CN112192594A

CN112192594A - End device for gantry type carton stacking manipulator

Info

Publication number: CN112192594A
Application number: CN202011199877.XA
Authority: CN
Inventors: 公续银; 赵建; 王哲; 赵洪华; 王超; 宋现明; 林逸飞
Original assignee: University of Jinan
Current assignee: University of Jinan
Priority date: 2020-11-02
Filing date: 2020-11-02
Publication date: 2021-01-08

Abstract

The invention discloses an end device for a gantry type carton stacking manipulator, and relates to the field of industrial robots. The device mainly comprises a large steering engine, a connecting piece, a supporting plate, a support, a rib plate, a connecting plate, a driving motor, a baffle, a small roller, a small steering engine, a small bearing seat and a stop lever. The device is applied to the execution tail end of the gantry type stacking manipulator, and the carton needs to be stably pushed into the device by using the corresponding carton position restraining device during working. The device adopts the little gyro wheel can reduce the friction, has avoided extrusion and damage to soft carton.

Description

End device for gantry type carton stacking manipulator

Technical Field

The invention belongs to the field of industrial robots, and particularly relates to a terminal device for a gantry type carton stacking manipulator.

Background

Palletizing is one of the main functions of industrial robots, and the execution ends of the palletizing robots used are different according to different types of palletized goods. Wherein the carton is the more common one in the goods of putting things in good order, because carton itself is softer, receives the extrusion easily and produces the deformation at the in-process of putting things in good order the carton, can cause the damage to the inside goods of carton even, so the manipulator of sucking disc formula and push type is hardly applied to the carton goods. Generally, the fork type mechanical arm cannot extrude the carton, the carton is lifted from the bottom of the carton on the conveyor belt to be transported and stacked, but when the fork type mechanical arm stacks goods, the fork and the carton are rubbed, and the stacking position may be inaccurate; if the high-rise stacking is carried out, the center of gravity of the goods can be unstable, and collapse can be caused.

Disclosure of Invention

Aiming at the problems, the invention provides a tail end device for a gantry type carton stacking manipulator. The device mainly comprises a large steering engine, a connecting piece, a supporting plate, a support, a rib plate, a connecting plate, a driving motor, a baffle plate, a small roller, a small steering engine, a small bearing seat and a stop lever, wherein the rib plate is arranged on the support, and the baffle plate is arranged on the support.

Preferably, the large steering engine is installed on the support, the small bearing seat is installed on the support, the small idler wheel is installed on the supporting plate, the supporting plate is installed on the small bearing seat, and the supporting plate is connected with the large steering engine through a connecting piece, so that the large steering engine drives the supporting plate to rotate.

Preferably, the support is connected with a connecting plate, and the driving motor is mounted on the connecting plate to drive the support to rotate.

Preferably, the small steering engine is installed on the support, and the stop lever is connected with the small steering engine to drive the stop lever to rotate.

Compared with the prior art, the invention has the beneficial effects that: the device does not have a pressure-applying gripper mechanism, but adopts small rollers, so that friction is reduced, and extrusion and damage to the soft carton are avoided.

Drawings

The accompanying drawings, which form a part hereof, provide a further understanding of the present application and enable further features, advantages and objects of the application to be apparent from the description, and are included to explain the present application by way of illustration and not by way of limitation.

FIG. 1 is a schematic of the present invention.

Fig. 2 is a front view of the present invention.

FIG. 3 is an isometric view of the present invention.

Fig. 4 is a right side view of the present invention.

Fig. 5 is a schematic view of a carton position restraining device.

Fig. 6 is an isometric view of the carton position restraining device.

FIG. 7 is a schematic view of the end of a conveyor belt.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.

It should be noted that the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 and 4, the application relates to an end device for a gantry type carton stacking manipulator, which mainly comprises a large steering engine 1, a connecting piece 2, a supporting plate 7, a bracket 3, a ribbed plate 4, a connecting plate 5, a driving motor 6, a baffle plate 12, a small roller 8, a small steering engine 9, a small bearing seat 10 and a stop lever 11, wherein the ribbed plate 4 is installed on the bracket 3, and the baffle plate 12 is installed on the bracket 3 to realize the positioning of a carton; the large steering engine 1 is arranged on the support 3, the small bearing seat 10 is arranged on the support 3, the small idler wheel 8 is arranged on the supporting plate 7, the supporting plate 7 is arranged on the small bearing seat 10, and the supporting plate 7 is connected with the large steering engine 1 through the connecting piece 2, so that the large steering engine 1 drives the supporting plate 7 to rotate; the bracket 3 is connected with a connecting plate 5, and the driving motor 6 is arranged on the connecting plate 5 to drive the bracket 3 to rotate; the small steering engine 9 is installed on the support 3, the stop lever 11 is connected with the small steering engine 9, the small steering engine 9 drives the stop lever 11 to rotate towards the inner side, and then the stop lever 11 blocks the carton to prevent the carton from sliding down in the transportation process.

Specifically, as shown in fig. 1, in practical application, the carton stacking end device of the invention is installed on the execution end of a gantry type stacking manipulator through a connecting plate 5, before the carton stacking is started, the device is moved to the tail end position of the conveying belt conveying carton, and the plane of the small roller 8 and the conveying belt are kept on the same horizontal plane, so that the carton can smoothly enter the device (when the carton enters the device, the problem that the carton cannot smoothly enter the device due to the deviation of the conveying position of the carton possibly exists, in order to solve the problem, a carton position restraining device is designed as shown in fig. 5, and comprises a large roller a and a v-shaped bracket b, and the restraining device is placed at the tail end position of the conveying belt as shown in fig. 7, so that the carton can be guaranteed to be sent out from a specified position, and the carton can smoothly enter the carton stacking tail end device of the carton stacking; after the carton enters the tail end device, the small steering engine 9 drives the stop lever 11 to rotate inwards, so that the carton is prevented from sliding off in the transportation process; at the moment, the gantry type stacking manipulator drives the tail end device to reach an appointed carton placing position, and when the posture of the carton needs to be adjusted, the driving motor 6 can drive the tail end device to rotate, so that the tail end device can be adjusted to reach an appointed pose; at this moment, the large steering engine 1 drives the supporting plate 7 to rotate downwards, so that the carton is placed at a specified position.

Fig. 2, 3 and 6 are a front view of the present invention, an isometric view of the present invention, and an isometric view of a carton position restraining device, respectively, to facilitate the reader's better understanding of the present invention.

It should be noted that there are 12 small rollers 8, and the specifications and sizes are completely consistent; the number of the supporting plates 7 is 2, and the specifications and the sizes of the supporting plates are completely consistent; the number of the ribbed plates 4 is 2, and the specifications and the sizes of the ribbed plates are completely consistent; the number of the large steering engines is 2, and the specifications and the sizes of the large steering engines are completely consistent; the number of the small steering engines 9 is 2, and the specifications and the sizes of the small steering engines are completely consistent; the number of the stop levers 11 is 2, and the specifications and the sizes of the stop levers are completely consistent; the number of the small bearing blocks 10 is four, and the specifications and the sizes of the small bearing blocks are completely consistent; the number of the large rollers a is 10, and the specifications and the sizes of the large rollers are completely consistent.

Claims

1. The utility model provides a planer-type carton pile up neatly end device for manipulator which characterized by: the novel steering gear comprises a large steering gear (1), a connecting piece (2), a supporting plate (7), a support (3), a rib plate (4), a connecting plate (5), a driving motor (6), a baffle (12), a small roller (8), a small steering gear (9), a small bearing seat (10) and a stop lever (11), wherein the rib plate (4) is installed on the support (3), and the baffle (12) is installed on the support (3).

2. The end device for the gantry type carton stacking manipulator as claimed in claim 1, wherein: the large steering engine (1) is installed on the support (3), the small bearing seat (10) is installed on the support (3), the small idler wheel (8) is installed on the supporting plate (7), the supporting plate (7) is installed on the small bearing seat (10), and the supporting plate (7) is connected with the large steering engine (1) through the connecting piece (2), so that the large steering engine (1) drives the supporting plate (7) to rotate.

3. The end device for the gantry type carton stacking manipulator as claimed in claim 1, wherein: the support (3) is connected with the connecting plate (5), and the driving motor (6) is installed on the connecting plate (5) to drive the support (3) to rotate.

4. The end device for the gantry type carton stacking manipulator as claimed in claim 1, wherein: the small steering engine (9) is installed on the support (3), and the stop lever (11) is connected with the small steering engine (9) to drive the stop lever (11) to rotate by the small steering engine (9).