CN201198135Y - Laneway storehouse stacking robot - Google Patents

Laneway storehouse stacking robot Download PDF

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Publication number
CN201198135Y
CN201198135Y CNU2008200812150U CN200820081215U CN201198135Y CN 201198135 Y CN201198135 Y CN 201198135Y CN U2008200812150 U CNU2008200812150 U CN U2008200812150U CN 200820081215 U CN200820081215 U CN 200820081215U CN 201198135 Y CN201198135 Y CN 201198135Y
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CN
China
Prior art keywords
base
arm
paw
servomotor
screw mandrel
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU2008200812150U
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Chinese (zh)
Inventor
晋帆
鄢大鹏
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Kunming University of Science and Technology
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Kunming University of Science and Technology
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Publication date
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Priority to CNU2008200812150U priority Critical patent/CN201198135Y/en
Application granted granted Critical
Publication of CN201198135Y publication Critical patent/CN201198135Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model provides a palletizing robot, which is composed of a palletizing operative part and a translational part. A base translational screw rod servo motor drives a base translational screw rod, and a base translational screw rod nut realizes the horizontal and linear movement of the palletizing operative part through a base; an arm elevating servo motor drives a rotating shaft through a gear transmission mechanism to realize the rotating movement of a frame; the arm elevating servo motor drives an arm elevating screw rod, and the ascending and the descending of an arm are realized through an arm elevating screw rod nut; a paw telescoping servo motor drives a paw telescoping screw rod, and the extending and the retracting of a paw are realized through a paw telescoping screw rod nut. The stacking and the unstacking of objects are realized through the elevating of the rotating-matched arm of the frame and the telescoping of the paw. The palletizing robot has the advantages that the structure is simple, the palletizing robot is suitable for being operated in a narrow roadway or a warehouse, the utilization effect of the limited volume warehouse is improved, and because the problem that the motion control nonlinearity of the end effector of the traditional articulated robot is overcome, the positional control algorithm of the robot is simple.

Description

Warehouse, tunnel robot palletizer
Technical field
The utility model relates to robot frame for movement, and particularly laneway type warehouse robot palletizer belongs to the robot field.
Background technology
Robot palletizer has obtained very great development through years of researches, its flexibility, adaptability, speed and extracting ability improve constantly, the use of robot palletizer can be boosted productivity and the system automation degree, reduce working strength of workers, improve the accuracy of warehousing system, in as industries such as finance, use the security that can also increase system.
Existing robot palletizer mostly is the revolute robot, the various linkages of the many employings of its arm, and each section of arm can only cause the non-linear of end effector of robot motion control around the secondary rotation of its joint motions, makes its positional control algorithm very complicated.
When using robot palletizer in the warehouse, tunnel, not only require the robot palletizer can be along with the piling or the de-stacking and moving of object on the warehouse putting position, on new position, to proceed piling or de-stacking, and along with the development of logistics, in limited space, stack more object and become the major measure of effectively utilizing warehouse space, therefore under the prerequisite that makes things convenient for piling and de-stacking, it is a kind of trend that the tunnel spacing narrows down as much as possible.Obviously, traditional robot, particularly revolute robot are difficult to be competent at.
Summary of the invention
The purpose of this utility model is to provide a kind of simple in structure, and control algolithm is easy, and suits to carry out in the warehouse, tunnel the robot of piling and de-stacking.
The utility model is achieved through the following technical solutions: this robot palletizer is made up of piling operating part and translating sections.Described operating part mainly comprises arm, arm lifting servomotor, arm lifting servomotor decelerator, arm elevating screw, arm elevating screw nut, vertical slipper, vertical guide rail, paw, the flexible servomotor of paw, the flexible servomotor reduction box of paw, the flexible screw mandrel of paw, the flexible feed screw nut of paw, frame, gyroaxis platform, gyroaxis platform servomotor, gyroaxis platform servomotor decelerator, gear drive; Described translating sections mainly comprises base, base plate, left and right gripper shoe, base horizontal guide rail, base cross sliding clock, base translation screw mandrel, base translation feed screw nut, base translation screw mandrel servomotor, base translation screw mandrel servomotor decelerator;
Its annexation is: base plate, left gripper shoe, right gripper shoe be affixed to be under(-)chassis, base translation screw mandrel and two foundation seat horizontal guide rails are installed between left gripper shoe and the right gripper shoe abreast, and equidistant between two base closed slides and base plate, base translation screw mandrel connects driving by base translation screw mandrel servomotor through base translation screw mandrel servomotor reduction box axle; Base is installed on the base horizontal guide rail by the base cross sliding clock, and is rigidly connected with base translation feed screw nut on the base translation screw mandrel; Frame and gyroaxis platform are rigidly connected; Vertical guide rail and arm elevating screw are installed on vertically at the upper and lower end of frame, and the arm elevating screw connects driving by arm lifting servomotor through arm lifting servomotor reduction box axle; Arm is installed on the vertical guide rail and affixed with arm elevating screw nut through vertical slipper; Paw is installed on the arm, and is rigidly connected with the flexible feed screw nut of paw.
The beneficial effects of the utility model are: because the piling and the de-stacking operating part of this robot can move along the base horizontal guide rail, realized that robot palletizer can be along with piling or the de-stacking and move of object on warehouse, the tunnel putting position, because the operating part of this robot piling de-stacking adopts the structure of the piling of flexible realization object of the oscilaltion of revolution tie arm of above-mentioned frame and paw and de-stacking and does not adopt existing robot palletizer articulated robot structure commonly used, thereby it is simple in structure, not only suit in narrower warehouse, tunnel, to work, improved the effect of utilizing in warehouse, and, make that its positional control algorithm is simple because of having overcome the nonlinear problem of traditional articulated robot end effector motion control.
Description of drawings
Fig. 1 is structure of the present utility model and installation diagram.
Among the figure, the servomotor, decelerator and the gear drive that drive gyroaxis platform 10 place in the gyroaxis platform, and be not shown.Among the figure: 1 is arm lifting servomotor; 2 is arm lifting servomotor reduction box; 3 is the arm elevating screw; 4 is paw; 5 is base translation screw mandrel servomotor; 6 is base translation screw mandrel servomotor reduction box; 7 is right gripper shoe; 8 is base translation feed screw nut; 9 is the base cross sliding clock; 10: the rotating shaft platform; 11 is base translation screw mandrel; 12 is base plate; 13 is left gripper shoe; 14 is the base horizontal guide rail; 15 is arm; 16 is vertical slipper; 17 is arm elevating screw nut; 18 is vertical guide rail; 19 is frame; 20 are the flexible servomotor reduction box of paw; 21 are the flexible servomotor of paw; 22 are the flexible screw mandrel of paw; 23 are the flexible feed screw nut of paw; 24 is base.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
Embodiment: the base translation screw mandrel servomotor 5 of band reduction box 6 even drives base translation screw mandrel 11 by axle, and 8 of base translation feed screw nuts make base 24 realize horizontal rectilinear motions, thereby realize moving horizontally of robot palletizer operating part; The servomotor of band reduction box drives gyroaxis platform 10 by gear drive, realizes the gyration of frame 19; The arm lifting servomotor 1 of band reduction box 2 even drives arm elevating screw 3 through axle, makes the arm 15 that is fixed on the arm elevating screw nut 17 realize rising or descending; The flexible servomotor 21 of the paw of band reduction box 20 even drives the flexible screw mandrel 22 of paw through axle, makes the paw 4 that is fixed on the flexible feed screw nut 23 of paw realize stretching out or withdrawing.The flexible piling and the de-stacking that has realized object of the oscilaltion of the revolution tie arm of frame and paw.

Claims (1)

1. warehouse, tunnel robot palletizer, it is characterized in that: this robot palletizer is made up of piling operating part and translating sections; Described operating part mainly comprises arm, arm lifting servomotor, arm lifting servomotor decelerator, arm elevating screw, arm elevating screw nut, vertical slipper, vertical guide rail, paw, the flexible servomotor of paw, the flexible servomotor reduction box of paw, the flexible screw mandrel of paw, the flexible feed screw nut of paw, frame, gyroaxis platform, gyroaxis platform servomotor, gyroaxis platform servomotor decelerator, gear drive; Described translating sections mainly comprises base, base plate, left gripper shoe, right gripper shoe, base horizontal guide rail, base cross sliding clock, base translation screw mandrel, base translation feed screw nut, base translation screw mandrel servomotor, base translation screw mandrel servomotor decelerator;
Its annexation is: base plate, left gripper shoe, right gripper shoe be affixed to be under(-)chassis, base translation screw mandrel and two foundation seat horizontal guide rails are installed between left gripper shoe and the right gripper shoe abreast, and equidistant between two base closed slides and base plate, base translation screw mandrel is driven through base translation screw mandrel servomotor reduction box axle connection by base translation screw mandrel servomotor; Base is installed on the base horizontal guide rail by the base cross sliding clock, and is rigidly connected with base translation feed screw nut on the base translation screw mandrel; Frame and gyroaxis platform are rigidly connected; Vertical guide rail and arm elevating screw are installed on vertically at the upper and lower end of frame, and the arm elevating screw is driven through arm lifting servomotor reduction box axle connection by arm lifting servomotor; Arm is installed on the vertical guide rail and affixed with arm elevating screw nut through vertical slipper; Paw is installed on the arm, and is rigidly connected with the flexible feed screw nut of paw.
CNU2008200812150U 2008-05-19 2008-05-19 Laneway storehouse stacking robot Expired - Fee Related CN201198135Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2008200812150U CN201198135Y (en) 2008-05-19 2008-05-19 Laneway storehouse stacking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2008200812150U CN201198135Y (en) 2008-05-19 2008-05-19 Laneway storehouse stacking robot

Publications (1)

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CN201198135Y true CN201198135Y (en) 2009-02-25

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CNU2008200812150U Expired - Fee Related CN201198135Y (en) 2008-05-19 2008-05-19 Laneway storehouse stacking robot

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Cited By (41)

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Publication number Priority date Publication date Assignee Title
CN101786136A (en) * 2010-02-26 2010-07-28 华南理工大学 Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure
CN102049773A (en) * 2009-10-29 2011-05-11 鸿富锦精密工业（深圳）有限公司 Selective compliance assembly robot arm
CN102150510A (en) * 2011-03-23 2011-08-17 南京工程学院 Telescopic arm of harvesting robot capable of sensing collision
CN102189275A (en) * 2011-05-04 2011-09-21 孟秋华 Mechanical arm
CN102601783A (en) * 2012-03-28 2012-07-25 巨石集团有限公司 Intelligent manipulator device capable of automatically placing glass fiber strand barrel
CN102897540A (en) * 2012-08-13 2013-01-30 伊洪良 Stacking machine
CN103274247A (en) * 2013-05-31 2013-09-04 昆山宝莱特机械有限公司 Sheet-ejecting mechanism
CN103302200A (en) * 2013-06-05 2013-09-18 苏州市越海拉伸机械有限公司 Transfer mechanical hand
CN103640026A (en) * 2013-12-20 2014-03-19 辽宁石油化工大学 Spindle assembly manipulator
CN104003090A (en) * 2014-06-09 2014-08-27 苏州伦科思电子科技有限公司 Material automatic warehouse-in-out and intelligent storing device
CN104029973A (en) * 2014-06-17 2014-09-10 华中科技大学无锡研究院 Roadway machine device applied to automatic material storing and fetching system
CN104180968A (en) * 2014-08-12 2014-12-03 中船重工特种设备有限责任公司 Testing device for three-degree-of-freedom movements under high water pressure environment
CN104260084A (en) * 2014-08-12 2015-01-07 太仓斯普宁精密机械有限公司 Shaft part grabbing mechanical hand special for warehouse
CN104266596A (en) * 2014-10-21 2015-01-07 上海交通大学 Three-degree-of-freedom feeding and discharging mechanism for cylinder wall thickness laser measurement
CN104692138A (en) * 2015-01-23 2015-06-10 广东恒鑫智能装备股份有限公司 Stacking machine
CN104925516A (en) * 2015-05-12 2015-09-23 无锡苏嘉宇正自动化设备科技有限公司 Automatic delivery mechanism involving firebrick
CN105150194A (en) * 2015-10-01 2015-12-16 合肥金海康五金机械制造有限公司 Lifting mechanism of material taking mechanical arm
CN105173760A (en) * 2015-08-31 2015-12-23 广州鑫南数控科技有限公司 Stacking robot
CN105234936A (en) * 2015-11-11 2016-01-13 度库（苏州）自动化设备有限公司 Lifting movement device for five-axis mechanical arm
CN105583815A (en) * 2016-03-17 2016-05-18 北京新智远恒计量校准技术有限公司 Robot for testing and detecting concrete samples
CN105668171A (en) * 2016-03-31 2016-06-15 广东科技学院 Food passing system
CN105692223A (en) * 2016-03-21 2016-06-22 常州市鼎龙环保设备有限公司 Automatic stack moving trolley for single board color coating line and stack moving method thereof
CN106003010A (en) * 2016-06-23 2016-10-12 姚海丽 Supporting device special for electric motor stator paper inserting robot
CN106064738A (en) * 2016-07-21 2016-11-02 安徽铜峰电子股份有限公司 Lifting and translating unit for films for electrical purposes baling line
CN106363620A (en) * 2016-12-09 2017-02-01 韩喜梅 Stacking mechanical arm device
CN106736804A (en) * 2016-12-23 2017-05-31 深圳市福和达自动化有限公司 A kind of feeding material collection structure
CN106826804A (en) * 2017-04-11 2017-06-13 巨轮智能装备股份有限公司 High-performance rectangular robot
CN107380206A (en) * 2017-08-25 2017-11-24 中国铁道科学研究院东郊分院 The performs device and its system of contact net geometric parameter adjust automatically
CN107651454A (en) * 2017-12-05 2018-02-02 合肥汉德贝尔属具科技有限公司 A kind of palletizing mechanical arm
CN107745061A (en) * 2017-11-30 2018-03-02 中冶建工集团有限公司 Reinforcing bar feeding auxiliary support apparatus
CN108002302A (en) * 2018-01-18 2018-05-08 宣城尤达美智能科技有限公司 A kind of handling robot for warehouse logistics
CN108341245A (en) * 2018-02-25 2018-07-31 杨勇 A kind of novel and portable power-driven tool
CN108357541A (en) * 2018-02-25 2018-08-03 宣城市益成电子科技有限公司 A kind of haulage equipment
CN109156164A (en) * 2018-09-17 2019-01-08 铜陵学院 A kind of apple picking robot
CN109895070A (en) * 2019-04-09 2019-06-18 合肥伟达智能科技有限公司 A kind of mechanical arm for high-temperature operation environment
CN110255439A (en) * 2019-06-27 2019-09-20 郑州铁路职业技术学院 A kind of railway loading and unloading transfer device
CN110352001A (en) * 2014-07-28 2019-10-18 株式会社富士 Suction nozzle collecting storage facility
CN111392448A (en) * 2020-05-07 2020-07-10 杜继英 Logistics equipment for loading and unloading express
CN111960317A (en) * 2020-08-06 2020-11-20 江苏纽柯工程技术有限公司 Intelligent ultra-thin belt detaching device
CN112405043A (en) * 2020-11-18 2021-02-26 湖北秦鸿新材料股份有限公司 Machining drilling fixing device
CN113324733A (en) * 2021-06-04 2021-08-31 中科院南京耐尔思光电仪器有限公司 Movable target simulation system used in vacuum environment

Cited By (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102049773A (en) * 2009-10-29 2011-05-11 鸿富锦精密工业（深圳）有限公司 Selective compliance assembly robot arm
CN102049773B (en) * 2009-10-29 2013-08-28 鸿富锦精密工业（深圳）有限公司 Selective compliance assembly robot arm
CN101786136A (en) * 2010-02-26 2010-07-28 华南理工大学 Three-dimensional positioning clamping mechanical hand in engine valve electrical-upsetting hot-forging forming procedure
CN102150510A (en) * 2011-03-23 2011-08-17 南京工程学院 Telescopic arm of harvesting robot capable of sensing collision
CN102189275A (en) * 2011-05-04 2011-09-21 孟秋华 Mechanical arm
CN102601783B (en) * 2012-03-28 2015-04-22 巨石集团有限公司 Intelligent manipulator device capable of automatically placing glass fiber strand barrel
CN102601783A (en) * 2012-03-28 2012-07-25 巨石集团有限公司 Intelligent manipulator device capable of automatically placing glass fiber strand barrel
CN102897540B (en) * 2012-08-13 2015-11-18 肇庆三向教学仪器制造有限公司 A kind of piler
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CN103302200A (en) * 2013-06-05 2013-09-18 苏州市越海拉伸机械有限公司 Transfer mechanical hand
CN103640026A (en) * 2013-12-20 2014-03-19 辽宁石油化工大学 Spindle assembly manipulator
CN103640026B (en) * 2013-12-20 2016-08-17 辽宁石油化工大学 A kind of spindle assembly manipulator
CN104003090A (en) * 2014-06-09 2014-08-27 苏州伦科思电子科技有限公司 Material automatic warehouse-in-out and intelligent storing device
CN104029973A (en) * 2014-06-17 2014-09-10 华中科技大学无锡研究院 Roadway machine device applied to automatic material storing and fetching system
CN104029973B (en) * 2014-06-17 2016-08-17 华中科技大学无锡研究院 A kind of tunnel machine being applied to automatic material access system
CN110352001A (en) * 2014-07-28 2019-10-18 株式会社富士 Suction nozzle collecting storage facility
CN104260084A (en) * 2014-08-12 2015-01-07 太仓斯普宁精密机械有限公司 Shaft part grabbing mechanical hand special for warehouse
CN104180968A (en) * 2014-08-12 2014-12-03 中船重工特种设备有限责任公司 Testing device for three-degree-of-freedom movements under high water pressure environment
CN104180968B (en) * 2014-08-12 2017-01-25 中船重工特种设备有限责任公司 Testing device for three-degree-of-freedom movements under high water pressure environment
CN104266596A (en) * 2014-10-21 2015-01-07 上海交通大学 Three-degree-of-freedom feeding and discharging mechanism for cylinder wall thickness laser measurement
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CN104925516A (en) * 2015-05-12 2015-09-23 无锡苏嘉宇正自动化设备科技有限公司 Automatic delivery mechanism involving firebrick
CN105173760A (en) * 2015-08-31 2015-12-23 广州鑫南数控科技有限公司 Stacking robot
CN105150194A (en) * 2015-10-01 2015-12-16 合肥金海康五金机械制造有限公司 Lifting mechanism of material taking mechanical arm
CN105234936A (en) * 2015-11-11 2016-01-13 度库（苏州）自动化设备有限公司 Lifting movement device for five-axis mechanical arm
CN105583815A (en) * 2016-03-17 2016-05-18 北京新智远恒计量校准技术有限公司 Robot for testing and detecting concrete samples
CN105692223A (en) * 2016-03-21 2016-06-22 常州市鼎龙环保设备有限公司 Automatic stack moving trolley for single board color coating line and stack moving method thereof
CN105692223B (en) * 2016-03-21 2018-02-27 常州市鼎龙环保设备有限公司 Veneer color-coating line moves pile dolly and its changes stacking method certainly
CN105668171A (en) * 2016-03-31 2016-06-15 广东科技学院 Food passing system
CN106003010A (en) * 2016-06-23 2016-10-12 姚海丽 Supporting device special for electric motor stator paper inserting robot
CN106064738A (en) * 2016-07-21 2016-11-02 安徽铜峰电子股份有限公司 Lifting and translating unit for films for electrical purposes baling line
CN106363620A (en) * 2016-12-09 2017-02-01 韩喜梅 Stacking mechanical arm device
CN106736804A (en) * 2016-12-23 2017-05-31 深圳市福和达自动化有限公司 A kind of feeding material collection structure
CN106826804A (en) * 2017-04-11 2017-06-13 巨轮智能装备股份有限公司 High-performance rectangular robot
CN107380206A (en) * 2017-08-25 2017-11-24 中国铁道科学研究院东郊分院 The performs device and its system of contact net geometric parameter adjust automatically
CN107380206B (en) * 2017-08-25 2023-11-03 中国铁道科学研究院东郊分院 Execution device and system for automatically adjusting geometrical parameters of overhead contact system
CN107745061A (en) * 2017-11-30 2018-03-02 中冶建工集团有限公司 Reinforcing bar feeding auxiliary support apparatus
CN107651454A (en) * 2017-12-05 2018-02-02 合肥汉德贝尔属具科技有限公司 A kind of palletizing mechanical arm
CN108002302A (en) * 2018-01-18 2018-05-08 宣城尤达美智能科技有限公司 A kind of handling robot for warehouse logistics
CN108341245A (en) * 2018-02-25 2018-07-31 杨勇 A kind of novel and portable power-driven tool
CN108357541A (en) * 2018-02-25 2018-08-03 宣城市益成电子科技有限公司 A kind of haulage equipment
CN109156164A (en) * 2018-09-17 2019-01-08 铜陵学院 A kind of apple picking robot
CN109895070A (en) * 2019-04-09 2019-06-18 合肥伟达智能科技有限公司 A kind of mechanical arm for high-temperature operation environment
CN110255439A (en) * 2019-06-27 2019-09-20 郑州铁路职业技术学院 A kind of railway loading and unloading transfer device
CN111392448A (en) * 2020-05-07 2020-07-10 杜继英 Logistics equipment for loading and unloading express
CN111960317A (en) * 2020-08-06 2020-11-20 江苏纽柯工程技术有限公司 Intelligent ultra-thin belt detaching device
CN112405043A (en) * 2020-11-18 2021-02-26 湖北秦鸿新材料股份有限公司 Machining drilling fixing device
CN113324733A (en) * 2021-06-04 2021-08-31 中科院南京耐尔思光电仪器有限公司 Movable target simulation system used in vacuum environment

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Granted publication date: 20090225

Termination date: 20110519