CN111874647A

CN111874647A - Stacking marshalling robot

Info

Publication number: CN111874647A
Application number: CN202010812679.XA
Authority: CN
Inventors: 邓检宝; 邓凌; 何令
Original assignee: Guangzhou Tech Long Packaging Machinery Co Ltd
Current assignee: Guangzhou Tech Long Packaging Machinery Co Ltd
Priority date: 2020-08-13
Filing date: 2020-08-13
Publication date: 2020-11-03

Abstract

The invention discloses a stacking marshalling robot which comprises a support, a lifting device, a first mechanical arm, a second mechanical arm and a container cover, wherein the lifting device is arranged on the support, one end of the first mechanical arm is hinged with the lifting device, the other end of the first mechanical arm is hinged with one end of the second mechanical arm, the container cover is arranged at one end, far away from the first mechanical arm, of the second mechanical arm, and the first mechanical arm, the second mechanical arm and the container cover can rotate. The stacking marshalling robot can be used for translating or positioning containers on a marshalling conveying belt, the first mechanical arm is driven to move in the vertical direction through the lifting device, the container cover arranged on the second mechanical arm can flexibly move in a three-dimensional space by means of rotation of the first mechanical arm and the second mechanical arm, the container cover can rotate to be better matched with the containers and adjust the containers, and the stacking marshalling robot is compact in overall structure, high in reaction speed, flexible in swinging and small in occupied space.

Description

Stacking marshalling robot

Technical Field

The invention relates to the technical field of industrial robots, in particular to a stacking marshalling robot.

Background

In the fields of stacking, carrying and assembling, the robot is widely applied and has the characteristics of simple structure, stable operation, higher efficiency, wide flexibility and the like, but for the robot for grouping box-shaped products before stacking, the existing robots (such as ABB or KUKA) adopting connecting rod structures are too large, the structure is not compact, the occupied space is large, the smaller robots (such as SCARA) are too small in operation range and too small in load capacity, and the robot cannot be applied to the field of stacking grouping robots.

Disclosure of Invention

The invention aims to provide a stacking marshalling robot which is compact in structure, high in reaction speed, flexible in swing and small in occupied space.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a pile up neatly marshalling robot, including support, elevating gear, first robotic arm, second robotic arm and packing box cover, elevating gear sets up on the support, first robotic arm's one end with elevating gear is articulated, first robotic arm's the other end with second robotic arm's one end is articulated, the packing box cover sets up second robotic arm keeps away from first robotic arm's one end, first robotic arm, second robotic arm reaches packing box cover is all rotatable.

As a preferable scheme of the present invention, the lifting device includes a lifting driving assembly, a guide rail, a slider, and a sliding seat, the guide rail is vertically disposed, the slider is disposed on the guide rail, the sliding seat is connected to the slider, the lifting driving assembly can drive the sliding seat to move along the guide rail, one end of the first robot arm is hinged to the sliding seat, the sliding seat is provided with a first shaft driving member, and the first shaft driving member is connected to the first robot arm and can drive the first robot arm to rotate.

As a preferable aspect of the present invention, the sliding seat is provided with a first bearing seat, and the first shaft driving member includes a first rotating shaft, and the first rotating shaft passes through the first bearing seat and is keyed to the first robot arm.

As a preferable mode of the present invention, the lifting drive assembly includes a ball screw pair, a screw in the ball screw pair is disposed in parallel with the guide rail, and a nut in the ball screw pair is connected to the sliding seat.

As a preferable scheme of the present invention, a second bearing seat and a second shaft driving element are disposed at an end of the first robot arm away from the lifting device, the second shaft driving element includes a second rotating shaft, and the second rotating shaft passes through the second bearing seat and is in key connection with the second robot arm.

As a preferable scheme of the present invention, one end of the second mechanical arm, which is away from the first mechanical arm, is provided with a third bearing seat and a third shaft driving element, the third shaft driving element includes a third rotating shaft, and the third rotating shaft penetrates through the third bearing seat and is connected to the cargo box cover.

As a preferable scheme of the invention, the cargo box cover comprises a top plate, two oppositely arranged first side plates and two oppositely arranged second side plates, the top plate, the two first side plates and the two second side plates jointly define a cavity for accommodating the cargo box, one side edges of the first side plates and the second side plates are connected with the top plate, one side edges of the first side plates and the second side plates, which are far away from the top plate, are bent towards the outside of the cavity, and a horn-shaped opening is formed in the cargo box cover.

As a preferable scheme of the present invention, the palletizing and grouping robot further includes a first drag chain, a second drag chain, and a third drag chain, two ends of the first drag chain are respectively connected to the support and the lifting device, two ends of the second drag chain are respectively connected to the lifting device and the first mechanical arm, and two ends of the third drag chain are respectively connected to the first mechanical arm and the second mechanical arm.

In a preferred embodiment of the present invention, the rotation axes of the first robot arm, the second robot arm, and the box cover are all parallel to each other.

In a preferred embodiment of the present invention, the first robot arm and the second robot arm have a rotation angle of less than 360 degrees, and the trunk lid has a rotation angle of more than 360 degrees.

The invention has the beneficial effects that:

the stacking marshalling robot can be used for translating or positioning containers on a marshalling conveying belt, the first mechanical arm is driven to move in the vertical direction through the lifting device, the container cover arranged on the second mechanical arm can move in a three-dimensional space by means of rotation of the first mechanical arm and the second mechanical arm, the container cover can rotate to be better matched with the containers and the position of the containers can be adjusted, and the stacking marshalling robot is compact in overall structure, high in reaction speed, flexible in swing and small in occupied space.

Drawings

Fig. 1 is a schematic perspective view of a palletizing robot according to an embodiment of the present invention;

FIG. 2 is a schematic side view of FIG. 1;

FIG. 3 is a schematic top view of FIG. 1;

fig. 4 is an enlarged view of a point a in fig. 1.

In the figure:

1. a support; 2. a lifting device; 21. a lift drive assembly; 22. a guide rail; 23. a slider; 24. a sliding seat; 3. a first robot arm; 4. a second robot arm; 5. a cargo box cover; 51. a first side plate; 52. a second side plate; 53. a top plate; 61. a first shaft drive; 611. a first rotating shaft; 62. a second shaft drive member; 621. a second rotating shaft; 63. a third shaft drive; 631. a third rotating shaft; 71. a first bearing housing; 72. a second bearing housing; 73. a third bearing seat; 81. a first tow chain; 82. a second tow chain; 83. and a third drag chain.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the word "over" a first feature or feature in a second feature may include the word "over" or "over" the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under" a second feature may include a first feature that is directly under and obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

As shown in fig. 1, the palletizing and grouping robot of the present embodiment includes a support 1, a lifting device 2, a first mechanical arm 3, a second mechanical arm 4 and a container cover 5, the lifting device 2 is disposed on the support 1, one end of the first mechanical arm 3 is hinged to the lifting device 2, the other end of the first mechanical arm 3 is hinged to one end of the second mechanical arm 4, the container cover 5 is disposed at one end of the second mechanical arm 4 far from the first mechanical arm 3, and the first mechanical arm 3, the second mechanical arm 4 and the container cover 5 are all rotatable.

The pile up neatly marshalling robot of this embodiment can be used to carry out translation or pendulum position to the packing box on the marshalling conveyer belt, move in vertical direction through 2 drive first robotic arm 3 of elevating gear, borrow the rotation of first robotic arm 3 and second robotic arm 4 again to make the packing box cover 5 that sets up on second robotic arm 4 can remove in three-dimensional space, packing box cover 5 self is rotatable to make it can match and realize the adjustment to the packing box position better with the packing box, when the packing box adjustment back that targets in place, elevating gear 2 can realize the separation of packing box cover 5 and packing box through promoting first robotic arm 3, overall structure is compact, the reaction rate is fast, the swing is nimble, it is little to take up an area of space.

As shown in fig. 4, preferably, the lifting device 2 includes a lifting driving assembly 21, a guide rail 22, a slider 23 and a sliding seat 24, the guide rail 22 is disposed vertically, the slider 23 is disposed on the guide rail 22, the sliding seat 24 is connected to the slider 23, the lifting driving assembly 21 can drive the sliding seat 24 to move along the guide rail 22, one end of the first robot arm 3 is hinged to the sliding seat 24, a first shaft driving member 61 is disposed on the sliding seat 24, and the first shaft driving member 61 is connected to the first robot arm 3 and can drive the first robot arm 3 to rotate. The weight of first robotic arm 3, second robotic arm 4 and packing box cover 5 all needs elevating gear 2 to come the burden, and this kind of setting has higher stability when making first robotic arm 3 reciprocate, is favorable to carrying out comparatively accurate control to packing box cover 5's position, and lift drive assembly 21 can adopt the motor.

In other embodiments, the number of guide rails 22 and sliders 23 is two to further improve the load-bearing capacity and stability of the lifting device 2.

As shown in fig. 2, the sliding seat 24 is further provided with a first bearing seat 71, and the first shaft driving member 61 includes a first rotating shaft 611, and the first rotating shaft 611 passes through the first bearing seat 71 and is keyed with the first robot arm 3. The first rotating shaft 611 drives the first mechanical arm 3 to rotate, and the first bearing seat 71 plays a role in limiting and radially supporting the first rotating shaft 611, so that the first rotating shaft 611 has higher stability when rotating.

In some embodiments, the lifting drive assembly 21 includes a ball screw assembly, in which a screw is disposed parallel to the guide rail 22, and a nut is connected to the sliding seat 24, so that the lifting device 2 has high motion stability and control accuracy.

As shown in fig. 1 and 2, preferably, the end of the first robot arm 3 away from the lifting device 2 is provided with a second shaft driving member 62 and a second bearing seat 72, the second shaft driving member 62 includes a second rotating shaft 621, and the second rotating shaft 621 passes through the second bearing seat 72 and is keyed with the second robot arm 4. The second mechanical arm 4 is driven to rotate through the second rotating shaft 621, and the box cover 5 has higher motion flexibility due to relative rotation between the first mechanical arm 3 and the second mechanical arm 4, so that the marshalling efficiency of the containers is improved.

Preferably, the end of the second robot arm 4 away from the first robot arm 3 is provided with a third shaft driver 63 and a third bearing seat 73, the third shaft driver 63 includes a third rotating shaft 631, and the third rotating shaft 631 passes through the third bearing seat 73 and is connected to the cargo box 5. Since the status of the containers on the grouping conveyor belt varies, the container cover 5 is driven to rotate by the third rotating shaft 631, so that the container cover 5 can cover the containers at a higher speed and adjust the positions of the containers.

As shown in fig. 3, preferably, the cargo box cover 5 includes two oppositely disposed first side plates 51, two oppositely disposed second side plates 52 and a top plate 53, the two first side plates 51, the two second side plates 52 and the top plate 53 together define a cavity for accommodating the cargo box, one side of each of the first side plates 51 and the second side plates 52 is connected with the top plate 53, and one side of each of the first side plates 51 and the second side plates 52, which is far away from the top plate 53, is bent towards the outside of the cavity, so as to form a trumpet-shaped opening on the cargo box cover 5. The packing box cover 5 can be selected to be formed by a cross plate by bending, the horn-shaped opening on the packing box cover 5 can enable the packing box cover 5 to be not required to be aligned with a packing box accurately, even if the packing box cover 5 has a certain degree of deviation with the packing box, when the packing box cover 5 is pressed down, the packing box can be smoothly extruded into the cavity of the packing box cover 5 by means of the cambered surface formed by the bending part on the first side plate 51-level second side plate 52, and the marshalling efficiency of the packing box is improved.

As shown in fig. 1 to 3, the palletizing and grouping robot further comprises a first drag chain 81, a second drag chain 82 and a third drag chain 83, wherein two ends of the first drag chain 81 are respectively connected with the support 1 and the lifting device 2, two ends of the second drag chain 82 are respectively connected with the lifting device 2 and the first mechanical arm 3, and two ends of the third drag chain 83 are respectively connected with the first mechanical arm 3 and the second mechanical arm 4. The connecting circuit of support 1 and elevating gear 2 passes through first tow chain 81 to be connected, first tow chain 81 can reciprocate along with elevating gear 2, elevating gear 2 passes through the second tow chain 82 with the connecting circuit of first manipulator 3 and is connected, second tow chain 82 can swing along with the rotation of first manipulator 3, the connecting circuit of first manipulator 3 and second manipulator 4 passes through third tow chain 83 and is connected, third tow chain 83 can swing along with the rotation of second manipulator 4, the connecting circuit of support 1 and second manipulator 4 loops through first tow chain 81, second tow chain 82 and third tow chain 83. Through setting up first tow chain 81, second tow chain 82 and third tow chain 83, can play the traction and guard action to the circuit, prevent that the circuit from damaging because of pile up neatly marshalling robot's motion, guarantee pile up neatly marshalling robot's normal operating.

Preferably, the rotation axes of the first mechanical arm 3, the second mechanical arm 4 and the cargo box 5 are all parallel to each other, so that the possibility of interference when moving between the parts can be reduced, and in the embodiment, the rotation axes of the first mechanical arm 3, the second mechanical arm 4 and the cargo box 5 are all in the vertical direction.

Preferably, the first robot arm 3 and the second robot arm 4 are rotatable by an angle smaller than 360 degrees, and the box cover 5 is rotatable by an angle larger than 360 degrees. Due to the structural characteristics of the first mechanical arm 3 and the second mechanical arm 4, 360-degree omnidirectional rotation is difficult to achieve, but the omnidirectional rotation of the container cover 5 can be matched with containers on the marshalling conveying belt more quickly, and the marshalling efficiency is improved.

Reference throughout this specification to the description of the term "preferred" or the like means that a particular feature, structure, material, or characteristic described in connection with the example or illustration is included in at least one example or illustration 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 examples are only intended to illustrate the details of the invention, which is not limited to the above details, i.e. it is not intended that the invention must be implemented in such detail. It should be understood by those skilled in the art that any modification of the present invention, equivalent substitutions of the raw materials of the product of the present invention, addition of auxiliary components, selection of specific modes, etc., are within the scope and disclosure of the present invention.

Claims

1. The utility model provides a pile up neatly marshalling robot, its characterized in that includes support, elevating gear, first robotic arm, second robotic arm and packing box cover, elevating gear sets up on the support, first robotic arm's one end with elevating gear is articulated, first robotic arm's the other end with second robotic arm's one end is articulated, the packing box cover sets up second robotic arm keeps away from first robotic arm's one end, first robotic arm, second robotic arm and packing box cover all is rotatable.

2. The palletizing grouping robot according to claim 1, wherein the lifting device comprises a lifting driving assembly, a guide rail, a sliding block and a sliding seat, the guide rail is vertically arranged, the sliding block is arranged on the guide rail, the sliding seat is connected with the sliding block, the lifting driving assembly can drive the sliding seat to move along the guide rail, one end of the first mechanical arm is hinged with the sliding seat, a first shaft driving member is arranged on the sliding seat, and the first shaft driving member is connected with the first mechanical arm and can drive the first mechanical arm to rotate.

3. The palletizing robot according to claim 2, wherein a first bearing seat is provided on the sliding seat, and the first shaft driving member comprises a first rotating shaft which passes through the first bearing seat and is keyed with the first robot arm.

4. The palletizing robot according to claim 2, wherein the lifting drive assembly comprises a ball screw pair, a screw of the ball screw pair is arranged in parallel with the guide rail, and a nut of the ball screw pair is connected with the sliding seat.

5. The palletizing robot according to claim 1, wherein a second bearing seat and a second shaft driving member are arranged at an end of the first robot arm, which is far away from the lifting device, the second shaft driving member comprises a second rotating shaft, and the second rotating shaft penetrates through the second bearing seat and is in key connection with the second robot arm.

6. The palletizing robot according to claim 1, wherein an end of the second robot arm remote from the first robot arm is provided with a third bearing seat and a third shaft driving member, the third shaft driving member comprises a third rotating shaft, and the third rotating shaft penetrates through the third bearing seat and is connected with the cargo box cover.

7. The palletizing grouping robot according to claim 6, wherein the cargo box cover comprises a top plate, two oppositely arranged first side plates and two oppositely arranged second side plates, the top plate, the two first side plates and the two second side plates jointly define a cavity for accommodating a cargo box, one side edges of the first side plates and the second side plates are connected with the top plate, one side edges of the first side plates and the second side plates, which are far away from the top plate, are bent towards the outside of the cavity, and a horn-shaped opening is formed in the cargo box cover.

8. The palletizing robot according to claim 1, further comprising a first drag chain, a second drag chain and a third drag chain, wherein two ends of the first drag chain are respectively connected with the support and the lifting device, two ends of the second drag chain are respectively connected with the lifting device and the first mechanical arm, and two ends of the third drag chain are respectively connected with the first mechanical arm and the second mechanical arm.

9. The palletizing robot according to claim 1, wherein the axes of rotation of the first robotic arm, the second robotic arm and the box cover are all parallel to one another.

10. The palletizing robot according to claim 1, wherein a rotational angle of the first and second mechanical arms is less than 360 degrees, and a rotational angle of the container cover is greater than 360 degrees.