CN110723556A

CN110723556A - Stacking robot

Info

Publication number: CN110723556A
Application number: CN201911009711.4A
Authority: CN
Inventors: 郑宏
Original assignee: Qilu University of Technology
Current assignee: Qilu University of Technology
Priority date: 2019-10-23
Filing date: 2019-10-23
Publication date: 2020-01-24

Abstract

The invention discloses a palletizing robot, which comprises a fixed seat, wherein a groove is arranged at the middle position of the upper surface of the fixed seat, a transposition motor is arranged in the groove, a rotating end of the transposition motor is fixedly provided with a rotating disc, the rotating disc is rotatably connected in the groove, a support column is fixedly arranged at the middle position of the upper surface of the rotating disc, the top end surface of the support column is connected with a telescopic cylinder through an articulated piece, one end of a telescopic rod is connected in the telescopic cylinder in a sliding way, and a support seat is fixedly arranged at one side of the articulated piece at the top end surface of the support column. Convenient and fast, is suitable for different article stacking operations.

Description

Stacking robot

Technical Field

The invention relates to the technical field of machinery, in particular to a stacking robot.

Background

With the continuous development of economy and the rapid advance of science and technology in China, the robot has quite wide application in the industries of stacking, gluing, spot welding, arc welding, spraying, carrying, measuring and the like. The palletizing robot is a product of the organic combination of machinery and a computer program. Provides higher production efficiency for modern production. The stacking robot has quite wide application in the stacking industry. The stacking robot greatly saves labor force and space. The stacking robot is flexible and accurate in operation, high in speed and efficiency, high in stability and high in operation efficiency. The idea of being able to build efficient energy efficient fully automatic block machine production lines within a small footprint becomes a reality.

The existing palletizing robot is applied to various fields, and is required to stack objects such as plastic boxes, square barrels, packaging bags, packaging boxes, bottles and the like, if only a manipulator is utilized to grab the palletizing object, the object size is possibly too large, the opened amplitude of the manipulator can not grab the object, so that the palletizing work can not be completed, and the palletizing robot which can suck and grab can be designed at present to complete the palletizing work.

Disclosure of Invention

The invention aims to provide a palletizing robot to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a palletizing robot comprises a fixed seat, wherein a groove is formed in the middle position of the upper surface of the fixed seat, a transposition motor is arranged in the groove, a rotary table is fixedly arranged at the rotating end of the transposition motor, the rotary table is rotatably connected in the groove, a support column is fixedly arranged at the middle position of the upper surface of the rotary table, the top end surface of the support column is connected with a telescopic cylinder through an articulated piece, one end of a telescopic rod is slidably connected inside the telescopic cylinder, a support seat is fixedly arranged on the top end surface of the support column and positioned on one side of the articulated piece, the upper side wall of the telescopic cylinder is connected with a rotating oil cylinder through a screw assembly, the output end of the rotating oil cylinder is connected onto the support seat through the articulated piece, the lower side wall of the telescopic cylinder is connected with a telescopic oil, a supporting angle of connecting plate articulates there is the location hydro-cylinder, another supporting angle of connecting plate articulates there is the one end of locating lever, the output of location hydro-cylinder and the articulated connection of lateral wall of locating lever, the other end fixed mounting of locating lever has the limiting plate, the one end fixed mounting that the locating lever was kept away from to the limiting plate has the crossbeam, the both ends symmetry of crossbeam articulates there is the gripper, a fixed surface of limiting plate installs to press from both sides and gets the hydro-cylinder, the output of getting the hydro-cylinder is equipped with the drive mechanism who drives the gripper motion, the crossbeam is kept away from to press from both sides and is got on the lateral wall of hydro-cylinder and be located two fixed mounting has vacuum chuck between the gripper, vacuum chuck.

Preferably, drive mechanism is including rotating the seat, it is on pressing from both sides the output of getting the hydro-cylinder to rotate seat fixed mounting, it is equipped with logical groove to rotate a lateral wall that the hydro-cylinder was got to the seat away from to press from both sides, the symmetry articulates the one end that has the dwang, two on the inside wall that leads to the groove the other end of dwang is connected with the pivoted arm end hinge of two gripper respectively.

Preferably, a flow regulating valve is arranged on the vacuum tube.

Preferably, the connecting plates are arranged in a triangular structure.

Preferably, the positioning rod is arranged in an S-shaped structure.

Preferably, the outer side wall of the fixing seat is provided with a step end face, the step end face is provided with a plurality of positioning holes, and the positioning holes are connected with peripheral workbench screws.

Compared with the prior art, the invention has the beneficial effects that: a robot palletizer can support a transposition motor through the matching arrangement of a fixed seat and a groove, simultaneously, the rotation of the transposition motor can drive a turntable to rotate in the groove so as to realize that the robot palletizer can rotate circumferentially, through the matching arrangement of the supporting seat, the supporting column and a rotating oil cylinder, the extension and retraction of the output end of the rotating oil cylinder can drive a telescopic cylinder to rotate so as to adjust the heights of a vacuum sucker and a mechanical claw, through the matching arrangement of the telescopic oil cylinder and a connecting plate, the extension and retraction of the output end of the telescopic oil cylinder can drive the connecting plate to extend so as to control the working radius of the vacuum sucker and the mechanical claw, through the matching arrangement of a positioning oil cylinder and a limiting plate, the extension and retraction of the output end of the positioning oil cylinder can drive the limiting plate to rotate so as to adjust the palletizing positions of the vacuum sucker and the mechanical claw, the mechanical claws, the output end of the clamping oil cylinder drives the rotating seat to move, and meanwhile, the rotating rod rotates in the through groove of the rotating seat, so that the mechanical claws are driven to move through the rotating rod to clamp articles, when the articles with larger sizes are clamped, the articles cannot be clamped, the two mechanical claws can be separated firstly, and the smooth surfaces of the articles are sucked by the vacuum chuck for stacking operation.

Drawings

FIG. 1 is a schematic side view of the present invention;

FIG. 2 is a schematic cross-sectional view of the fixing base of the present invention;

FIG. 3 is an enlarged view of the structure at A in FIG. 2;

fig. 4 is a schematic front view of the limiting plate of the invention.

In the figure: 1-a fixed seat, 2-a transposition motor, 3-a rotary table, 4-a support column, 5-a telescopic cylinder, 6-a telescopic rod, 7-a support seat, 8-a rotating oil cylinder, 9-a telescopic oil cylinder, 10-a connecting plate, 11-a positioning oil cylinder, 12-a positioning rod, 13-a limiting plate, 14-a mechanical claw, 15-a clamping oil cylinder, 16-a transmission mechanism, 1601-a rotating seat, 1602-a rotating rod, 17-a vacuum chuck, 18-a vacuum tube, 19-a flow regulating valve and 20-a positioning hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: a palletizing robot comprises a fixed seat 1, a groove is arranged at the middle position of the upper surface of the fixed seat 1, a transposition motor 2 is arranged in the groove, a rotary plate 3 is fixedly arranged at the rotating end of the transposition motor 2, the rotary plate 3 is rotatably connected in the groove, a support column 4 is fixedly arranged at the middle position of the upper surface of the rotary plate 3, the top end surface of the support column 4 is connected with a telescopic cylinder 5 through an articulated piece, one end of a telescopic rod 6 is slidably connected inside the telescopic cylinder 5, a support seat 7 is fixedly arranged at the top end surface of the support column 4 and at one side of the articulated piece, the upper side wall of the telescopic cylinder 5 is connected with a rotating oil cylinder 8 through an articulated piece, the output end of the rotating oil cylinder 8 is connected on the support seat 7 through the articulated piece, the lower side wall of the telescopic cylinder 5, a supporting angle of connecting plate 10 articulates there is positioning cylinder 11, another supporting angle of connecting plate 10 articulates there is the one end of locating lever 12, positioning cylinder 11's output and the articulated connection of lateral wall of locating lever 12, positioning lever 12's other end fixed mounting has limiting plate 13, limiting plate 13 keeps away from the one end fixed mounting of locating lever 12 has the crossbeam, the both ends symmetry of crossbeam articulates there is gripper 14, a fixed surface of limiting plate 13 installs and presss from both sides and gets hydro-cylinder 15, the output of pressing from both sides and getting hydro-cylinder 15 is equipped with the drive mechanism 16 of drive gripper 14 motion, the crossbeam is kept away from to press from both sides and is got on the lateral wall of hydro-cylinder 15 and lie in fixed mounting between two gripper 14 and have vacuum chuck 17, vacuum chuck.

Specifically, drive mechanism 16 is including rotating seat 1601, rotates seat 1601 fixed mounting and gets on pressing from both sides the output of getting hydro-cylinder 15, rotates seat 1601 and keeps away from a lateral wall of getting hydro-cylinder 15 and be equipped with logical groove, and the symmetry articulates the one end that has dwang 1602 on the inside wall that leads to the groove, and the other end of two dwang 1602 articulates with the rotor arm end of two gripper 14 respectively and is connected.

Specifically, the vacuum tube 18 is provided with a flow rate control valve 19.

Specifically, the connection plates 10 are arranged in a triangular configuration.

Specifically, the positioning rod 12 is provided in an S-shaped configuration.

Particularly, the lateral wall of fixing base 1 is equipped with the ladder terminal surface, is equipped with a plurality of locating hole 20 on the ladder terminal surface, and locating hole 20 and the workstation screw connection of peripheral hardware.

The working principle is as follows: according to the invention, the positioning motor 2 can be supported by the matching arrangement of the fixed seat 1 and the groove, the rotation of the positioning motor 2 can drive the rotary disc 3 to rotate in the groove, so that the robot palletizer can rotate circularly, through the matching arrangement of the supporting seat 7 and the supporting column 4, when the rotating oil cylinder 8 is started, the output end of the rotating oil cylinder 8 extends out and retracts to drive the telescopic cylinder 5 to rotate so as to adjust the heights of the vacuum chuck 17 and the mechanical claw 14, when the telescopic oil cylinder 9 is started, one end of the telescopic rod 6 moves in the telescopic cylinder 5 along with the output end of the telescopic oil cylinder 9, and simultaneously the output end of the telescopic oil cylinder 9 extends out and retracts to drive the connecting plate 10 to extend so as to control the working radiuses of the vacuum chuck 17 and the mechanical claw 14, when the positioning oil cylinder 11 is started, the positioning rod 12 rotates on the connecting plate 10, and simultaneously the output end of the positioning oil cylinder 11, so as to adjust the stacking position of the vacuum chuck 17 and the gripper 14, the gripper 14 on both sides can be rotated by the beam, when the clamping cylinder 15 is started, the output end of the clamping cylinder 15 will drive the rotating seat 1601 to move, and at the same time the rotating rod 1602 will rotate in the through groove of the rotating seat 1601, so that the gripper 14 is driven by the rotating rod 1602 to move, when the output end of the clamping cylinder 15 extends, the claw ends of the two grippers 14 will approach each other to complete the clamping operation, when the output end of the clamping cylinder 15 retracts, the claw ends of the two grippers 14 will separate to place the article at the designated position, when the article with larger size is clamped, the gripper cannot clamp the article, the two grippers 14 can be separated first, the vacuum chuck 17 is used to suck the smooth surface of the article for stacking operation, through the cooperation of the vacuum tube 18 and the flow regulating valve 19, the existing air compressor can control the operation of the vacuum chuck 17, the robot palletizer can be arranged on a workbench or a production line through the positioning holes 20 so as to facilitate palletizing operation, the flexibility of a carrying mechanism can be improved through the matching arrangement of the rotating oil cylinder 8, the telescopic oil cylinder 9 and the positioning oil cylinder 11, the working radius of carrying is increased, and objects with different shapes or overlarge sizes can be palletized through the matching arrangement of the mechanical claws 14 and the vacuum suckers 17, so that the robot palletizer is convenient and quick to use and is suitable for different object palletizing operations.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as bolts, rivets, welding and the like mature in the prior art, the machines, the parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a pile up neatly machine people, includes fixing base (1), its characterized in that: the upper surface middle position of fixing base (1) is equipped with the recess, be equipped with transposition motor (2) in the recess, the rotation end fixed mounting of transposition motor (2) has carousel (3), carousel (3) rotate to be connected in the recess, the upper surface middle position fixed mounting of carousel (3) has support column (4), the top face of support column (4) is connected with telescopic cylinder (5) through the articulated elements, the inside sliding connection of telescopic cylinder (5) has the one end of telescopic link (6), the top face of support column (4) and the one side fixed mounting that is located the articulated elements have supporting seat (7), the last lateral wall of telescopic cylinder (5) is connected with rotation hydro-cylinder (8) through the screw subassembly, the output of rotation hydro-cylinder (8) passes through the articulated elements and connects on supporting seat (7), the lower lateral wall of telescopic cylinder (5) is connected with telescopic hydro-cylinder (9) through the screw subassembly, the other end of telescopic link (6) and the output fixed mounting of telescopic cylinder (9) have connecting plate (10), a support angle of connecting plate (10) articulates there is positioning cylinder (11), another support angle of connecting plate (10) articulates there is the one end of locating lever (12), the output of positioning cylinder (11) and the articulated connection of lateral wall of locating lever (12), the other end fixed mounting of locating lever (12) has limiting plate (13), the one end fixed mounting that locating lever (12) were kept away from in limiting plate (13) has the crossbeam, the both ends symmetry of crossbeam articulates there is gripper (14), a fixed surface of limiting plate (13) is installed to press from both sides and is got hydro-cylinder (15), the output of getting hydro-cylinder (15) is equipped with drive mechanism (16) of drive gripper (14) motion, the crossbeam is kept away from on the lateral wall of getting hydro-cylinder (15) and is located two fixed mounting has vacuum chuck (17) between gripper (14) The vacuum port of the vacuum sucker (17) is communicated with the air port of an external air compressor through a vacuum tube (18).

2. Palletizing robot according to claim 1, characterized in that: drive mechanism (16) are including rotating seat (1601), rotate seat (1601) fixed mounting on pressing from both sides the output of getting hydro-cylinder (15), it is equipped with logical groove to rotate seat (1601) and keep away from a lateral wall of getting hydro-cylinder (15), the symmetry articulates the one end that has dwang (1602) on the inside wall that leads to the groove, two the other end of dwang (1602) is connected with the pivoted arm end of two gripper (14) is articulated respectively.

3. Palletizing robot according to claim 1, characterized in that: and a flow regulating valve (19) is arranged on the vacuum pipe (18).

4. Palletizing robot according to claim 1, characterized in that: the connecting plate (10) is arranged in a triangular structure.

5. Palletizing robot according to claim 1, characterized in that: the positioning rod (12) is arranged in an S-shaped structure.

6. Palletizing robot according to claim 1, characterized in that: the outer side wall of the fixed seat (1) is provided with a step end face, the step end face is provided with a plurality of positioning holes (20), and the positioning holes (20) are connected with peripheral workbench screws.