CN110745565B - Stacking robot for workshop production and using method - Google Patents
Stacking robot for workshop production and using method Download PDFInfo
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- CN110745565B CN110745565B CN201910897755.9A CN201910897755A CN110745565B CN 110745565 B CN110745565 B CN 110745565B CN 201910897755 A CN201910897755 A CN 201910897755A CN 110745565 B CN110745565 B CN 110745565B
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- 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
Abstract
The invention discloses a palletizing robot for workshop production and a using method thereof, wherein the palletizing robot comprises the following components: the stacking device comprises a mounting frame, a sliding seat and a stacking frame; the utility model discloses a pile up neatly put up, including mounting bracket, outer wall swing joint of horizontal end inner wall and slide of mounting bracket, the inner wall of slide is provided with hydraulic cylinder, and hydraulic cylinder's below is connected with the actuating lever, the bottom of actuating lever is passed through the connecting axle and is connected with the pile up neatly frame rotation, the spacing groove has been seted up to the lower surface of pile up neatly frame, and the inner wall of spacing groove is provided with second electric putter, second electric putter passes through the telescopic link and is connected with splint. According to the stacking robot for workshop production, the stacking frame with the rotating structure is adopted, so that the stacking frame can rotate to adjust the opening and closing angle by taking the connecting shaft as a base point, the clamping requirements among different sizes of goods are met, meanwhile, the secondary supporting and lifting effect can be achieved on the bottom of the goods by matching with the clamping plate with the L-shaped structure, and the phenomenon that the goods fall off when the stacking moves is prevented.
Description
Technical Field
The invention relates to the technical field of palletizing robots, in particular to a palletizing robot for workshop production and a using method thereof.
Background
The stacking robot is a product formed by organically combining machinery and a computer program, provides higher production efficiency for modern production, is widely applied in the stacking industry, greatly saves labor force and space, is flexible and accurate in operation, quick and efficient, high in stability and high in operating efficiency, and plays an important role in production work in a workshop.
However, when the stacking robot for the existing workshop production clamps the goods, the robot can only clamp the goods with a single structure to achieve a fixed effect, the bottom of the goods is lack of a supporting and lifting measure, so that the goods are easy to drop in the transferring process, and meanwhile, when the goods are loaded and unloaded, the goods can be influenced by large friction resistance, the goods can be damaged seriously, and the work efficiency of the goods stacking is reduced.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a palletizing robot for workshop production and a using method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme: a palletizing robot for workshop production comprises: the stacking device comprises a mounting frame, a sliding seat and a stacking frame;
the inner wall of the horizontal end of the mounting rack is movably connected with the outer wall of the sliding seat;
a lifting hydraulic cylinder is arranged on the inner wall of the sliding seat, a driving rod is connected below the lifting hydraulic cylinder, and the bottom of the driving rod is rotatably connected with the stacking rack through a connecting shaft;
the lower surface of the stacking rack is provided with a limiting groove, the inner wall of the limiting groove is provided with a second electric push rod, and the second electric push rod is connected with the clamping plate through a telescopic rod.
As a further description of the above technical solution:
the device also comprises a conveying frame;
the conveying frame is fixed at the vertical ends of the two sides of the mounting frame through bolts;
the upper surface of carriage is provided with the pile up neatly board, and the pile up neatly board is parallel for the horizontal end of mounting bracket.
As a further description of the above technical solution:
also comprises an air bag;
the number of the air bags is two, and the two air bags are respectively adhered to the inner walls of the shorter sides of the two sides of the mounting rack;
and a bearing plate is stuck on the outer side of the air bag and is parallel to the outer wall of the longer side of the sliding seat.
As a further description of the above technical solution:
the device also comprises a servo motor;
the servo motor is arranged in the sliding seat;
the servo motor is in transmission connection with the gear ring through a coupler extending out of the sliding seat;
the gear ring is meshed with a rack welded on the inner wall of the mounting frame.
As a further description of the above technical solution:
the first electric push rod is further included;
the top of the first electric push rod is rotationally connected with the outer wall of the driving rod through a pin shaft;
the bottom of the first electric push rod is rotatably connected with the top of the stacking frame through a pin shaft.
As a further description of the above technical solution:
the clamping plate consists of a longitudinal plate and a transverse plate;
the longitudinal plates and the transverse plates are perpendicular to each other;
and a rubber gasket is adhered to the inner wall of the longitudinal plate.
As a further description of the above technical solution:
the transverse plate is of a right-angled trapezoid structure, and the angle of an inclined edge of the transverse plate is 45 degrees;
the roll groove of a plurality of equidistance structure is all seted up with the upper surface to the slope limit of diaphragm, and the inside rotation in roll groove is connected with the roller.
As a further description of the above technical solution:
the device also comprises a sliding chute;
the sliding grooves are formed in the inner walls of the longer sides of the two sides of the horizontal end of the mounting frame;
the inner wall of spout rotates and is connected with the balance roller, and the outer wall roll connection of balance roller and slide.
A using method of a palletizing robot for workshop production comprises the following steps:
s01: adjusting the transverse position and the longitudinal position of the stacking rack, starting a servo motor to drive a toothed ring and a rack to rotate, adjusting the transverse position of a sliding seat, then starting a lifting hydraulic cylinder to drive the stacking rack to adjust the longitudinal position through a driving rod, and moving the stacking rack to a cargo position;
s02: the angle is adjusted to clamp the goods, the first electric push rod is started to drive the two stacking frames to rotate and open, the clamping plate is located on the outer side of the goods, the first electric push rod is reset, and the goods are wrapped and clamped under the driving of the second electric push rod;
s03: moving the goods to a stacking place, after the goods are clamped by the stacking frame, starting the servo motor and the lifting hydraulic cylinder again to drive the goods on the stacking frame to move, so that the goods move above the stacking plate;
s04: and putting down the goods for stacking, starting the first electric push rod and the second electric push rod again to ensure that the clamping plate is opened in a rotating manner, and unloading the goods in the stacking rack downwards along the roller shaft to perform stacking treatment.
As a further description of the above technical solution:
the first electric push rod drives the rotation angle of the stacking rack to be within 0-45 degrees.
Advantageous effects
The invention provides a palletizing robot for workshop production and a using method thereof. The method has the following beneficial effects:
(1): this pile up neatly machine people for workshop production adopts rotating-structure's pile up neatly frame for the pile up neatly frame can use the connecting axle to carry out the rotation regulation of switching angle as the basic point, changes the inclination size between two pile up neatly frames, satisfies the clamp between the not equidimension goods and gets the demand, cooperates the splint of L shape structure simultaneously, also can play the effect that the secondary supported lifts to the bottom of goods, prevents that the goods from taking place the phenomenon that drops when the pile up neatly removes, thereby very big improvement pile up neatly machine people's pile up neatly security.
(2): this pile up neatly machine people for workshop production utilizes free rolling structure through the roller that sets up, can play roll connection's effect at the goods that enters into in the splint, reduces the frictional resistance of splint and goods contact surface, can enough avoid the goods to receive too big frictional force and take place the phenomenon of damage, has also made things convenient for the last unloading operation of goods simultaneously, and then has improved the actual work efficiency of pile up neatly.
Drawings
Fig. 1 is an overall structural schematic diagram of a palletizing robot for workshop production, which is provided by the invention;
FIG. 2 is a schematic top view of the mounting bracket of the present invention;
FIG. 3 is a schematic view of a portion of the connection between the mounting frame and the sliding base;
FIG. 4 is a schematic structural view of the joint between the driving rod and the pallet frame according to the present invention;
FIG. 5 is a schematic view of a portion of the connection between the pallet and the clamping plate of the present invention;
FIG. 6 is a schematic view of the splint of the present invention;
fig. 7 is a schematic flow chart of a using method of the palletizing robot for workshop production, which is provided by the invention.
Illustration of the drawings:
1. a mounting frame; 11. an air bag; 12. a pressure bearing plate; 13. a chute; 14. a balance roller; 15. a rack; 2. a slide base; 21. a toothed ring; 22. a servo motor; 3. a lifting hydraulic cylinder; 4. a drive rod; 41. a connecting shaft; 42. a pin shaft; 43. a first electric push rod; 5. a stacking rack; 51. a splint; 52. a second electric push rod; 53. a limiting groove; 54. a longitudinal plate; 541. a rubber gasket; 55. a transverse plate; 551. a roller groove; 552. a roll shaft; 6. stacking plates; 7. and (4) a conveying frame.
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.
As shown in fig. 1, 4 and 5, a palletizing robot for shop production includes: the device comprises a mounting frame 1, a sliding seat 2 and a stacking frame 5;
the inner wall of the horizontal end of the mounting rack 1 is movably connected with the outer wall of the sliding seat 2;
a lifting hydraulic cylinder 3 is arranged on the inner wall of the sliding seat 2, a driving rod 4 is connected below the lifting hydraulic cylinder 3, and the bottom of the driving rod 4 is rotatably connected with a pallet 5 through a connecting shaft 41;
spacing groove 53 has been seted up to the lower surface of hacking frame 5, and the inner wall of spacing groove 53 is provided with second electric putter 52, and second electric putter 52 passes through the telescopic link to be connected with splint 51 for second electric putter 52 can promote splint 51 and remove, adjusts the interval size between two splint 51.
As shown in fig. 1, the automatic stacking device further comprises a conveying frame 7, the conveying frame 7 is fixed at the vertical ends of the two sides of the mounting frame 1 through bolts, a stacking plate 6 is arranged on the upper surface of the conveying frame 7, the stacking plate 6 is parallel to the horizontal end of the mounting frame 1, and the stacking plate 6 is located on the conveying frame 7, so that the conveying frame 7 can drive the stacking plate 6 to perform automatic replacement processing on the stacking plate 6, and manual replacement is not needed.
As shown in fig. 2, the air bag device further includes two air bags 11, the two air bags 11 are respectively adhered to the inner walls of the shorter sides of the two sides of the mounting rack 1, the outer side of the air bag 11 is adhered with a bearing plate 12, and the bearing plate 12 is parallel to the outer wall of the longer side of the sliding seat 2, when the sliding seat 2 moves excessively in the transverse direction on the inner wall of the mounting rack 1, the sliding seat 2 can contact with the bearing plate 12 and transmit pressure to the air bags 11, so that the air bags 11 are extruded and deformed, thereby playing a role of elastic buffer protection for the sliding seat 2 and reducing the vibration amplitude received by the sliding seat 2.
As shown in fig. 3, the sliding rack further comprises a servo motor 22, the servo motor 22 is arranged inside the sliding base 2, the servo motor 22 is in transmission connection with a toothed ring 21 through a coupler extending out of the sliding base 2, the toothed ring 21 is in meshing connection with a rack 15 welded on the inner wall of the mounting rack 1, the servo motor 22 drives the toothed ring 21 to rotate, the toothed ring 21 is in meshing connection with the rack 15, and the sliding base 2 can never make free transverse movement in the mounting rack 1.
As shown in fig. 4, the clamping device further comprises a first electric push rod 43, the top of the first electric push rod 43 is rotatably connected with the outer wall of the driving rod 4 through a pin shaft 42, the bottom of the first electric push rod 43 is rotatably connected with the top of the stacking rack 5 through a pin shaft 42, and the first electric push rod 43 drives the stacking rack 5 to rotate within the range of 0-45 degrees, so that the stacking rack 5 can rotate to adjust the opening and closing angle by using the connecting shaft 41 as a base point, the size of the inclination angle between the two stacking racks 5 is changed, and the clamping requirements of goods with different sizes are met.
As shown in fig. 6, the clamp plate 51 is composed of a longitudinal plate 54 and a transverse plate 55, the longitudinal plate 54 and the transverse plate 55 are perpendicular to each other, a rubber gasket 541 is adhered to the inner wall of the longitudinal plate 54, the transverse plate 55 is in a right trapezoid structure, the inclined edge angle of the transverse plate 55 is 45 degrees, a plurality of roller grooves 551 with equidistant structures are formed in the inclined edge and the upper surface of the transverse plate 55, and a roller shaft 552 is rotatably connected inside the roller grooves 551, the clamp plate 51 with an L-shaped structure can also play a role of secondary supporting and lifting the bottom of goods to prevent the goods from falling off when the goods are stacked, so that the stacking safety of the stacking robot is greatly improved, the roller shaft 552 can play a role of rolling connection on the goods entering the clamp plate 51 by using a free rolling structure, the friction resistance between the clamp plate 51 and the contact surface of the goods is reduced, and the phenomenon that the goods are damaged due to excessive friction can be avoided, and the loading and unloading operation of the goods is also facilitated.
As shown in fig. 3, the adjusting device further comprises a sliding groove 13, the sliding groove 13 is formed in the inner wall of the longer side of the two sides of the horizontal end of the mounting frame 1, the inner wall of the sliding groove 13 is rotatably connected with a balance roller 14, the balance roller 14 is in rolling connection with the outer wall of the sliding seat 2, when the sliding seat 2 moves on the inner wall of the mounting frame 1, the two sides of the sliding seat 2 are in rolling connection with the balance roller 14 in the sliding groove 13, so that the influence of friction resistance on the sliding seat 2 is reduced, and meanwhile, the sliding seat 2 can be adjusted in a horizontal stable state in.
As shown in fig. 7, a method for using a palletizing robot for workshop production comprises the following steps:
s01: adjusting the transverse position and the longitudinal position of the stacking rack, starting a servo motor 22 to drive a toothed ring 21 and a rack 15 to rotate, adjusting the transverse position of the sliding seat 2, then starting a lifting hydraulic cylinder 3 to drive the stacking rack 5 through a driving rod 4 to adjust the longitudinal position, and moving the stacking rack 5 to the cargo position;
s02: the angle is adjusted to clamp the goods, the first electric push rod 43 is started to drive the two stacking racks 5 to rotate and open, the clamping plate 51 is located on the outer side of the goods, the first electric push rod 43 is reset, and the goods are wrapped and clamped under the driving of the second electric push rod 52;
s03: moving the goods to a stacking place, after the goods are clamped by the stacking frame 5, starting the servo motor 22 and the lifting hydraulic cylinder 3 again to drive the goods on the stacking frame 5 to move, so that the goods move to the position above the stacking plate 6;
s04: and (3) putting down the goods for stacking, and starting the first electric push rod 43 and the second electric push rod 52 again to enable the clamping plate 51 to rotate and open, so that the goods in the stacking rack 5 are discharged downwards along the roller shaft 552 for stacking.
The first electric push rod 43, the second electric push rod 52, the hydraulic lifting cylinder 3 and the servo motor 22 proposed in the above are all of conventional type devices on the market, and the relevant circuit connection relationship is already disclosed.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a pile up neatly machine people is used in workshop production which characterized in that includes: the stacking device comprises a mounting frame (1), a sliding seat (2), a stacking frame (5) and a first electric push rod (43);
the inner wall of the horizontal end of the mounting rack (1) is movably connected with the outer wall of the sliding seat (2);
the inner wall of the sliding seat (2) is provided with a lifting hydraulic cylinder (3), a driving rod (4) is connected below the lifting hydraulic cylinder (3), and the bottom of the driving rod (4) is rotatably connected with the pallet frame (5) through a connecting shaft (41);
a limiting groove (53) is formed in the lower surface of the stacking rack (5), a second electric push rod (52) is arranged on the inner wall of the limiting groove (53), and the second electric push rod (52) is connected with the clamping plate (51) through a telescopic rod;
the top of the first electric push rod (43) is rotationally connected with the outer wall of the driving rod (4) through a pin shaft (42);
the bottom of the first electric push rod (43) is rotatably connected with the top of the stacking rack (5) through a pin shaft (42);
the clamping plate (51) consists of a longitudinal plate (54) and a transverse plate (55);
the longitudinal plate (54) and the transverse plate (55) are perpendicular to each other.
2. Palletizing robot for workshop production, according to claim 1, characterized in that it further comprises a carriage (7);
the conveying frame (7) is fixed at the vertical ends of the two sides of the mounting frame (1) through bolts;
the upper surface of the conveying frame (7) is provided with a stacking plate (6), and the stacking plate (6) is parallel to the horizontal end of the mounting frame (1).
3. Palletizing robot for workshop production, according to claim 2, characterized in that it further comprises an airbag (11);
the number of the air bags (11) is two, and the two air bags (11) are respectively stuck to the inner walls of the shorter sides at the two sides of the mounting rack (1);
the outer side of the air bag (11) is pasted with a bearing plate (12), and the bearing plate (12) is parallel to the outer wall of the longer side of the sliding seat (2).
4. Palletizing robot for workshop production according to claim 3, characterised in that it further comprises a servomotor (22);
the servo motor (22) is arranged inside the sliding seat (2);
the servo motor (22) is in transmission connection with the gear ring (21) through a coupler extending out of the sliding seat (2);
the gear ring (21) is meshed and connected with a rack (15) welded on the inner wall of the mounting frame (1).
5. Palletizing robot for workshop production, according to claim 4, characterized in that the inner wall of the longitudinal plate (54) is glued with rubber gaskets (541).
6. The palletizing robot for workshop production as claimed in claim 5, wherein the transverse plate (55) is of a right trapezoid structure, and the inclined side angle of the transverse plate is 45 degrees;
the inclined edge and the upper surface of the transverse plate (55) are provided with a plurality of roller grooves (551) with equidistant structures, and the roller shafts (552) are rotatably connected inside the roller grooves (551).
7. Palletizing robot for workshop production, according to claim 6, characterized in that it further comprises a chute (13);
the sliding grooves (13) are formed in the inner walls of the longer sides of the two sides of the horizontal end of the mounting rack (1);
the inner wall of the sliding groove (13) is rotatably connected with a balance roller (14), and the balance roller (14) is in rolling connection with the outer wall of the sliding seat (2).
8. The working method of the palletizing robot for workshop production as claimed in claim 7, comprising the following steps:
s01: adjusting the transverse position and the longitudinal position of the stacking rack, starting a servo motor (22) to drive a toothed ring (21) to rotate, adjusting the transverse position of the sliding seat (2), then starting a lifting hydraulic cylinder (3) to drive the stacking rack (5) to adjust the longitudinal position through a driving rod (4), and moving the stacking rack (5) to a cargo position;
s02: the angle is adjusted to clamp the goods, the first electric push rod (43) is started to drive the two stacking racks (5) to rotate and open, the clamping plate (51) is located on the outer side of the goods, the first electric push rod (43) is reset, and the goods are wrapped and clamped under the driving of the second electric push rod (52);
s03: moving the goods to a stacking place, after the goods are clamped by the stacking frame (5), starting the servo motor (22) and the lifting hydraulic cylinder (3) again, driving the goods on the stacking frame (5) to move, and enabling the goods to move above the stacking plate (6);
s04: and (3) putting down the goods for stacking, and activating the first electric push rod (43) and the second electric push rod (52) again to open the clamping plate (51) in a rotating way, so that the goods in the stacking rack (5) are discharged downwards along the roller shaft (552) for stacking.
9. The working method of the palletizing robot for workshop production according to claim 8, wherein the rotation angle of the first electric push rod (43) driving the palletizing frame (5) ranges from 0 to 45 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910897755.9A CN110745565B (en) | 2019-09-23 | 2019-09-23 | Stacking robot for workshop production and using method |
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| CN201910897755.9A CN110745565B (en) | 2019-09-23 | 2019-09-23 | Stacking robot for workshop production and using method |
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| CN110745565A CN110745565A (en) | 2020-02-04 |
| CN110745565B true CN110745565B (en) | 2021-05-04 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112623779A (en) * | 2020-12-24 | 2021-04-09 | 重庆城市管理职业学院 | A intelligent letter sorting bunching device for material transport |
| CN114572707A (en) * | 2022-04-26 | 2022-06-03 | 邵鹏 | Stacking robot based on artificial intelligence and working method thereof |
| CN117699386B (en) * | 2024-02-06 | 2024-04-26 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
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