CN116588702A - Stacking manipulator for industrial production and stacking method thereof - Google Patents
Stacking manipulator for industrial production and stacking method thereof Download PDFInfo
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- CN116588702A CN116588702A CN202310502334.8A CN202310502334A CN116588702A CN 116588702 A CN116588702 A CN 116588702A CN 202310502334 A CN202310502334 A CN 202310502334A CN 116588702 A CN116588702 A CN 116588702A
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- fixedly connected
- stacking
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- frame
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- 238000009776 industrial production Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000001125 extrusion Methods 0.000 claims description 19
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 230000008602 contraction Effects 0.000 abstract description 19
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
Classifications
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
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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
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a stacking manipulator for industrial production and a stacking method thereof, and relates to the technical field of stacking manipulators. According to the carton stacking device, after the motor is electrified, the driving gears are meshed with each other to drive the threaded rods to rotate, the movable frame moves left and right in the positioning frame through rotation of the threaded rods, when cartons are stacked, the cartons are arranged through left and right movement, the top of the disc frame is provided with the contraction part, the height of the clamping part is adjusted through the contraction part, and the contraction part can push the clamping part to expand towards two ends so as to stack the cartons with different sizes.
Description
Technical Field
The invention relates to the technical field of stacking manipulators, in particular to a stacking manipulator for industrial production and a stacking method thereof.
Background
The stacking manipulator can orderly and automatically stack the packaged goods with different external dimensions on the tray, the robot is provided with a material stacking sequence and an arrangement setter for fully utilizing the area of the tray and the stability of stacked materials, and the stacker is used for stacking cartons loaded into containers on the tray and the pallet according to a certain arrangement to automatically stack the cartons and stack the cartons into multiple layers;
when the cartons are stacked, the stacking manipulator needs to be positioned at the center of the cartons, so that the tilting of the cartons is avoided when the cartons are stacked, at present, when the cartons are stacked, the existing stacking manipulator cannot replace the clamped position, the tilting of the cartons is easy to occur when the cartons are stacked, and the cartons are damaged.
Disclosure of Invention
In order to solve the technical problems, the invention provides a stacking manipulator for industrial production and a stacking method thereof, comprising a tray frame, wherein the top of the tray frame is fixedly connected with a positioning frame, the inside of the positioning frame is rotationally connected with a threaded rod through a bearing, the surface of the positioning frame is fixedly connected with a motor, the ends of the motor and the threaded rod are respectively and fixedly connected with a driving gear, the surface of the threaded rod is in threaded connection with a movable frame, the top of the movable frame is fixedly connected with a rotating motor, and the top of the movable frame is fixedly connected with a disc frame, and the stacking manipulator further comprises:
the contraction component comprises a driving screw rod, the driving screw rod is fixedly connected with the output end of the rotating motor, the top of the disc frame is fixedly connected with a sliding rod, the surface of the driving screw rod is in threaded connection with a lifting frame, and the inner wall of the end part of the lifting frame is in sliding connection with the surface of the sliding rod;
the clamping component comprises a stacking plate, the end part of the stacking plate is fixedly connected with a limiting plate, a sliding hole is formed in the stacking plate, a tray is limited by a tray frame, the tray can be placed at a corresponding position, so that a stacking manipulator stacks a carton above the tray, the clamping component and the adjusting component are fixed above the disc frame through a contraction component, the disc frame can move left and right through a threaded rod, and a protective groove is formed in the upper end and the lower end of the inner wall of the stacking plate;
the adjusting part comprises a bottom plate, the bottom plate is fixedly connected with the bottom of the stacking plate, the inner wall of the bottom plate is fixedly connected with an electric push rod, the top of the bottom plate is slidably connected with a tripod, and the inner wall of the tripod is fixedly connected with a protection pad.
Further, the top of rotation motor and the bottom fixed connection of disc frame, the threaded rod runs through the locating rack and extends to the outer end of locating rack, the quantity of threaded rod is provided with two.
Further, the contraction component comprises an electric rod, the end part of the electric rod is fixedly connected with the end part of the lifting frame, one end of the electric rod, which is far away from the lifting frame, is fixedly connected with a supporting rod, one end of the supporting rod, which is far away from the electric rod, is fixedly connected with a sliding cylinder, the inner wall of the sliding cylinder is slidably connected with an extrusion rod, two electric rods are arranged at the end part of the lifting frame and can extend in opposite directions, the electric rods can push the supporting rod to expand so as to adjust the expansion distance of the clamping component, the surface of the supporting rod is fixedly connected with a telescopic plate, the top of the telescopic plate is fixedly connected with a hydraulic rod, the surface of the extrusion rod is fixedly connected with a push rod, and the hydraulic rod is hinged with the push rod through a sloping plate;
four sloping plates are arranged at the top of the hydraulic rod.
Further, the end part of the extrusion rod penetrates through the sliding cylinder and extends to the outer end of the sliding cylinder, and one end, far away from the push rod, of the extrusion rod is fixedly connected with the stacking plate.
Further, the clamping component comprises a sliding block, the sliding block is in sliding connection with the inner wall of the sliding hole, an elastic rod is fixedly connected to the center of the stacking plate, a triangular plate is connected to the telescopic ends of the elastic rods, two stacking plates are arranged, two clamping plates are arranged at one ends of the two stacking plates, which are close to each other, the elastic rod is located at the inner center of the triangular plate, the inclined plate is obliquely arranged, so that the sliding block can push the telescopic rod to extend through the inclined plate, the telescopic end of the elastic rod is fixedly connected with the clamping plate, a contact pad is fixedly connected to the surface of the clamping plate, the end of the triangular plate is hinged to the surface of the sliding block, a positioning groove is formed in the surface of the limiting plate, a moving block is arranged in the positioning groove, a telescopic rod is fixedly connected to the surface of the limiting plate, a stacking frame is fixedly connected to the telescopic end of the telescopic rod, and a rubber pad is fixedly connected to the surface of the stacking frame.
The sliding block is hinged with the moving block through an elastic rod, and the telescopic rod is hinged with the moving block through an inclined panel.
Further, the tip of pile up neatly board is fixedly connected with limiting plate respectively, the upper and lower end and the inner wall sliding connection of protection groove of sliding block, pile up neatly put up and use the grip block as central symmetry setting.
Further, the telescopic link is located the one end that the limiting plate kept away from the pile up neatly board, the inside of pile up neatly board is provided with two sliding blocks, two the sliding block uses the elastic rod as central symmetry setting.
Further, the adjusting part comprises a bent rod, the bent rod is fixedly connected with the end part of the tripod, one end of the bent rod far away from the tripod is rotationally connected with a rotating rod through a bearing, the surface of the tripod is fixedly connected with a driving motor, the end parts of the driving motor and the rotating rod are respectively fixedly connected with a positioning gear, a through hole is formed in the surface of the tripod, and the inner wall of the through hole is rotationally connected with an inclined rubber wheel;
the inside rotation of through-hole is connected with the inclined plane drive wheel, inclined plane drive wheel passes through the belt with the bull stick and is connected.
Further, two positioning gears are meshed with each other, a plurality of inclined-plane rubber wheels are arranged in the through hole, and the inclined-plane driving wheels are located at the top of the inner wall of the through hole.
Further, a stacking method of a stacking manipulator for industrial production comprises the following steps:
s1: after the motor is electrified, the driving gears are meshed with each other to drive the threaded rods to rotate, the movable frame moves left and right in the positioning frame through the rotation of the threaded rods, and when the cartons are stacked, the cartons are arranged through the left and right movement;
s2: when the hydraulic rod extends upwards, the extrusion rod is pulled to move close to each other through the inclined plate, so that the clamping part is pushed to clamp and fix the paper box, after the paper box is fixed, the rotating motor is electrified, and the driving screw rod drives the lifting frame to move up and down through the rotating motor;
s3: the extruding rods pull the clamping plates to be arranged far away from each other through the stacking plates, when the cartons need to be clamped and fastened, the extruding rods push the clamping plates to be contacted with the surfaces of the cartons through the stacking plates, friction force is increased through contact pads on the surfaces of the clamping plates, and stability is improved;
s4: the driving motor is electrified, the driving motor drives the rotating rod to rotate through the meshing of the positioning gear, the rotating rod drives the inclined plane driving wheel to rotate through the belt, and the inclined plane driving wheel adjusts the carton up and down through friction.
The invention has the beneficial effects that:
according to the invention, after a motor is electrified, the drive gears are engaged with each other to drive the threaded rods to rotate, the movable frame moves left and right in the positioning frame through the rotation of the threaded rods, when cartons are stacked, the cartons are arranged through the left and right movement, the top of the disc frame is provided with the contraction part, the height of the clamping part is adjusted through the contraction part, the contraction part can push the clamping part to expand towards two ends so as to stack the cartons with different sizes, the clamping part is pushed to contract to clamp and separate the cartons through the lifting of the hydraulic rod, and the adjusting part is arranged in the clamping part, so that the clamping position of the cartons can be adjusted through the adjusting part.
When the hydraulic rod extends upwards, the extrusion rod is pulled to move mutually close through the inclined plate, so that the clamping part is pushed to clamp and fix the paper box, after the paper box is fixed, the rotating motor is electrified, the driving screw drives the lifting frame to move up and down through the rotating motor, the height of the paper box stacked is adjusted through the clamping part, the telescopic plate is arranged on the surface of the supporting rod, the stability of the supporting rod is improved through the telescopic plate, and convenience of paper box stacking is further improved.
According to the invention, the extruding rods are used for pulling the clamping plates to be arranged far away from each other through the stacking plates, so that the clamping plates are required to be clamped and fastened, the extruding rods are used for pushing the clamping plates to be in contact with the surfaces of the cartons through the stacking plates, friction force is increased by utilizing the contact pads on the surfaces of the clamping plates, stability is improved, when the clamping plates are in contact with the cartons, the clamping plates are used for pushing the ends of the triangular plates to expand through pressure, the sliding blocks are used for pushing the inclined plates to move through the expansion of the triangular plates, the telescopic rods are used for pushing the stacking frames to extend through the movement of the inclined plates, and the stacking frames are used for being in contact with the surfaces of the cartons through the rubber pads to clamp and support the four surfaces of the cartons, so that the cartons are prevented from inclining during stacking.
When the clamping position of the paper box is required to be adjusted, the tripod is pushed to move towards one end of the paper box by the electric push rod, after the tripod pushes the inclined rubber wheel to be contacted with the surface of the paper box, the driving motor is electrified after the clamping force between the clamping plate and the paper box is reduced, the driving motor drives the rotating rod to rotate through the meshing of the positioning gear, the rotating rod drives the inclined driving wheel to rotate through the belt, and the inclined driving wheel adjusts the paper box up and down through friction so as to adjust the clamping position of the paper box, and further the stability of the paper box during stacking is improved.
Drawings
FIG. 1 is a schematic diagram of a flow structure of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic view of the overall structure of the positioning frame of the present invention;
FIG. 4 is a schematic view of the whole structure of the swash plate according to the present invention;
FIG. 5 is a schematic view of the overall structure of the clamping member of the present invention;
FIG. 6 is a schematic view of the overall structure of the pallet of the present invention;
FIG. 7 is an enlarged schematic view of portion A of FIG. 6 in accordance with the present invention;
FIG. 8 is a schematic view of the overall structure of the tripod of the present invention;
fig. 9 is an enlarged schematic view of the portion B of fig. 8 according to the present invention.
1. A tray frame; 2. a contraction member; 4. a rotating motor; 5. a disc rack; 6. a moving rack; 7. a threaded rod; 8. a motor; 9. a drive gear; 10. a positioning frame; 11. a clamping member; 12. an adjusting member; 20. an extrusion rod; 21. a support rod; 22. a telescoping plate; 23. an electric lever; 24. a slide bar; 26. a lifting frame; 27. driving a screw; 28. a sloping plate; 29. a hydraulic rod; 30. a slide cylinder; 40. stacking plates; 41. a sliding block; 42. an elastic rod; 43. a bevel panel; 44. a telescopic rod; 45. a limiting plate; 46. a triangle; 47. a contact pad; 48. a clamping plate; 49. a rubber pad; 50. an elastic rod; 51. a positioning groove; 52. stacking frames; 53. a moving block; 54. a slide hole; 55. a protective groove; 60. a bottom plate; 61. an electric push rod; 62. a protective pad; 63. a tripod; 64. an inclined rubber wheel; 66. a through hole; 67. a driving motor; 68. positioning gears; 69. a rotating rod; 70. a belt; 71. bending a rod; 72. and a bevel driving wheel.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description. The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Example 1
Referring to fig. 1-7, the invention relates to a stacking manipulator for industrial production and a stacking method thereof, comprising a tray frame 1, wherein the top of the tray frame 1 is fixedly connected with a positioning frame 10, the inside of the positioning frame 10 is rotationally connected with a threaded rod 7 through a bearing, the surface of the positioning frame 10 is fixedly connected with a motor 8, the ends of the motor 8 and the threaded rod 7 are respectively fixedly connected with a driving gear 9, the surface of the threaded rod 7 is in threaded connection with a movable frame 6, the top of the movable frame 6 is fixedly connected with a rotating motor 4, after the motor 8 is electrified, the driving gears 9 are used for driving the threaded rod 7 to rotate, the movable frame 6 moves left and right in the inside of the positioning frame 10 through the rotation of the threaded rod 7, when stacking cartons, the cartons are arranged through left and right movement, the top of the disc frame 5 is provided with a contraction part 2, the contraction part 2 can push the contraction part 11 to expand towards two ends so as to carry out carton stacking with different sizes, the contraction part 11 can push the cartons to clamp and separate, the inside of the clamping part 11 is provided with an adjusting part 12, and the top of the clamping part 12 can be further fixed by adjusting the position of the disc frame 5, and the top part is connected with the adjusting part 12 can be adjusted through the adjusting part, and the top part is fixed by the adjusting part 12:
the contraction part 2, the contraction part 2 comprises a driving screw rod 27, the driving screw rod 27 is fixedly connected with the output end of the rotating motor 4, the top of the disc frame 5 is fixedly connected with a sliding rod 24, the surface of the driving screw rod 27 is in threaded connection with a lifting frame 26, and the inner wall of the end part of the lifting frame 26 is in sliding connection with the surface of the sliding rod 24;
the clamping component 11, the clamping component 11 comprises a stacking plate 40, the end part of the stacking plate 40 is fixedly connected with a limiting plate 45, a sliding hole 54 is formed in the stacking plate 40, and a protective groove 55 is formed in the upper end and the lower end of the inner wall of the stacking plate 40;
the adjusting part 12, the adjusting part 12 includes the bottom plate 60, and bottom plate 60 and the bottom fixed connection of pile up neatly board 40, the inner wall fixedly connected with electricity push rod 61 of bottom plate 60, the top sliding connection of bottom plate 60 has tripod 63, the inner wall fixedly connected with protection pad 62 of tripod 63.
The top of the rotary motor 4 is fixedly connected with the bottom of the disc frame 5, the threaded rod 7 penetrates through the positioning frame 10 and extends to the outer end of the positioning frame 10, and two threaded rods 7 are arranged.
The shrinkage part 2 comprises an electric rod 23, the end part of the electric rod 23 is fixedly connected with the end part of a lifting frame 26, one end of the electric rod 23 far away from the lifting frame 26 is fixedly connected with a supporting rod 21, one end of the supporting rod 21 far away from the electric rod 23 is fixedly connected with a sliding cylinder 30, the inner wall of the sliding cylinder 30 is in sliding connection with an extrusion rod 20, when a hydraulic rod 29 extends upwards, the extrusion rod 20 is pulled by a sloping plate 28 to move close to each other, so that a clamping part 11 is pushed to clamp and fix a paper box, after the paper box is fixed, a rotating motor 4 is electrified, a driving screw 27 pushes the lifting frame 26 to move up and down through the rotating motor 4, the height of the paper box is adjusted by the clamping part 11, a telescopic plate 22 is arranged on the surface of the supporting rod 21, the stability of the supporting rod 21 is improved by the telescopic plate 22, the convenience of the paper box stacking is further improved, the surface of the supporting rod 21 is fixedly connected with the telescopic plate 22, the top of the telescopic plate 22 is fixedly connected with a hydraulic rod 29, the surface of the extrusion rod 20 is fixedly connected with a push rod, and the hydraulic rod 29 is hinged with the push rod through the sloping plate 28;
the top of the hydraulic lever 29 is provided with four sloping plates 28.
The end of the extrusion rod 20 penetrates through the sliding cylinder 30 and extends to the outer end of the sliding cylinder 30, and one end of the extrusion rod 20, which is far away from the push rod, is fixedly connected with the stacking plate 40.
The clamping part 11 comprises a sliding block 41, the sliding block 41 is in sliding connection with the inner wall of a sliding hole 54, an elastic rod 42 is fixedly connected to the center of a stacking plate 40, a triangular plate 46 is connected to the telescopic end of the elastic rod 42, a clamping plate 48 is fixedly connected to the telescopic end of the elastic rod 42, a contact pad 47 is fixedly connected to the surface of the clamping plate 48, the end of the triangular plate 46 is hinged to the surface of the sliding block 41, a positioning groove 51 is formed in the surface of a limiting plate 45, a moving block 53 is arranged in the positioning groove 51, the extruding rod 20 pulls the clamping plate 48 to be far away from each other through the stacking plate 40, when a carton is required to be clamped and fastened, the extruding rod 20 pushes the clamping plate 48 to be in contact with the surface of the carton through the stacking plate 40, friction force is increased by utilizing a contact pad 47 on the surface of the clamping plate 48, stability is improved, the clamping plate 48 is expanded through pressure pushing the end of the triangular plate 46, the sliding block 41 is pushed by the expansion of the triangular plate 43, the telescopic rod 44 is pushed by the movement of the inclined plate 43 to extend, the stacking plate 52 is pushed by the movement of the inclined plate 43, the stacking plate 52 is pushed by the inclined plate 49 to contact with the surface of the carton, the four sides of the carton 44 are fixedly connected to the supporting plate 52, and the supporting plate 44 is fixedly connected to the supporting plate 52 through the inclined supporting plate 44;
the sliding block 41 is hinged to the moving block 53 through an elastic rod 50, and the telescopic rod 44 is hinged to the moving block 53 through a bevel panel 43.
The end parts of the stacking plates 40 are fixedly connected with limiting plates 45 respectively, the upper end and the lower end of the sliding block 41 are in sliding connection with the inner wall of the protection groove 55, and the stacking frames 52 are symmetrically arranged with the clamping plates 48 as the center.
The telescopic rod 44 is located the limiting plate 45 and is kept away from the one end of pile up neatly board 40, and pile up neatly board 40's inside is provided with two sliding blocks 41, and two sliding blocks 41 set up with elastic rod 42 as central symmetry.
A stacking method of a stacking manipulator for industrial production comprises the following steps:
s1: after the motor 8 is electrified, the threaded rod 7 is driven to rotate by the meshing of the driving gears 9, the movable frame 6 moves left and right in the positioning frame 10 through the rotation of the threaded rod 7, and when cartons are stacked, the cartons are arranged through the left and right movement;
s2: when the hydraulic rod 29 extends upwards, the extrusion rod 20 is pulled to move close to each other through the inclined plate 28, so that the clamping part 11 is pushed to clamp and fix the paper box, after the paper box is fixed, the rotating motor 4 is electrified, and the driving screw 27 pushes the lifting frame 26 to move up and down through the rotating motor 4;
s3: the extruding rods 20 pull the clamping plates 48 to be arranged far away from each other through the stacking plates 40, when the cartons need to be clamped and fastened, the extruding rods 20 push the clamping plates 48 to be contacted with the surfaces of the cartons through the stacking plates 40, friction force is increased by utilizing the contact pads 47 on the surfaces of the clamping plates 48, and stability is improved;
s4: the driving motor 67 is electrified, the driving motor 67 drives the rotating rod 69 to rotate through the meshing of the positioning gear 68, the rotating rod 69 drives the inclined driving wheel 72 to rotate through the belt 70, and the inclined driving wheel 72 carries out up-and-down adjustment on the paper box through friction.
Example 2
Distinguishing features from example 1;
as shown in fig. 8-9: the regulating part 12 comprises a bent rod 71, wherein the bent rod 71 is fixedly connected with the end part of a tripod 63, one end of the bent rod 71 far away from the tripod 63 is rotationally connected with a rotating rod 69 through a bearing, the surface of the tripod 63 is fixedly connected with a driving motor 67, the end parts of the driving motor 67 and the rotating rod 69 are respectively fixedly connected with a positioning gear 68, a through hole 66 is formed in the surface of the tripod 63, when the clamping position of a paper box is required to be regulated, the tripod 63 is pushed to move towards one end of the paper box through the electric push rod 61, after the tripod 63 pushes the inclined rubber wheel 64 to contact with the surface of the paper box, the clamping force between the clamping plate 48 and the paper box is reduced, after the driving motor 67 is electrified, the driving motor 67 drives the rotating rod 69 to rotate through the meshing of the positioning gear 68, the inclined driving wheel 72 drives the paper box to regulate the clamping position of the paper box up and down through friction, the stability of the paper box is further increased, and the inner wall of the through hole 66 is rotationally connected with the inclined rubber wheel 64;
the inside of the through hole 66 is rotatably connected with a bevel driving wheel 72, and the bevel driving wheel 72 is connected with the rotating rod 69 through a belt 70.
The two positioning gears 68 are engaged with each other, and the inside of the through-hole 66 is provided with a plurality of bevel rubber wheels 64, and a bevel driving wheel 72 is located at the top of the inner wall of the through-hole 66.
One specific application of this embodiment is: after the motor 8 is electrified, the threaded rods 7 are driven to rotate by the meshing of the driving gears 9, the movable frame 6 moves left and right in the positioning frame 10 through the rotation of the threaded rods 7, when the cartons are stacked, the cartons are arranged through the left and right movement, the contraction part 2 is arranged at the top of the disc frame 5, the height of the clamping part 11 is adjusted through the contraction part 2, the contraction part 2 can push the clamping part 11 to expand towards two ends so as to stack the cartons with different sizes, the clamping part 11 is pushed to contract to clamp and separate the cartons through the lifting of the hydraulic rod, the adjusting part 12 is arranged in the clamping part 11, the clamping position of the cartons can be adjusted through the adjusting part 12, when the hydraulic rod 29 extends upwards, the extrusion rod 20 is pulled to move close to each other through the inclined plate 28, thereby pushing the clamping part 11 to clamp and fix the paper box, after the paper box is fixed, the rotating motor 4 is electrified, the driving screw 27 pushes the lifting frame 26 to move up and down through the rotating motor 4, the height of the paper box stacked by the clamping part 11 is adjusted, the expansion plate 22 is arranged on the surface of the supporting rod 21, the stability of the supporting rod 21 is improved by the expansion plate 22, the convenience of paper box stacked is further improved, the clamping plate 48 is pulled by the extruding rod 20 to be far away from each other through the stacking plate 40, when the paper box is required to be clamped and fastened, the extruding rod 20 pushes the clamping plate 48 to be contacted with the surface of the paper box through the stacking plate 40, the friction force is increased by utilizing the contact pad 47 on the surface of the clamping plate 48, the stability is improved, when the clamping plate 48 is contacted with the paper box, the end part of the triangular plate 46 is pushed by the clamping plate 48 to expand through pressure, the sliding block 41 pushes the inclined plate 43 to move through the expansion of the triangular plate 46, the telescopic rod 44 pushes the stacking frame 52 to extend through the movement of the inclined plate 43, the stacking frame 52 contacts with the surface of the paper box through the rubber pad 49, four sides of the paper box are clamped and supported, the paper box is prevented from inclining when being stacked, when the clamping position of the paper box needs to be adjusted, the tripod 63 is pushed to move towards one end of the paper box through the electric push rod 61, after the tripod 63 pushes the inclined rubber wheel 64 to contact with the surface of the paper box, the clamping force between the clamping plate 48 and the paper box is reduced, after the driving motor 67 is electrified, the driving motor 67 drives the rotating rod 69 to rotate through the meshing of the positioning gear 68, the rotating rod 69 drives the inclined driving wheel 72 to rotate through the belt 70, and the inclined driving wheel 72 adjusts the clamping position of the paper box up and down through friction, so that the stability of the paper box when stacked is further increased.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art and which are included in the embodiments of the present invention without the inventive step, are intended to be within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (10)
1. The utility model provides a pile up neatly machinery hand for industrial production, includes tray frame (1), the top fixedly connected with locating rack (10) of tray frame (1), the inside of locating rack (10) is connected with threaded rod (7) through the bearing rotation, the fixed surface of locating rack (10) is connected with motor (8), the tip of motor (8) and threaded rod (7) is fixedly connected with drive gear (9) respectively, the surface threaded connection of threaded rod (7) has movable frame (6), the top fixedly connected with of movable frame (6) rotates motor (4), the top fixedly connected with disc frame (5) of movable frame (6), its characterized in that still includes:
the retractable component (2), the retractable component (2) comprises a driving screw (27), the driving screw (27) is fixedly connected with the output end of the rotating motor (4), the top of the disc frame (5) is fixedly connected with a sliding rod (24), the surface of the driving screw (27) is in threaded connection with a lifting frame (26), and the inner wall of the end part of the lifting frame (26) is in sliding connection with the surface of the sliding rod (24);
the clamping component (11), the clamping component (11) comprises a stacking plate (40), a limiting plate (45) is fixedly connected to the end part of the stacking plate (40), a sliding hole (54) is formed in the stacking plate (40), and a protective groove (55) is formed in the upper end and the lower end of the inner wall of the stacking plate (40);
the adjusting part (12), adjusting part (12) include bottom plate (60), the bottom fixed connection of bottom plate (60) and pile up neatly board (40), the inner wall fixedly connected with electricity push rod (61) of bottom plate (60), the top sliding connection of bottom plate (60) has tripod (63), the inner wall fixedly connected with protection pad (62) of tripod (63).
2. The palletizing manipulator for industrial production of claim 1, wherein: the top of rotating motor (4) and the bottom fixed connection of disc frame (5), threaded rod (7) run through locating rack (10) and extend to the outer end of locating rack (10), the quantity of threaded rod (7) is provided with two.
3. The palletizing manipulator for industrial production of claim 1, wherein: the telescopic component (2) comprises an electric rod (23), the end part of the electric rod (23) is fixedly connected with the end part of a lifting frame (26), one end of the electric rod (23) away from the lifting frame (26) is fixedly connected with a supporting rod (21), one end of the supporting rod (21) away from the electric rod (23) is fixedly connected with a sliding cylinder (30), the inner wall of the sliding cylinder (30) is slidably connected with an extrusion rod (20), the surface of the supporting rod (21) is fixedly connected with a telescopic plate (22), the top of the telescopic plate (22) is fixedly connected with a hydraulic rod (29), the surface of the extrusion rod (20) is fixedly connected with a pushing rod, and the hydraulic rod (29) is hinged with the pushing rod through a sloping plate (28);
four sloping plates (28) are arranged at the top of the hydraulic rod (29).
4. A palletizing manipulator for industrial production according to claim 3, characterized in that: the end of the extrusion rod (20) penetrates through the sliding cylinder (30) and extends to the outer end of the sliding cylinder (30), and one end, far away from the push rod, of the extrusion rod (20) is fixedly connected with the stacking plate (40).
5. The palletizing manipulator for industrial production of claim 1, wherein: the clamping component (11) comprises a sliding block (41), the sliding block (41) is in sliding connection with the inner wall of a sliding hole (54), an elastic rod (42) is fixedly connected to the center of the stacking plate (40), a triangular plate (46) is connected to the telescopic end of the elastic rod (42), a clamping plate (48) is fixedly connected to the telescopic end of the elastic rod (42), a contact pad (47) is fixedly connected to the surface of the clamping plate (48), the end of the triangular plate (46) is hinged to the surface of the sliding block (41), a positioning groove (51) is formed in the surface of the limiting plate (45), a moving block (53) is arranged in the positioning groove (51), a telescopic rod (44) is fixedly connected to the surface of the limiting plate (45), a stacking frame (52) is fixedly connected to the telescopic end of the telescopic rod (44), and a rubber pad (49) is fixedly connected to the surface of the stacking frame (52).
The sliding block (41) is hinged with the moving block (53) through an elastic rod (50), and the telescopic rod (44) is hinged with the moving block (53) through a bevel panel (43).
6. The palletizing manipulator for industrial production of claim 5, wherein: the end parts of the stacking plates (40) are respectively fixedly connected with a limiting plate (45), the upper end and the lower end of the sliding block (41) are in sliding connection with the inner wall of the protection groove (55), and the stacking frames (52) are symmetrically arranged by taking the clamping plates (48) as centers.
7. The palletizing manipulator for industrial production of claim 5, wherein: the telescopic rod (44) is located at one end, far away from the stacking plate (40), of the limiting plate (45), two sliding blocks (41) are arranged in the stacking plate (40), and the two sliding blocks (41) are symmetrically arranged with the elastic rod (42) as a center.
8. The palletizing manipulator for industrial production of claim 1, wherein: the adjusting part (12) comprises a bent rod (71), the bent rod (71) is fixedly connected with the end part of the tripod (63), one end, far away from the tripod (63), of the bent rod (71) is rotationally connected with a rotating rod (69) through a bearing, the surface of the tripod (63) is fixedly connected with a driving motor (67), the end parts of the driving motor (67) and the rotating rod (69) are respectively fixedly connected with a positioning gear (68), a through hole (66) is formed in the surface of the tripod (63), and an inclined rubber wheel (64) is rotationally connected to the inner wall of the through hole (66);
an inclined driving wheel (72) is rotatably connected in the through hole (66), and the inclined driving wheel (72) is connected with the rotating rod (69) through a belt (70) in a belt mode.
9. The palletizing manipulator for industrial production of claim 8, wherein: the two positioning gears (68) are meshed with each other, a plurality of inclined rubber wheels (64) are arranged in the through holes (66), and the inclined driving wheels (72) are positioned at the top of the inner wall of the through holes (66).
10. The stacking method of the stacking manipulator for industrial production is characterized by comprising the following steps of:
s1: after the motor (8) is electrified, the threaded rod (7) is driven to rotate by utilizing the meshing of the driving gears (9), the movable frame (6) moves left and right in the positioning frame (10) through the rotation of the threaded rod (7), and when cartons are stacked, the cartons are arranged through the left and right movement;
s2: when the hydraulic rod (29) extends upwards, the extrusion rod (20) is pulled to move close to each other through the inclined plate (28), so that the clamping part (11) is pushed to clamp and fix the paper box, after the paper box is fixed, the rotating motor (4) is electrified, and the driving screw (27) pushes the lifting frame (26) to move up and down through the rotating motor (4);
s3: the extruding rods (20) pull the clamping plates (48) to be arranged far away from each other through the stacking plates (40), when the cartons need to be clamped and fastened, the extruding rods (20) push the clamping plates (48) to be contacted with the surfaces of the cartons through the stacking plates (40), friction force is increased by utilizing contact pads (47) on the surfaces of the clamping plates (48), and stability is improved;
s4: the driving motor (67) is electrified, the driving motor (67) drives the rotating rod (69) to rotate through the engagement of the positioning gear (68), the rotating rod (69) drives the inclined plane driving wheel (72) to rotate through the belt (70), and the inclined plane driving wheel (72) adjusts the paper box up and down through friction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310502334.8A CN116588702B (en) | 2023-05-06 | 2023-05-06 | Stacking manipulator for industrial production and stacking method thereof |
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|---|---|---|---|
| CN202310502334.8A CN116588702B (en) | 2023-05-06 | 2023-05-06 | Stacking manipulator for industrial production and stacking method thereof |
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| CN116588702B CN116588702B (en) | 2023-10-20 |
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| Publication number | Publication date |
|---|---|
| CN116588702B (en) | 2023-10-20 |
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