CN204777707U - Robot hacking machine - Google Patents
Robot hacking machine Download PDFInfo
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- CN204777707U CN204777707U CN201520501934.3U CN201520501934U CN204777707U CN 204777707 U CN204777707 U CN 204777707U CN 201520501934 U CN201520501934 U CN 201520501934U CN 204777707 U CN204777707 U CN 204777707U
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- bracket
- lifting
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- rotation
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- 235000004443 Ricinus communis Nutrition 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 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 description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 18
- 230000003028 elevating effect Effects 0.000 abstract 1
- 239000000047 product Substances 0.000 description 51
- 230000001360 synchronised effect Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 239000013589 supplement Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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Abstract
The utility model relates to a mechanized (assembly line) production facility especially relates to a robot hacking machine. Including frame, bracket product handling device, bracket handling device and straight line replace device or rotatory transposition device, its cathetus transposition device contains lateral sliding accordant connection between translation support and the frame, and perhaps the connection of horizontal direction normal running fit is followed for the frame to the rotatory transposition runing rest that the device contains, bracket product handling device and bracket handling device contain the lift support and are that a determining deviation an is parallel to be installed on the sharp device that replaces contains the translation support including picking mechanism I, II and I, II, bracket product handling device of elevating system and bracket handling device respectively, perhaps are certain contained angle alpha and install and replace on the device contains the runing rest in the rotation. The utility model discloses can show improvement production efficiency, reduce workman intensity of labour, reduce the manufacturing cost of enterprise, rational in infrastructure moreover, adaptability is wide, and equipment convenient to use is suitable for to promote and implements.
Description
Technical field
The utility model relates to a kind of mechanization (conveyor line) production facilities, particularly relates to a kind of robot stacker.
Background technology
At present, in existing machinery (conveyor line) commercial production, for the product that pallet, supporting plate or bracket take up, need manually to repeat frequent work carrying product piling.Current product processes process is generally as follows: 1, bracket and product are sent by production facilities; 2, carry piling workman fast bracket and product together to be moved piling; 3, carrying piling workman turns round immediately and moves to take bracket, supplements bracket needed for production facilities fast; 4, bracket retracts by production facilities; 5, the production facilities demoulding goes out product; 6, said process is repeated.Thus, it is large to there is hand labor intensity in existing product production process, and production efficiency is low, productive manpower high in cost of production defect.
Summary of the invention
The technical problems to be solved in the utility model overcomes above-mentioned the deficiencies in the prior art exactly, and provides one can significantly improve production efficiency, reduces labor strength, reduces the robot stacker of enterprise's productive costs.
For solving the problems of the technologies described above, the technical solution of the utility model is:
Design a kind of robot stacker, comprise frame, bracket carrying device for products, bracket Handling device and straight line transposer or rotate transposer, contained by its cathetus transposer, between translating bracket with frame, horizontal shiding matching is connected, or swinging strut contained by rotation transposer is relative to frame normal-running fit connection in the horizontal direction, described bracket carrying device for products and bracket Handling device comprise grasping mechanism I respectively, II and lifting mechanism I, II, to be that a determining deviation a is parallel be arranged on translating bracket contained by straight line transposer lifting support contained by bracket carrying device for products and bracket Handling device, or α in a certain angle is arranged on and rotates on swinging strut contained by transposer.
Also comprise being symmetricly set on straight line transposer or rotating the bracket product of transposer both sides and deposit shelf automatic transposition device of rotation and buttress automatic transposition device of rotation deposited by bracket, wherein bracket product deposits longitudinal center's distance between centers of tracks that shelf automatic transposition device of rotation and bracket deposit buttress automatic transposition device of rotation place is b, and b=2a, or its longitudinal centerline angle is β, and β=2 α-180 °.
Described lifting mechanism I, II comprises fixed support, lifting guide pillar, lifting support and vertical-lifting mechanism thereof respectively, wherein fixed support and lifting support are parallel is up and down oppositely arranged, lifting guide pillar is symmetricly set on fixed support and lifting support both sides, lifting guide pillar upper end is fixedly connected with fixed support, lifting guide pillar lower end is sleeved on lifting support, is provided with vertical-lifting mechanism between fixed support and lifting support.
Described grasping mechanism I comprises the bearing, handgrip and the driver train thereof that are symmetricly set on corresponding lifting support both sides, wherein handgrip root simultaneously with bearing and driver train mouth hinged; Wherein bearing is activity adjustment bearing, and this activity adjustment bearing regulates guide rod to be connected with lifting support by parallel transverse, is provided with locking mechanism and fixes between activity adjustment bearing and lateral adjustments guide rod.
Described grasping mechanism II comprises and is evenly arranged on symmetrically arranged sucker and bearing thereof on corresponding lifting support, is fixedly connected with between two bearings by parallel screw.
Described bracket product is deposited shelf automatic transposition device of rotation and is comprised walking dolly for stacking bracket product and driver train thereof, and bottom walking dolly, set bottom is provided with parallel transposition track shiding matching set by its corresponding ground of castor and connects.
Described bracket is deposited buttress automatic transposition device of rotation and is comprised walking dolly for stacking bracket and driver train thereof, and bottom this walking dolly, set bottom is provided with parallel transposition track shiding matching set by its corresponding ground of castor and connects.
Lifting support contained by described lifting mechanism I, II and translating bracket contained by straight line transposer or rotate contained by transposer is connected by multiple universal coupling fixed pedestal between swinging strut;
Described frame comprises upper and lower two parts split and forms, and is laid with lift adjustment screw rod between upper and lower two parts.
The beneficial effect of technical solutions of the utility model is:
1, structurally, the utility model robot stacker comprises bracket carrying device for products, bracket Handling device and bracket and the synchronous transposer of bracket product, during work, bracket carrying device for products, bracket Handling device control be elevated and stop respectively by computer automatically, capture respectively or release after stopping, and can be moved by synchronous transposer transverse reciprocating or be carried out back rotation in the horizontal direction, thus replace artificial frequent work carrying product piling, significantly improve production efficiency, reduce labor strength, reduce enterprise's productive costs.
2, structurally, the utility model is set up bracket product and is deposited shelf automatic transposition device of rotation and buttress automatic transposition device of rotation deposited by bracket, realizes the automatic input and output of continuity of bracket product and bracket, enhances productivity further; Bearing contained by grasping mechanism I is activity adjustment bearing, have additional parallel transverse and regulate guide rod and locking mechanism, accommodation can be carried out, to meet different Production requirements according to the different in width of bracket to handgrip spacing contained by grasping mechanism, wide adaptability, convenient enforcement.
3, structurally, contained by the utility model lifting mechanism I, II, lifting support is connected by universal coupling fixed pedestal with between translating bracket contained by synchronous transposer or swinging strut, the distance between lifting support and swinging strut can be regulated on the one hand, convenient installation, realizes lifting support and is with respect to the horizontal plane in vertical state on the other hand.Chassis design is Split type structure, and added lifting adjusting screw(rod), according to practical condition, the height of frame can be regulated, use more convenient, be beneficial to promotion and implementation.
4, to sum up, the utility model robot stacker can significantly improve production efficiency, reduces labor strength, reduce enterprise's productive costs, and rational in infrastructure, wide adaptability, assembles, and therefore, is very suitable for promotion and implementation easy to use.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in further detail, wherein:
Fig. 1 is the structural representation of the utility model robot stacker embodiment one;
Fig. 2 is the plan structure schematic diagram shown in Fig. 1;
The structural representation of the bracket carrying device for products of Fig. 3 contained by the utility model;
Fig. 4 is the structural representation of another embodiment of lifting support shown in Fig. 3;
The structural representation of the bracket Handling device of Fig. 5 contained by the utility model;
Fig. 6 is the plan structure schematic diagram shown in Fig. 5;
Fig. 7 is the using state structural representation of the utility model robot stacker embodiment two;
Fig. 8 is the plan structure schematic diagram shown in Fig. 7;
Fig. 9 deposits shelf automatic transposition device of rotation for the bracket product shown in Fig. 7 and the structural representation piling up neatly automatic transposition device of rotation deposited by bracket;
Figure 10 is the plan structure schematic diagram shown in Fig. 9;
Figure 11 is the using state structural representation of the utility model robot stacker embodiment five;
Figure 12 is the principle of work block diagram of the stacker of robot shown in Fig. 7 or Figure 11;
Sequence number in figure: 1, bracket carrying device for products, 1-1, fixed support, 1-2, lifting guide pillar, 1-3, lifting support, 1-4, bearing, 1-5, handgrip, 1-6, cylinder, 1-7, motor synchronous belt lift system, 1-8, parallel transverse regulates guide rod, 2, bracket Handling device, 2-1, fixed support, 2-2, lifting guide pillar, 2-3, lifting support, 2-4, sucker, 2-5, winch, 2-6, bearing, 2-7, screw rod, 3, 3 ', frame, 4, rotating shaft, 5, swinging strut, 6, lifting support, 7, universal coupling, 8, bracket product deposits shelf automatic transposition device of rotation, 8-1, walking dolly, 8-2, parallel transposition track, 8-3, cylinder, 9, buttress automatic transposition device of rotation deposited by bracket, 9-1, walking dolly, 9-2, parallel transposition track, 9-3, cylinder, 10, formed product equipment, 11, lift adjustment screw rod.
Detailed description of the invention
Embodiment one:
See in Fig. 1-2, figure, the utility model robot stacker, comprises frame 3, bracket carrying device for products 1, bracket Handling device 2 and bracket and bracket product synchronous rotary transposer.Bracket and bracket product synchronous rotary transposer comprise vertical rack-mounted rotating shaft 4 and swinging strut 5, swinging strut two ends are rotatably supported in rotating shaft by bearing, and contained by bracket carrying device for products and bracket Handling device, lifting support 6 α in a certain angle is arranged on swinging strut contained by bracket and bracket product synchronous rotary transposer.Lifting support contained by lifting mechanism I, II is connected by two, three universal coupling 7 fixed pedestals with between swinging strut contained by bracket and bracket product synchronous rotary transposer; Frame comprises upper and lower two parts split and forms, and is laid with lift adjustment screw rod 11 between upper and lower two parts.
See Fig. 3, in figure, bracket carrying device for products comprises grasping mechanism I and lifting mechanism I thereof, wherein lifting mechanism I comprises fixed support 1-1, lifting guide pillar 1-2, lifting support 1-3 and vertical-lifting mechanism thereof, wherein fixed support and lifting support are parallel is up and down oppositely arranged, lifting guide pillar is symmetricly set on fixed support and lifting support both sides, lifting guide pillar upper end is fixedly connected with fixed support, lifting guide pillar lower end is sleeved on lifting support, is provided with vertical-lifting mechanism between fixed support and lifting support.Grasping mechanism I comprises the bearing 1-4, handgrip 1-5 and the cylinder 1-6 that are symmetricly set on corresponding lifting support both sides, and wherein tail cylinder and handgrip are hinged on bearing upper and lower side respectively, and cylinder piston rod is simultaneously hinged with handgrip root.Contained vertical-lifting mechanism is motor synchronous belt lift system 1-7, and its principle of work is similar to winch.Can certainly be that other meets the structure that lifting drives function, as lift cylinder or hydraulic ram, or comprise lifting regulating mechanism of screw lead-screw drive mechanism etc.
See in Fig. 5-6, figure, bracket Handling device 2 comprises grasping mechanism II and lifting mechanism II thereof.Wherein, lifting mechanism II comprises fixed support 2-1, lifting guide pillar 2-2, lifting support 2-3 and vertical-lifting mechanism thereof, wherein fixed support and lifting support are parallel is up and down oppositely arranged, lifting guide pillar is symmetricly set on fixed support and lifting support both sides, lifting guide pillar upper end is fixedly connected with fixed support, lifting guide pillar lower end is sleeved on lifting support, is provided with vertical-lifting mechanism between fixed support and lifting support.Grasping mechanism II comprises and is evenly arranged on symmetrically arranged sucker 2-4 and bearing 2-6 thereof on corresponding lifter plate, is fixedly connected with between two bearings by parallel screw 2-7.Contained vertical-lifting mechanism is winch 2-5.Can certainly be that other meets the structure that lifting drives function, as lift cylinder or hydraulic ram, or comprise lifting regulating mechanism of screw lead-screw drive mechanism etc.
Embodiment two:
See Fig. 7-8, in figure, the present embodiment and embodiment one structural similitude, it is identical that identical numbering represents meaning, in its structure, same section no longer repeats at this, its difference is: the present embodiment also comprises the bracket product being symmetricly set on the synchronous transposer both sides of bracket product and deposits shelf automatic transposition device of rotation 8 and bracket and deposit buttress automatic transposition device of rotation 9, and wherein bracket product deposits the angle that shelf automatic transposition device of rotation and bracket deposit parallel transposition track contained by buttress automatic transposition device of rotation is β.
See in Fig. 9-10, figure, bracket product is deposited shelf automatic transposition device of rotation 8 and is comprised two for stacking the walking dolly 8-1 of bracket product, and bottom walking dolly, set bottom is provided with parallel transposition track 8-2 shiding matching connection set by its corresponding ground of castor; Carriage walking driver train is cylinder.Bracket is deposited buttress automatic transposition device of rotation 9 and is comprised two for stacking the walking dolly 9-1 of bracket, and bottom this walking dolly, set bottom is provided with parallel transposition track 9-2 shiding matching connection set by its corresponding ground of castor; Carriage walking driver train is cylinder 9-3.
Embodiment three, four:
See Fig. 4, the present embodiment three, four respectively with embodiment one, two structural similitude, it is identical that identical numbering represents meaning, in its structure, same section no longer repeats at this, its difference is: bearing 1-4 contained by the present embodiment grasping mechanism I is activity adjustment bearing, this activity adjustment bearing regulates guide rod 1-8 to be connected with lifting support by parallel transverse, is provided with jackscrew and fixes between activity adjustment bearing and lateral adjustments guide rod.Other conventional usual locking mechanism can certainly be adopted to replace.
Embodiment five:
See Figure 11, the present embodiment and embodiment two structural similitude, same section no longer repeats at this, its difference is: the present embodiment bracket and the synchronous transposer of bracket product are straight line transposer, translating bracket 12 contained by straight line transposer is connected with the horizontal shiding matching of frame 3 ', and bracket carrying device for products 1 and bracket Handling device 2 are parallel in a determining deviation a to be arranged on translating bracket contained by straight line transposer.Wherein bracket product deposits longitudinal center's distance between centers of tracks that shelf automatic transposition device of rotation 8 and bracket deposit buttress automatic transposition device of rotation 9 place is b, and b=2a.
See Fig. 7-8/11 and 12, during the work of the present embodiment robot stacker: product is passed out to initial point by formed product equipment 10, send product and send signal, bracket product lifting mechanism is displaced downwardly to after the next signal sends and moves down stopping, then bracket product grasping mechanism captures, tail-bracket product lifting mechanism on move to upper signal send rear on move stopping, meanwhile, when product sends signal, bracket lifting mechanism is displaced downwardly to after the next signal sends and moves down stopping, then bracket grasping mechanism captures and (detects bracket piling height simultaneously, reach setting the next), tail-bracket lifting mechanism on move to upper signal send rear on move stopping, then, bracket and bracket product to replace rotation/movement through transposer simultaneously, transposition endpoint signal sends rear transposition to be stopped, meanwhile, bracket product lifting mechanism is displaced downwardly to after the next signal sends and moves down stopping, then bracket product grasping mechanism release (detects bracket product code height of embankment degree simultaneously, reach setting upper), then bracket product lifting mechanism moves to upper signal send rear on move stopping, with this process, bracket lifting mechanism is displaced downwardly to after the next signal sends and moves down stopping, tail-bracket grasping mechanism release, then bracket lifting mechanism moves to upper signal send rear on move stopping, then, bracket and bracket product through transposer simultaneously return rotate/move to return initial point signal send after return stop.Repeat said process, realize automatic production automatic stacking process.
After the complete buttress of code, bracket product deposits shelf automatic position-changing, and for continuity piling, meanwhile utilizing fork truck to supplement empty product from empty shelf warehouse, to deposit shelf for subsequent use; And whole buttress product is put in storage through being shifted by fork truck after being released along track by cylinder, fork truck backhaul afterwards transports bracket to sky shelf warehouse by product warehouse; In palletization, buttress automatic position-changing deposited by bracket, utilizes backhaul fork truck to supplement whole buttress bracket by whole buttress bracket warehouse for subsequent use simultaneously.Whole process fully achieves automated job, significantly improves production efficiency, reduces labor strength, reduces enterprise's productive costs.
The foregoing is only the schematic detailed description of the invention of the utility model; and be not used to limit scope of the present utility model; the equivalent variations that any those skilled in the art makes under the prerequisite not departing from the utility model design and principle and amendment; such as involved cylinder can be able to realize driving the mechanism of function to replace with hydraulic ram or other, all should belong to the scope of the utility model protection.
Claims (8)
1. a robot stacker, it is characterized in that: comprise frame, bracket carrying device for products, bracket Handling device and straight line transposer or rotate transposer, contained by its cathetus transposer, between translating bracket with frame, horizontal shiding matching is connected, or swinging strut contained by rotation transposer is relative to frame normal-running fit connection in the horizontal direction, described bracket carrying device for products and bracket Handling device comprise grasping mechanism I respectively, II and lifting mechanism I, II, to be that a determining deviation a is parallel be arranged on translating bracket contained by straight line transposer lifting support contained by bracket carrying device for products and bracket Handling device, or α in a certain angle is arranged on and rotates on swinging strut contained by transposer.
2. robot stacker according to claim 1, it is characterized in that: also comprise being symmetricly set on straight line transposer or rotating the bracket product of transposer both sides and deposit shelf automatic transposition device of rotation and buttress automatic transposition device of rotation deposited by bracket, wherein bracket product deposits longitudinal center's distance between centers of tracks that shelf automatic transposition device of rotation and bracket deposit buttress automatic transposition device of rotation place is b, and b=2a, or its longitudinal centerline angle is β, and β=2 α-180 °.
3. robot stacker according to claim 1 and 2, it is characterized in that: described lifting mechanism I, II comprises fixed support, lifting guide pillar, lifting support and vertical-lifting mechanism thereof respectively, wherein fixed support and lifting support are parallel is up and down oppositely arranged, lifting guide pillar is symmetricly set on fixed support and lifting support both sides, lifting guide pillar upper end is fixedly connected with fixed support, lifting guide pillar lower end is sleeved on lifting support, is provided with vertical-lifting mechanism between fixed support and lifting support.
4. robot stacker according to claim 3, is characterized in that: described grasping mechanism I comprises the bearing, handgrip and the driver train thereof that are symmetricly set on corresponding lifting support both sides, wherein handgrip root simultaneously with bearing and driver train mouth hinged; Wherein bearing is activity adjustment bearing, and this activity adjustment bearing regulates guide rod to be connected with lifting support by parallel transverse, is provided with locking mechanism and fixes between activity adjustment bearing and lateral adjustments guide rod.
5. robot stacker according to claim 3, is characterized in that: described grasping mechanism II comprises and is evenly arranged on symmetrically arranged sucker and bearing thereof on corresponding lifting support, is fixedly connected with between two bearings by parallel screw.
6. robot stacker according to claim 2, it is characterized in that: described bracket product is deposited shelf automatic transposition device of rotation and comprised walking dolly for stacking bracket product and driver train thereof, bottom walking dolly, set bottom is provided with parallel transposition track shiding matching set by its corresponding ground of castor and connects.
7. robot stacker according to claim 2, it is characterized in that: described bracket is deposited buttress automatic transposition device of rotation and comprised walking dolly for stacking bracket and driver train thereof, bottom this walking dolly, set bottom is provided with parallel transposition track shiding matching set by its corresponding ground of castor and connects.
8. robot stacker according to claim 1 and 2, is characterized in that: lifting support contained by described lifting mechanism I, II and translating bracket contained by straight line transposer or rotate contained by transposer is connected by multiple universal coupling fixed pedestal between swinging strut;
Robot stacker according to claim 1 and 2, is characterized in that: described frame comprises upper and lower two parts split and forms, and is laid with lift adjustment screw rod between upper and lower two parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520501934.3U CN204777707U (en) | 2015-07-13 | 2015-07-13 | Robot hacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520501934.3U CN204777707U (en) | 2015-07-13 | 2015-07-13 | Robot hacking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204777707U true CN204777707U (en) | 2015-11-18 |
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ID=54517804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520501934.3U Expired - Fee Related CN204777707U (en) | 2015-07-13 | 2015-07-13 | Robot hacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204777707U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986579A (en) * | 2015-07-13 | 2015-10-21 | 魏伍强 | Robot stacker |
| CN109292437A (en) * | 2018-09-27 | 2019-02-01 | 盐城市华森机械有限公司 | Material sucking mechanism |
-
2015
- 2015-07-13 CN CN201520501934.3U patent/CN204777707U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986579A (en) * | 2015-07-13 | 2015-10-21 | 魏伍强 | Robot stacker |
| CN104986579B (en) * | 2015-07-13 | 2017-07-07 | 魏伍强 | Robot stacking machine |
| CN109292437A (en) * | 2018-09-27 | 2019-02-01 | 盐城市华森机械有限公司 | Material sucking mechanism |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 Termination date: 20180713 |