
Working principle: in use, being fixedly connected with stacker robot fixture by second mechanical arm 12 first, electricity is connected outside
Source can use, in use, can open the first driving motor 2 first, the first driving motor 2 is driven by sliding seat 5
First mechanical arm 7 rotates, and carries out angular adjustment, and when first mechanical arm 7 rotates, being arranged on sliding seat 5 can be at first jiao in pointer
It is rotated on scale 3, it can be observed that the angle that first mechanical arm 7 rotates, while the second driving motor 14 can be opened, second drives
Dynamic motor 14 drives second mechanical arm 12 to rotate by shaft 10, the angle of adjusting second mechanical arm 12, and 12 turns of second mechanical arm
When dynamic, the pointer in shaft 10 can rotate on second angle disk 8, it can be observed that the angle of second mechanical arm 12, while the
When two mechanical arms 12 rotate, second mechanical arm 12 can be rotated in second sliding slot 11 by sliding block 13, be improved with regard to second mechanical arm
The stability of 12 rotations, in rotation, limit slide bar 4 can also slide sliding seat 5 in first sliding groove 16, improve fast sliding seat and turn
Dynamic stability.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (5)
1. a kind of robot palletizer for being accurately positioned control mechanism, including fixing seat (1), it is characterised in that: the fixing seat (1)
Inside is embedded with the first driving motor (2), and sliding seat (5) are rotatably connected on the output shaft of the first driving motor (2), described
Fixing seat (1) upper surface is welded with first angle disk (3), and the sliding seat (5) passes through limit slide bar (4) and first angle disk
(3) it is slidably connected, sliding seat (5) upper surface is welded with first mechanical arm (7), and first mechanical arm (7) top passes through
Shaft (10) is rotatably connected to second mechanical arm (12), is nested and fixed second angle disk (8) on the shaft (10), and described
Two angle scales (8) back side is fixed with the second driving motor (14) for driving shaft (10) rotation, is welded on the sliding seat (5)
Position-arresting disk (6) offers second sliding slot (11) on the position-arresting disk (6), the second mechanical arm (12) by sliding block (13) with
Position-arresting disk (6) is slidably connected.
2. a kind of robot palletizer for being accurately positioned control mechanism as described in claim 1, it is characterised in that: described first jiao
Scale (4) upper surface offers the first sliding groove (16) that cooperation limit slide bar (4) uses, first angle disk (4) edge
It is provided with the first graduated scale (17), cooperation the first driving motor (2) is offered at first angle disk (17) the upper surface center
The circular hole (15) that uses of output shaft.
3. a kind of robot palletizer for being accurately positioned control mechanism as described in claim 1, it is characterised in that: the sliding seat
(5) pointer that cooperation first angle disk (3) uses is welded on.
4. a kind of robot palletizer for being accurately positioned control mechanism as described in claim 1, it is characterised in that: the shaft
(10) it is welded with the pointer that cooperation second angle disk (8) uses on, and is provided with the second graduated scale (9) on second angle disk (8).
5. a kind of robot palletizer for being accurately positioned control mechanism as described in claim 1, it is characterised in that: the limit is slided
There are four bar (4) is arranged altogether, and four limit slide bars (4) are distributed in a ring, press from both sides between adjacent two limit slide bar (4) at 90 degree
Angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811138524.1A CN109159150A (en) | 2018-09-28 | 2018-09-28 | A kind of robot palletizer being accurately positioned control mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811138524.1A CN109159150A (en) | 2018-09-28 | 2018-09-28 | A kind of robot palletizer being accurately positioned control mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109159150A true CN109159150A (en) | 2019-01-08 |
Family
ID=64892923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811138524.1A Withdrawn CN109159150A (en) | 2018-09-28 | 2018-09-28 | A kind of robot palletizer being accurately positioned control mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109159150A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101996514A (en) * | 2009-08-17 | 2011-03-30 | 天津科技大学 | Manipulator position and attitude transformation simulation teaching device |
| CN103192393A (en) * | 2013-03-24 | 2013-07-10 | 北京工业大学 | Flywheel inverted pendulum system based on magnetic eddy current effect |
| WO2014041318A1 (en) * | 2012-09-17 | 2014-03-20 | Materials Technologies | Palletising method and device for implementing the method |
| CN205415629U (en) * | 2016-03-21 | 2016-08-03 | 四川信息职业技术学院 | Novel automatic loading and unloading manipulator system |
| CN206717859U (en) * | 2017-04-25 | 2017-12-08 | 深圳市爱科尔科技有限公司 | A kind of multi-functional single shaft servo manipulator |
| CN207387655U (en) * | 2017-11-09 | 2018-05-22 | 岳阳职业技术学院 | A kind of 6DOF manipulator based on PLC |
| CN108189022A (en) * | 2018-03-30 | 2018-06-22 | 佛山市铸芯智造科技有限公司 | A kind of robot support arm |
-
2018
- 2018-09-28 CN CN201811138524.1A patent/CN109159150A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101996514A (en) * | 2009-08-17 | 2011-03-30 | 天津科技大学 | Manipulator position and attitude transformation simulation teaching device |
| WO2014041318A1 (en) * | 2012-09-17 | 2014-03-20 | Materials Technologies | Palletising method and device for implementing the method |
| CN103192393A (en) * | 2013-03-24 | 2013-07-10 | 北京工业大学 | Flywheel inverted pendulum system based on magnetic eddy current effect |
| CN205415629U (en) * | 2016-03-21 | 2016-08-03 | 四川信息职业技术学院 | Novel automatic loading and unloading manipulator system |
| CN206717859U (en) * | 2017-04-25 | 2017-12-08 | 深圳市爱科尔科技有限公司 | A kind of multi-functional single shaft servo manipulator |
| CN207387655U (en) * | 2017-11-09 | 2018-05-22 | 岳阳职业技术学院 | A kind of 6DOF manipulator based on PLC |
| CN108189022A (en) * | 2018-03-30 | 2018-06-22 | 佛山市铸芯智造科技有限公司 | A kind of robot support arm |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190108 |
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| WW01 | Invention patent application withdrawn after publication |