CN204528685U - Intelligent stacking robot - Google Patents
Intelligent stacking robot Download PDFInfo
- Publication number
- CN204528685U CN204528685U CN201420779636.6U CN201420779636U CN204528685U CN 204528685 U CN204528685 U CN 204528685U CN 201420779636 U CN201420779636 U CN 201420779636U CN 204528685 U CN204528685 U CN 204528685U
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- driving motor
- connecting rod
- armstand
- bearing
- revolution support
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 18
- 210000000707 wrist Anatomy 0.000 claims abstract description 18
- 238000009825 accumulation Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 7
- 239000011449 brick Substances 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
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Abstract
The utility model relates to a kind of Intelligent stacking robot, be applicable to do the vanning of case class, bag class, bottle class and building panel class object and palletizing mechanical, be specially adapted to brick, the vanning of unbaked tile part and piling.Intelligent stacking robot comprises base, revolution support, revolution support driving motor, transverse arm, transverse arm driving motor, balance block, armstand, armstand driving motor, connecting rod one, connecting rod two, connecting rod three, accumulation of energy balancing device, wrist pedestal, handgrip driving motor, handgrip driving motor retarder and handgrip butt flange.Intelligent stacking robot is reasonable in design, and compact conformation, volume are little, easy to operate, and production efficiency is high, can realize quick piling case class, bag class, bottle class and building panel class object, is specially adapted to brick, the vanning of unbaked tile part and piling.Intelligent stacking robot load-carrying capacity 500 more than ㎏, more than 800 times per hour of circulation ability.Functioning equalization in Intelligent stacking robot piling hoisting process, stable, safe and reliable.
Description
Technical field
The utility model relates to a kind of Intelligent stacking robot, be applicable to do the vanning of case class, bag class, bottle class and building panel class object and palletizing mechanical, be specially adapted to brick, the vanning of unbaked tile part and piling.
Background technology
Current robot palletizer is used in industrial process the class industrial robot of the task such as crawl, carrying, piling, de-stacking performing workpiece in enormous quantities, package, is the high-new electronic product integrating organic electronic, information, intellectual technology, computer science subject.Along with the development of China's robot industry, technology and field of research reach certain level, and robot palletizer technical merit have also been obtained fast development.More existing mechanical arm complex structures, volume is large, although commonality is large, specific aim is not good, and when piling meets the tendency, programming control is complicated, manufactures tooling cost high, and institute takes up space large: installation difficulty is comparatively large, and the especially wherein installation of finishing bevel gear cuter, needs repeatedly to debug.Therefore be necessary to be improved.
Current brickmaking industry stacker volume is large, and complex structure, it is convenient not to operate, and production efficiency is low, cannot realize quick piling adobe, unbaked tile.
Summary of the invention
The utility model object provides a kind of Intelligent stacking robot for above-mentioned weak point, compact conformation, volume are little, easy to operate, and production efficiency is high, quick piling case class, bag class, bottle class and building panel class object can be realized, be specially adapted to brick, the vanning of unbaked tile part and piling.
Intelligent stacking robot takes following technical scheme to realize:
Intelligent stacking robot comprises base, revolution support, revolution support driving motor, transverse arm, transverse arm driving motor, balance block, armstand, armstand driving motor, connecting rod one, connecting rod two, connecting rod three, accumulation of energy balancing device, wrist pedestal, handgrip driving motor, handgrip driving motor retarder and handgrip butt flange.
Revolution support is arranged on base top, and revolution support driving motor is arranged on revolution support, and revolution support driving motor, by transmission gear, retarder transmission revolution support, can turn round on base top.Bearing is passed through in shaft clevis both sides, armstand bottom, adapter shaft is arranged on revolution support, transverse arm driving motor is arranged on armstand side revolution support by reductor, balance block is connected with transverse arm driving motor retarder by balance block mounting bracket, connecting rod one lower end and balance block mounting bracket pass through bearing, adapter shaft is flexibly connected, bearing is passed through in connecting rod one upper end, adapter shaft is flexibly connected with transverse arm rear end, bearing is passed through at transverse arm rear portion, adapter shaft is flexibly connected with side, armstand upper end, bearing is passed through in transverse arm front portion, adapter shaft is connected with wrist pedestal, handgrip driving motor is arranged on wrist pedestal, handgrip driving motor bottom is connected with handgrip driving motor retarder, handgrip butt flange is connected with handgrip driving motor retarder.
Armstand driving motor is arranged on armstand opposite side revolution pedestal by armstand driving motor retarder, accumulation of energy balancing device is arranged on armstand opposite side revolution support by bearing adapter shaft, accumulation of energy balancing device is provided with spring, telescopic shaft, and telescopic shaft front end is connected with armstand lower end shaft clevis by bearing, adapter shaft.
Connecting rod two lower end is flexibly connected with revolution support by bearing, adapter shaft, connecting rod two upper end is flexibly connected with connecting rod rack one end by bearing, adapter shaft, the connection bracket other end is flexibly connected with connecting rod three one end by bearing, adapter shaft, connecting rod three other end is connected with wrist base runner by bearing, adapter shaft, and connecting rod rack bottom is flexibly connected with armstand upper end opposite side by bearing, adapter shaft.
Described connecting rod rack is triangular in shape, is provided with three and is flexibly connected bearing hole, form three kinematic pair mechanisms.
Described armstand, connecting rod one, balance block and transverse arm rear portion form the first parallelogram lindage; Described transverse arm, connecting rod three, wrist pedestal, connecting rod rack form the second parallelogram lindage; Described connecting rod two, armstand, connecting rod rack, revolution support, form the 3rd parallelogram lindage.
The first described parallelogram lindage, the second parallelogram lindage, the 3rd parallelogram lindage and three kinematic pair mechanisms form balancing chain.
Intelligent stacking robot is supporting that operation control system adopts teaching machine, Programmable Logic Controller carries out programming Control.
Principle of work
During Intelligent stacking robot work, first clamp for stacking is arranged on wrist pedestal bottom by handgrip butt flange, operation control system is by control cables line, connect revolution support driving motor, armstand driving motor, handgrip driving motor, transverse arm driving motor power supply, start above-mentioned 4 driving motors, revolution support driving motor can according to piling article position, start revolution support and do the 180 degree of revolutions in left and right, start armstand driving motor, transverse arm driving motor makes transverse arm by three parallelogram lindages and the effect of three kinematic pair mechanisms, connecting rod threeway is received and distributed brachiophore seat and is driven clamp for stacking to move up and down, wanted piling object is captured piling in desired location.During the transmission of transverse arm driving motor, by balance block, connecting rod one transmission transverse arm up-and-down movement, and drivening rod three upper and lower motion together.Because transverse arm driving motor retarder is provided with balance block by balance block mounting bracket, the wrist pedestal bottom clamp for stacking connected in transverse arm front end is hoisting capacity equilibrium activity when capturing piling object, makes machine man-hour balancing safety.
During the work of armstand driving motor, according to piling article position needs, drive armstand, connecting rod two movable, promote transverse arm simultaneously, connecting rod three is upper and lower moves in parallel, because armstand lower end is connected with accumulation of energy balancing device, armstand moves forward and backward in armstand driving motor transmission process, when transverse arm moves up and down and captures object, because accumulation of energy balancing device is provided with one group of energy-storaging spring, the effect of accumulation of energy equalizing and buffering can be played and make functioning equalization in piling hoisting process, stablize, safe and reliable.
Intelligent stacking robot is reasonable in design, and compact conformation, volume are little, easy to operate, and production efficiency is high, can realize quick piling case class, bag class, bottle class and building panel class object, is specially adapted to brick, the vanning of unbaked tile part and piling.Intelligent stacking robot load-carrying capacity 500 more than ㎏, more than 800 times per hour of circulation ability.Functioning equalization in Intelligent stacking robot piling hoisting process, stable, safe and reliable.
Accompanying drawing explanation
Below with reference to accompanying drawing, the utility model is described in further detail:
Fig. 1 is Intelligent stacking robot front view.
Fig. 2 is Intelligent stacking robot birds-eye view.
Detailed description of the invention
With reference to accompanying drawing 1,2, Intelligent stacking robot comprises base 1, revolution support 2, revolution support driving motor 4, transverse arm 12, transverse arm driving motor 3, balance block 6, armstand 10, armstand driving motor 18, connecting rod 1, connecting rod 28, connecting rod 3 13, accumulation of energy balancing device 19, wrist pedestal 14, handgrip driving motor 15, handgrip driving motor retarder 16 and handgrip butt flange 17.
Revolution support 2 is arranged on base 1 top, and revolution support driving motor 4 is arranged on revolution support 2, and revolution support driving motor 4, by transmission gear 5, retarder transmission revolution support 2, can turn round on base 1 top.Bearing is passed through in shaft clevis both sides, armstand 10 bottom, adapter shaft is arranged on revolution support 2, transverse arm driving motor 3 is arranged on armstand 10 side revolution support 2 by reductor, balance block 6 is connected with transverse arm driving motor retarder by balance block mounting bracket 7, connecting rod 1 lower end and balance block mounting bracket 7 pass through bearing, adapter shaft is flexibly connected, bearing is passed through in connecting rod 1 upper end, adapter shaft is flexibly connected with transverse arm 12 rear end, bearing is passed through at transverse arm 12 rear portion, adapter shaft is flexibly connected with side, armstand 10 upper end, bearing is passed through in transverse arm 12 front portion, adapter shaft is connected with wrist pedestal 14, handgrip driving motor 15 is arranged on wrist pedestal 14, handgrip driving motor 15 bottom is connected with handgrip driving motor retarder 16, handgrip butt flange 17 is connected with handgrip driving motor retarder 16.
Armstand driving motor 18 is arranged on armstand 10 opposite side revolution support 2 by armstand driving motor retarder, accumulation of energy balancing device 19 is arranged on armstand 10 opposite side revolution support 2 by bearing, adapter shaft, accumulation of energy balancing device 19 is provided with spring, telescopic shaft 20, and telescopic shaft 20 front end is connected with armstand 10 lower end shaft clevis by bearing, adapter shaft.
Connecting rod 28 lower end is flexibly connected with revolution support 2 by bearing, adapter shaft, connecting rod 28 upper end is flexibly connected with connecting rod rack 11 one end by bearing, adapter shaft, connecting rod rack 11 other end is flexibly connected with connecting rod 3 13 one end by bearing, adapter shaft, connecting rod 3 13 other end is flexibly connected with wrist pedestal 14 by bearing, adapter shaft, and connecting rod rack 11 bottom is flexibly connected with armstand 10 upper end opposite side by bearing, adapter shaft.
Described connecting rod rack 11 is triangular in shape, is provided with three and is flexibly connected bearing hole, form three kinematic pair mechanisms.
Described armstand 10, connecting rod 1, balance block 6 form the first parallelogram lindage with transverse arm 12 rear portion; Described transverse arm 12, connecting rod 3 13, wrist pedestal 14, connecting rod rack 11 form the second parallelogram lindage; Described connecting rod 28, armstand 10, connecting rod rack 11, revolution support 2, form the 3rd parallelogram lindage.
The first described parallelogram lindage, the second parallelogram lindage, the 3rd parallelogram lindage and three kinematic pair mechanisms form balancing chain.
Intelligent stacking robot is supporting that operation control system adopts teaching machine, Programmable Logic Controller carries out programming Control.
Claims (4)
1. an Intelligent stacking robot, it is characterized in that, comprise base, revolution support, revolution support driving motor, transverse arm, transverse arm driving motor, balance block, armstand, armstand driving motor, connecting rod one, connecting rod two, connecting rod three, accumulation of energy balancing device, wrist pedestal, handgrip driving motor, handgrip driving motor retarder and handgrip butt flange;
Revolution support is arranged on base top, and revolution support driving motor is arranged on revolution support, and revolution support driving motor, by transmission gear, retarder transmission revolution support, turns round on base top, bearing is passed through in shaft clevis both sides, armstand bottom, adapter shaft is arranged on revolution support, transverse arm driving motor is arranged on armstand side revolution support by reductor, balance block is connected with transverse arm driving motor retarder by balance block mounting bracket, connecting rod one lower end and balance block mounting bracket pass through bearing, adapter shaft is flexibly connected, bearing is passed through in connecting rod one upper end, adapter shaft is flexibly connected with transverse arm rear end, bearing is passed through at transverse arm rear portion, adapter shaft is flexibly connected with side, armstand upper end, bearing is passed through in transverse arm front portion, adapter shaft is connected with wrist pedestal, handgrip driving motor is arranged on wrist pedestal, handgrip driving motor bottom is connected with handgrip driving motor retarder, handgrip butt flange is connected with handgrip driving motor retarder,
Armstand driving motor is arranged on armstand opposite side revolution pedestal by armstand driving motor retarder, accumulation of energy balancing device is arranged on armstand opposite side revolution support by bearing adapter shaft, accumulation of energy balancing device is provided with spring, telescopic shaft, and telescopic shaft front end is connected with armstand lower end shaft clevis by bearing, adapter shaft;
Connecting rod two lower end is flexibly connected with revolution support by bearing, adapter shaft, connecting rod two upper end is flexibly connected with connecting rod rack one end by bearing, adapter shaft, the connection bracket other end is flexibly connected with connecting rod three one end by bearing, adapter shaft, connecting rod three other end is connected with wrist base runner by bearing, adapter shaft, and connecting rod rack bottom is flexibly connected with armstand upper end opposite side by bearing, adapter shaft.
2. Intelligent stacking robot according to claim 1, is characterized in that, described connecting rod rack is triangular in shape, is provided with three and is flexibly connected bearing hole, form three kinematic pair mechanisms.
3. Intelligent stacking robot according to claim 2, is characterized in that, described armstand, connecting rod one, balance block and transverse arm rear portion form the first parallelogram lindage; Described transverse arm, connecting rod three, wrist pedestal, connecting rod rack form the second parallelogram lindage; Described connecting rod two, armstand, connecting rod rack, revolution support, form the 3rd parallelogram lindage.
4. Intelligent stacking robot according to claim 3, is characterized in that, the first described parallelogram lindage, the second parallelogram lindage, the 3rd parallelogram lindage and three kinematic pair mechanisms form balancing chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420779636.6U CN204528685U (en) | 2014-12-12 | 2014-12-12 | Intelligent stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420779636.6U CN204528685U (en) | 2014-12-12 | 2014-12-12 | Intelligent stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204528685U true CN204528685U (en) | 2015-08-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420779636.6U Expired - Fee Related CN204528685U (en) | 2014-12-12 | 2014-12-12 | Intelligent stacking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204528685U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105293085A (en) * | 2015-12-07 | 2016-02-03 | 中建材凯盛机器人（上海）有限公司 | Heavy-load robot palletizer |
| CN106217362A (en) * | 2016-08-30 | 2016-12-14 | 四川大友机器人有限公司 | Heavy piling transfer robot |
| TWI566905B (en) * | 2015-08-25 | 2017-01-21 | Intelligent balance suspension arm and control method | |
| CN107640602A (en) * | 2016-07-21 | 2018-01-30 | 宜宾诺菲特机器人制造有限公司 | Top fills two axle automatic setting machine device people |
| CN108356851A (en) * | 2018-01-04 | 2018-08-03 | 昆山天卓贸易有限公司 | It is a kind of with Anti-collision can heat dissipation base vanning robot |
| CN109178962A (en) * | 2018-10-31 | 2019-01-11 | 浙江凯色丽科技发展有限公司 | Stacking robot |
| CN112757282A (en) * | 2021-01-15 | 2021-05-07 | 赵永杰 | Heavy-load robot driven in parallel |
| WO2022095239A1 (en) * | 2020-11-06 | 2022-05-12 | 青州晨泰机械设备科技有限公司 | All-around slag removal robot for metal smelting |
-
2014
- 2014-12-12 CN CN201420779636.6U patent/CN204528685U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI566905B (en) * | 2015-08-25 | 2017-01-21 | Intelligent balance suspension arm and control method | |
| CN105293085A (en) * | 2015-12-07 | 2016-02-03 | 中建材凯盛机器人（上海）有限公司 | Heavy-load robot palletizer |
| CN107640602A (en) * | 2016-07-21 | 2018-01-30 | 宜宾诺菲特机器人制造有限公司 | Top fills two axle automatic setting machine device people |
| CN106217362A (en) * | 2016-08-30 | 2016-12-14 | 四川大友机器人有限公司 | Heavy piling transfer robot |
| CN108356851A (en) * | 2018-01-04 | 2018-08-03 | 昆山天卓贸易有限公司 | It is a kind of with Anti-collision can heat dissipation base vanning robot |
| CN109178962A (en) * | 2018-10-31 | 2019-01-11 | 浙江凯色丽科技发展有限公司 | Stacking robot |
| WO2022095239A1 (en) * | 2020-11-06 | 2022-05-12 | 青州晨泰机械设备科技有限公司 | All-around slag removal robot for metal smelting |
| CN112757282A (en) * | 2021-01-15 | 2021-05-07 | 赵永杰 | Heavy-load robot driven in parallel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |