CN109292443A - A kind of stack robot manipulator device - Google Patents
A kind of stack robot manipulator device Download PDFInfo
- Publication number
- CN109292443A CN109292443A CN201811420434.1A CN201811420434A CN109292443A CN 109292443 A CN109292443 A CN 109292443A CN 201811420434 A CN201811420434 A CN 201811420434A CN 109292443 A CN109292443 A CN 109292443A
- Authority
- CN
- China
- Prior art keywords
- support rod
- fixedly installed
- carriage
- sliding shoe
- shifting sledge
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
-
- 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
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
Abstract
The invention discloses a kind of stack robot manipulator devices, vertical support rod including two groups of opposite mounting seats and in mounting seat, damping device is equipped in the mounting seat, opposite one group of vertical post upper is fixedly installed with sliding rail support rod one, carriage one is equipped on the inside of the sliding rail support rod one, sliding rail support rod two is fixedly installed on the carriage one, the sliding rail support rod two is equipped with carriage two, two side of carriage is equipped with gripper equipment, the robot gripper adjusts the position in X-axis and Y direction by carriage one and carriage two, pass through the adjustable handgrip width of gripper equipment, the mounting seat bottom side, which is equipped with, uses electrical interface, the vertical support rod side is equipped with controller.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to robot field, especially a kind of stack robot manipulator device.
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.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.
In the prior art, such as Patent No. CN 201610213943.1, patent name are a kind of robot palletizer.Packet
Include crawler body component driving rack；Transmission part transmits packing case, and turns to packing case；Single case push component will be single
A packing case is pushed into shovel board component from transmission part, and two orthopaedic components of two sides are before packing case enters shovel board component to packaging
Case is corrected, and shovel board transmission parts realize that two of shovel board component and two sides push away box part synchronization lifting；Shovel board component will be single
A packing case arrangement is in a row, and shovel board component relative level is obliquely installed；Two push away box part for a row on shovel board component
Packing case is released；Controller control shovel board transmission parts, shovel board component push away box part, orthopaedic component, single case push component, pass
The coordination of defeated component and crawler body component.The present invention, which in a row piles up, solves the problems, such as previous single stacking low efficiency.
Used robot palletizer drives handgrip to carry out stacking by robotic arm mostly currently on the market, and structure is steady
It is qualitative poor, it is easy to happen balance phenomenon when carrying heavier cargo, and handgrip width is mostly unadjustable, when stacking, holds
Easily occur cargo obscission, influence using.
Summary of the invention
The purpose of the present invention is to solve the above problems, devise a kind of stack robot manipulator device.
Realize above-mentioned purpose the technical scheme is that, a kind of stack robot manipulator device is opposite including two groups
Mounting seat and the vertical support rod in mounting seat, the mounting seat is interior equipped with damping device, described one group opposite
Vertical post upper is fixedly installed with sliding rail support rod one, and carriage one is equipped on the inside of the sliding rail support rod one, described
Sliding rail support rod two is fixedly installed on carriage one, the sliding rail support rod two is equipped with carriage two, the sliding
Two side of device is equipped with gripper equipment, and the robot gripper is adjusted by carriage one and carriage two in X-axis
With the position in Y direction, by the adjustable handgrip width of gripper equipment, the mounting seat bottom side connects equipped with electricity consumption
Mouthful, the vertical support rod side is equipped with controller.
The damping device includes the installation groove being opened at the center of mounting seat upper surface, and bottom is uniform in installation groove
Several buffers are installed；Vertically upward, buffer telescopic end is fixedly installed with support rod connection to the buffer telescopic end
Plate；The support rod connecting plate is fixedly connected with vertical support rod lower surface；Damping spring, damping are set with outside the buffer
Spring one end is fixedly connected with the other end with bottom in installation groove and is fixedly connected with support rod connecting plate；The mounting seat bottom
It is fixedly installed with fixed bottom plate.
The carriage one includes the shifting sledge one being opened on one inner surface of sliding rail support rod, and shifting sledge is one by one
Rectangle rack gear one is fixedly installed on the inner wall of side；Sliding shoe one, one inside of sliding shoe are slidably fitted on the shifting sledge one
Horizontal step motor one is fixedly installed on surface；One round end of stepper motor is fixedly installed with driving gear one, actively
Gear one intermeshes with rectangle rack gear one；One outer surface of sliding shoe is fixedly connected with sliding rail support rod two.
The carriage two includes the shifting sledge two being opened on two upper surface of sliding rail support rod, two side of shifting sledge
Rectangle rack gear two is fixedly installed on inner wall；Sliding shoe two is slidably fitted on the shifting sledge two, on two bottom of sliding shoe
It is fixedly installed with vertical stepper motor two；Two round end of stepper motor is fixedly installed with driving gear two, driving gear two
It intermeshes with rectangle rack gear two.
The gripper equipment includes the vertical electric telescopic rod being fixedly mounted on two outer surface of sliding shoe, electric expansion
Bar telescopic end is fixedly installed with vertical rotating electric machine；The rotating electric machine round end is fixedly installed with handgrip frame, handgrip frame
Lower surface is provided with shifting sledge three, is fixedly installed with rectangle rack gear three on three side inner wall of shifting sledge；The shifting sledge three
On be slidably fitted with one group of opposite sliding shoe three, three upper end of sliding shoe is fixedly installed with vertical stepper motor three；The stepping
Three round end of motor is fixedly installed with driving gear three, and driving gear three intermeshes with rectangle rack gear three；The sliding shoe three
Bottom is fixedly installed with horizontal step motor four, and four round end of stepper motor is fixedly installed with robot gripper；The robot
Pressure sensor is fixedly installed on handgrip.
The buffer and damping spring can greatly increase resiliency, enable robot palletizer when colliding
Effectively robot palletizer is protected.
The stepper motor one can drive the driving gear one on round end, and driving gear one and rectangle rack gear one are mutual
The moving back and forth on shifting sledge one of sliding shoe one may be implemented in engagement, the positive and negative rotation of stepper motor one, convenient for adjusting in machine
The position of device people handgrip in the Y-axis direction.
The stepper motor two can drive the driving gear two on round end, and driving gear two and rectangle rack gear two are mutual
The moving back and forth on shifting sledge two of sliding shoe two may be implemented in engagement, the positive and negative rotation of stepper motor two, convenient for adjusting in machine
The position of device people handgrip in the X-axis direction.
The electric telescopic rod can drive the rotating electric machine on telescopic end, and rotating electric machine can drive grabbing on round end
Hand frame, convenient for adjusting the position of handgrip frame；The stepper motor three can drive the driving gear three on round end, actively
Gear three intermeshes with rectangle rack gear three, and sliding shoe three may be implemented on shifting sledge three in the positive and negative rotation of stepper motor three
Move back and forth, convenient for adjusting in robot gripper width.
The stack robot manipulator device made using technical solution of the present invention, by being located in sliding rail support rod one
Position of the carriage two convenient for adjusting robot gripper in X-axis and Y direction on carriage one and sliding rail support rod two
It sets, effectively improves the stability of structure, the adjustable handgrip width of gripper equipment improves handgrip tightness, is easy to use.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of stack robot manipulator device of the present invention；
Fig. 2 is damping device schematic diagram of the present invention；
Fig. 3 is two schematic diagram of carriage one and carriage of the present invention；
Fig. 4 is gripper equipment schematic diagram of the present invention；
In figure, 1, mounting seat；2, vertical support rod；3, sliding rail support rod one；4, sliding rail support rod two；5, electrical interface is used；6,
Controller；7, installation groove；8, buffer；9, support rod connecting plate；10, damping spring；11, fixed bottom plate；12, shifting sledge
One；13, rectangle rack gear one；14, sliding shoe one；15, stepper motor one；16, driving gear one；17, shifting sledge two；18, square
Shape rack gear two；19, sliding shoe two；20, stepper motor two；21, driving gear two；22, electric telescopic rod；23, rotating electric machine；
24, handgrip frame；25, shifting sledge three；26, rectangle rack gear three；27, sliding shoe three；28, stepper motor three；29, driving gear
Three；30, stepper motor four；31, robot gripper；32, pressure sensor.
Specific embodiment
The present invention is specifically described with reference to the accompanying drawing, as shown in Figs 1-4, a kind of stack robot manipulator device,
It in the present embodiment, can be to code by controller 6 in use, user with electrical interface 5 and external power supply by being electrically connected
Pile robot is manipulated；
Step 1: carriage two is started to work, stepping when needing to adjust the position of robot gripper 31 in the X-axis direction
Motor 2 20 drives the driving gear 2 21 on round end, and driving gear 2 21 intermeshes with rectangle rack gear 2 18, stepping electricity
The moving back and forth on shifting sledge 2 17 of sliding shoe 2 19 may be implemented in the positive and negative rotation of machine 2 20, grabs convenient for adjusting in robot
The position of hand 31 in the X-axis direction, after robot gripper 31 regulates in the X-axis direction, carriage works at the beginning, step
The driving gear 1 on round end is driven into motor 1, driving gear 1 intermeshes with rectangle rack gear 1, stepping
The moving back and forth on shifting sledge 1 of sliding shoe 1 may be implemented in the positive and negative rotation of motor 1, convenient for adjusting in robot
The position of handgrip 31 in the Y-axis direction, by the carriage one and sliding rail support rod two in sliding rail support rod one
Carriage two effectively improves the stability of structure, prevents convenient for adjusting position of the robot gripper in X-axis and Y direction
Balance phenomenon occurs when carrying heavier cargo；
Step 2: gripper equipment is started to work after 31 position of robot gripper regulates, electric telescopic rod 22 drives telescopic end
On rotating electric machine 23, rotating electric machine 23 can drive the handgrip frame 24 on round end, convenient for adjusting the position of handgrip frame 24
It sets, adjusts handgrip frame 24 and adjust to after suitable position, stepper motor 3 28 is started to work, and stepper motor 3 28 drives round end
On driving gear 3 29, driving gear 3 29 intermeshes with rectangle rack gear 3 26, and the positive and negative rotation of stepper motor 3 28 can be with
The moving back and forth on shifting sledge 3 25 of sliding shoe 3 27 is realized, convenient for adjusting in 31 width of robot gripper, pressure sensing
Device 32 is collected and detects robot gripper 31 to the pressure of cargo, and cargo falling off in palletization is prevented, and is slided by being located at
The carriage two on carriage one and sliding rail support rod two in rail support rod one convenient for adjust robot gripper in X-axis and
Position in Y direction effectively improves the stability of structure, and the adjustable handgrip width of gripper equipment improves handgrip tightness,
It is easy to use.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of them part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (9)
1. a kind of stack robot manipulator device including two groups of opposite mounting seats (1) and is located at perpendicular on mounting seat (1)
Support bars (2), which is characterized in that damping device, opposite one group of vertical support rod are equipped in the mounting seat (1)
(2) upper end is fixedly installed with sliding rail support rod one (3), is equipped with carriage one, the cunning on the inside of the sliding rail support rod one (3)
Sliding rail support rod two (4) is fixedly installed on dynamic device one, the sliding rail support rod two (4) is equipped with carriage two, described
Two side of carriage is equipped with gripper equipment, and the robot gripper is adjusted by carriage one and carriage two
Position in X-axis and Y direction, by the adjustable handgrip width of gripper equipment, mounting seat (1) bottom side is equipped with
With electrical interface (5), vertical support rod (2) side is equipped with controller (6).
2. a kind of stack robot manipulator device according to claim 1, which is characterized in that the damping device includes opening
Installation groove (7) at mounting seat (1) upper surface center, installation groove (7) interior bottom are uniformly equipped with several bufferings
Device (8)；Vertically upward, buffer (8) telescopic end is fixedly installed with support rod connecting plate (9) to buffer (8) telescopic end；Institute
Support rod connecting plate (9) is stated to be fixedly connected with vertical support rod (2) lower surface；Damping spring is set with outside the buffer (8)
(10), damping spring (10) one end is fixedly connected with the other end and support rod connecting plate (9) fixed company with installation groove (7) interior bottom
It connects；Mounting seat (1) bottom is fixedly installed with fixed bottom plate (11).
3. a kind of stack robot manipulator device according to claim 1, which is characterized in that the carriage one includes
The shifting sledge one (12) being opened on sliding rail support rod one (3) inner surface, fixed peace on the inner wall of shifting sledge one (12) side
Equipped with rectangle rack gear one (13)；Sliding shoe one (14) is slidably fitted on the shifting sledge one (12), sliding shoe one (14) is interior
Horizontal step motor one (15) is fixedly installed on side surface；Stepper motor one (15) round end is fixedly installed with driving tooth
One (16) are taken turns, driving gear one (16) intermeshes with rectangle rack gear one (13)；Sliding shoe one (14) outer surface and cunning
Rail support rod two (4) is fixedly connected.
4. a kind of stack robot manipulator device according to claim 1, which is characterized in that the carriage two includes
The shifting sledge two (17) being opened on sliding rail support rod two (4) upper surface is fixedly mounted on the inner wall of shifting sledge two (17) side
There is rectangle rack gear two (18)；Sliding shoe two (19), sliding shoe two (19) bottom are slidably fitted on the shifting sledge two (17)
On be fixedly installed with vertical stepper motor two (20)；Stepper motor two (20) round end is fixedly installed with driving gear two
(21), driving gear two (21) intermeshes with rectangle rack gear two (18).
5. a kind of stack robot manipulator device according to claim 1, which is characterized in that the gripper equipment includes solid
Vertical electric telescopic rod (22) of the Dingan County on sliding shoe two (19) outer surface, the fixed peace of electric telescopic rod (22) telescopic end
Equipped with vertical rotating electric machine (23)；Rotating electric machine (23) round end is fixedly installed with handgrip frame (24), handgrip frame
(24) lower surface is provided with shifting sledge three (25), is fixedly installed with rectangle rack gear three on the inner wall of shifting sledge three (25) side
(26)；One group of opposite sliding shoe three (27) is slidably fitted on the shifting sledge three (25), sliding shoe three (27) upper end is solid
Dingan County is equipped with vertical stepper motor three (28)；Stepper motor three (28) round end is fixedly installed with driving gear three (29),
Driving gear three (29) intermeshes with rectangle rack gear three (26)；Sliding shoe three (27) bottom is fixedly installed with horizontal stepping
Motor four (30), stepper motor four (30) round end are fixedly installed with robot gripper (31)；On the robot gripper (31)
It is fixedly installed with pressure sensor (32).
6. a kind of stack robot manipulator device according to claim 2, which is characterized in that the buffer (8) and subtract
Shake spring (10) can greatly increase resiliency, enable robot palletizer when colliding effectively to robot palletizer into
Row protection.
7. a kind of stack robot manipulator device according to claim 3, which is characterized in that the stepper motor one (15)
The driving gear one (16) on round end can be driven, driving gear one (16) intermeshes with rectangle rack gear one (13), stepping
Sliding shoe one (14) moving back and forth on shifting sledge one (12) may be implemented in the positive and negative rotation of motor one (15), convenient for adjusting
The position of robot gripper (31) in the Y-axis direction.
8. a kind of stack robot manipulator device according to claim 4, which is characterized in that the stepper motor two (20)
The driving gear two (21) on round end can be driven, driving gear two (21) intermeshes with rectangle rack gear two (18), stepping
Sliding shoe two (19) moving back and forth on shifting sledge two (17) may be implemented in the positive and negative rotation of motor two (20), convenient for adjusting
The position of robot gripper (31) in the X-axis direction.
9. a kind of stack robot manipulator device according to claim 5, which is characterized in that the electric telescopic rod (22)
The rotating electric machine (23) on telescopic end can be driven, rotating electric machine (23) can drive the handgrip frame (24) on round end, just
In the position for adjusting handgrip frame (24)；The stepper motor three (28) can drive the driving gear three (29) on round end,
Driving gear three (29) intermeshes with rectangle rack gear three (26), and sliding shoe three may be implemented in the positive and negative rotation of stepper motor three (28)
(27) moving back and forth on shifting sledge three (25), convenient for adjusting in robot gripper (31) width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811420434.1A CN109292443A (en) | 2018-11-26 | 2018-11-26 | A kind of stack robot manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811420434.1A CN109292443A (en) | 2018-11-26 | 2018-11-26 | A kind of stack robot manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109292443A true CN109292443A (en) | 2019-02-01 |
Family
ID=65143649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811420434.1A Pending CN109292443A (en) | 2018-11-26 | 2018-11-26 | A kind of stack robot manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109292443A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112044922A (en) * | 2020-08-01 | 2020-12-08 | 广西力源宝科技有限公司 | Fermentation cylinder grabbing manipulator and grabbing method thereof |
| CN113387172A (en) * | 2021-07-27 | 2021-09-14 | 昆山同日机器人智能科技有限公司 | Gripper of large hydrogen bottle |
| WO2022077624A1 (en) * | 2020-10-16 | 2022-04-21 | 苏州龙骐自动化科技有限公司 | Industrial robot clamping device for palletizing articles |
-
2018
- 2018-11-26 CN CN201811420434.1A patent/CN109292443A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112044922A (en) * | 2020-08-01 | 2020-12-08 | 广西力源宝科技有限公司 | Fermentation cylinder grabbing manipulator and grabbing method thereof |
| WO2022077624A1 (en) * | 2020-10-16 | 2022-04-21 | 苏州龙骐自动化科技有限公司 | Industrial robot clamping device for palletizing articles |
| CN113387172A (en) * | 2021-07-27 | 2021-09-14 | 昆山同日机器人智能科技有限公司 | Gripper of large hydrogen bottle |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190201 |