CN205085977U - High -speed four -axis pile up neatly machine people - Google Patents
High -speed four -axis pile up neatly machine people Download PDFInfo
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- CN205085977U CN205085977U CN201520819648.1U CN201520819648U CN205085977U CN 205085977 U CN205085977 U CN 205085977U CN 201520819648 U CN201520819648 U CN 201520819648U CN 205085977 U CN205085977 U CN 205085977U
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- pivoted arm
- rocking arm
- rotating part
- high speed
- robot palletizer
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Abstract
(B, ) high -speed four -axis pile up neatly machine people. Traditional pile up neatly to the requirement of manpower, material resources than higher, operator labor intensity is big. A high -speed four -axis pile up neatly machine people which constitutes to be had: parallel four -link mechanism, the level is rotated, vertical migration, base rotation and hand claw snatch the part, parallel four -link mechanism is by (b) (b) 1 (b) (b) number rocking arm (b) (b) 1 (b) (b), (B, ) (b) 2 (b) (b) number rocking arm (b) (b) 2 (b) (b), (B, ) (b) 3 (b) (b) number rocking arm (b) (b) 3 (b) (b), (B, ) (b) 4 (b) (b) number rocking arm (b) (b) 4 (b) (b) connects to form, (B, ) the front end connection hand claw of (b) 1 (b) (b) number rocking arm snatchs part (b) (b) 8 (b) (b), (B, ) (b) (b) 1 (b) (b) number rocking arm is connected to (b) 2 (b) (b) number rocking arm one end, horizontal rotating part is connected to one end, (B, ) horizontal rotating part is connected to (b) 4 (b) (b) number rocking arm one end, (b) (b) 3 (b) (b) number rocking arm is connected to one end, (B, ) number rocking arm in (b) (b) 1 (b) (b) is connected to (b) 3 (b) (b) number rocking arm one end, one end is connected in vertical migration part (b) (b) 6 (b) (b), the vertical migration partial fixing is on horizontal rotating part (b) (b) 5 (b) (b's) fixing base, the base rotating part (b) (b) 7 (b) (b) connect on the fixing base of horizontal rotating part. The utility model discloses be applied to high -speed four -axis pile up neatly machine people. (B, )
Description
technical field:
the utility model relates to a kind of high speed four-shaft robot palletizer and palletizing method.
background technology:
piling is according to certain pattern, and article are piled piling by a pieces, so that a kind of methods that the logistics activity such as carrying, storage, handling transport making the piling of blocking realize material can carry out in order; Traditional piling is all higher to the requirement of human and material resources, the labour intensity of operator is large, extensive employing industrial robot, not only can improve quality and the quantity of product, and to guaranteeing personal safety, improve work situation, reduce labor intensity, raise labour productivity, save material consume and reduce production cost with, have very important meaning.
summary of the invention:
the purpose of this utility model is to provide a kind of high speed four-shaft robot palletizer and palletizing method.
above-mentioned object is realized by following technical scheme:
a kind of high speed four-shaft robot palletizer, its composition comprises: parallel four-bar linkage, horizontally rotate part, vertical transfer portion, base rotating part, paw gripping portion, described parallel four-bar linkage is by No. 1 pivoted arm, No. 2 pivoted arms, No. 3 pivoted arms, No. 4 pivoted arms connect to form, described pivoted arm is hinged between two, the front end of No. 1 described pivoted arm connects paw gripping portion, No. 2 described pivoted arm one end connect No. 1 pivoted arm, other end connection horizontally rotates part, No. 4 described pivoted arm one end also connect and horizontally rotate part, the other end connects No. 3 pivoted arms, No. 3 described pivoted arm one end are connected to No. 1 pivoted arm, the other end is connected to vertical transfer portion, described vertical transfer portion is fixed on simultaneously and horizontally rotates on holder partly, described base rotating part is connected to and horizontally rotates on holder partly.
described high speed four-shaft robot palletizer, described base rotating part has welding base, described welding base is connected with support by turntable bearing, described support by adpting flange be connected at the decelerator welding chassis interior, described decelerator is connected with servomotor again.
described high speed four-shaft robot palletizer, the described part that horizontally rotates is connected on the support of rotating part by framework, and described tumbler shaft back-up block is connected on advancing slip plate by screw C, and described advancing slip plate is connected on framework by screw B again.
described high speed four-shaft robot palletizer, the slide plate block composition of described vertical transfer portion is connected to by screw D and horizontally rotates on framework partly, and tail skid block is connected on slide plate block composition by screw A.
described high speed four-shaft robot palletizer, the amount of exercise of each described composition controls, and is controlled by the testing sensor being connected to each test point completely, performs control by servomotor, perform concrete operating process by pneumatic element.
the beneficial effects of the utility model:
1. high speed four-shaft robot palletizer of the present utility model, there is recognition system, grasping system, four axle rotation systems, electric-control system, security system, achieve automatic identification, automatic capturing, require follow procedure automatic putting according to buttress type, have the advantages that equipment rigidity is high, quality light, it is soft to move, speed fast, crawl strength is large, safety coefficient is high.
high speed four-shaft robot palletizer of the present utility model, can make the product after piling have floor space little, be easy to deposit, handling efficiency is high, be convenient to the advantages such as storage and protection.
high speed four-shaft robot palletizer of the present utility model, the rotary inertia of mechanical transmission component is little, it is little to rub, damping ratio is reasonable, rigidity is large, and meet small-sized, lightweight, at a high speed, the requirement such as low noise and high reliability.
high speed four-shaft robot palletizer of the present utility model, have employed up-to-date mechano-electronic control technology, is widely used in the continuous piling of baling line end, greatly reduces physical labourer's intensity, reduces entreprise cost.
accompanying drawing illustrates:
accompanying drawing 1 is overall structure schematic diagram of the present utility model.
accompanying drawing 2 is base rotating part structural representations of the present utility model.
accompanying drawing 3 of the present utility modelly to horizontally rotate and vertical transfer portion structural representation.
accompanying drawing 4 is control system block diagrams of the present utility model.
accompanying drawing 5 is the replaceable form schematic diagrames of paw gripping portion structure of the present utility model.
detailed description of the invention:
embodiment 1:
a kind of high speed four-shaft robot palletizer, its composition comprises: parallel four-bar linkage, horizontally rotate part, vertical transfer portion, base rotating part, paw gripping portion, described parallel four-bar linkage is by No. 1 pivoted arm 1, No. 2 pivoted arms 2, No. 3 pivoted arms 3, No. 4 pivoted arms 4 connect to form, described pivoted arm is hinged between two, the front end of No. 1 described pivoted arm connects paw gripping portion 8, No. 2 described pivoted arm one end connect No. 1 pivoted arm, other end connection horizontally rotates part, No. 4 described pivoted arm one end also connect and horizontally rotate part, the other end connects No. 3 pivoted arms, No. 3 described pivoted arm one end are connected to No. 1 pivoted arm, the other end is connected to vertical transfer portion 6, described vertical transfer portion be fixed on simultaneously horizontally rotate part 5 holder on, described base rotating part 7 is connected to and horizontally rotates on holder partly.
embodiment 2:
high speed four-shaft robot palletizer according to embodiment 1, described base rotating part has welding base 19, described welding base is connected with support 21 by turntable bearing 22, described support by adpting flange 20 be connected at the decelerator 17 welding chassis interior, described decelerator is connected with servomotor 18 again.
embodiment 3:
high speed four-shaft robot palletizer according to embodiment 1 or 2, the described part that horizontally rotates is connected on the support of rotating part by framework 11, described tumbler shaft back-up block 12 is connected on advancing slip plate 10 by screw C15, and described advancing slip plate is connected on framework by screw B14 again.
embodiment 4:
high speed four-shaft robot palletizer according to embodiment 1 or 2, the slide plate block composition of described vertical transfer portion is connected to by screw D16 and horizontally rotates on framework partly, and tail skid block 9 is connected on slide plate block composition by screw A13.
embodiment 5:
a kind of high speed four-shaft robot palletizer utilizing one of embodiment 1 to 4 described, the amount of exercise of each described composition controls, controlled by the testing sensor being connected to each test point completely, perform control by servomotor, perform concrete operating process by pneumatic element.
Claims (4)
1.
a kind of high speed four-shaft robot palletizer, its composition comprises: parallel four-bar linkage, horizontally rotate part, vertical transfer portion, base rotating part, paw gripping portion, it is characterized in that: described parallel four-bar linkage is by No. 1 pivoted arm, No. 2 pivoted arms, No. 3 pivoted arms, No. 4 pivoted arms connect to form, described pivoted arm is hinged between two, the front end of No. 1 described pivoted arm connects paw gripping portion, No. 2 described pivoted arm one end connect No. 1 pivoted arm, other end connection horizontally rotates part, No. 4 described pivoted arm one end also connect and horizontally rotate part, the other end connects No. 3 pivoted arms, No. 3 described pivoted arm one end are connected to No. 1 pivoted arm, the other end is connected to vertical transfer portion, described vertical transfer portion is fixed on simultaneously and horizontally rotates on holder partly, described base rotating part is connected to and horizontally rotates on holder partly.
2.
high speed four-shaft robot palletizer according to claim 1, it is characterized in that: described base rotating part has welding base, described welding base is connected with support by turntable bearing, described support by adpting flange be connected at the decelerator welding chassis interior, described decelerator is connected with servomotor again.
3.
high speed four-shaft robot palletizer according to claim 1 and 2, it is characterized in that: the described part that horizontally rotates is connected on the support of rotating part by framework, described tumbler shaft back-up block is connected on advancing slip plate by screw C, and described advancing slip plate is connected on framework by screw B again.
4.
high speed four-shaft robot palletizer according to claim 1 and 2, is characterized in that: the slide plate block composition of described vertical transfer portion is connected to by screw D and horizontally rotates on framework partly, and tail skid block is connected on slide plate block composition by screw A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520819648.1U CN205085977U (en) | 2015-10-22 | 2015-10-22 | High -speed four -axis pile up neatly machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520819648.1U CN205085977U (en) | 2015-10-22 | 2015-10-22 | High -speed four -axis pile up neatly machine people |
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| Publication Number | Publication Date |
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| CN205085977U true CN205085977U (en) | 2016-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520819648.1U Active CN205085977U (en) | 2015-10-22 | 2015-10-22 | High -speed four -axis pile up neatly machine people |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171734A (en) * | 2015-10-22 | 2015-12-23 | 哈尔滨联科自动化技术开发有限公司 | High-speed four-axis palletizing robot and palletizing method |
| CN107540203A (en) * | 2017-08-31 | 2018-01-05 | 肖特新康药品包装有限公司 | Glass syringe agent bottle preparation system |
-
2015
- 2015-10-22 CN CN201520819648.1U patent/CN205085977U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171734A (en) * | 2015-10-22 | 2015-12-23 | 哈尔滨联科自动化技术开发有限公司 | High-speed four-axis palletizing robot and palletizing method |
| CN107540203A (en) * | 2017-08-31 | 2018-01-05 | 肖特新康药品包装有限公司 | Glass syringe agent bottle preparation system |
| CN107540203B (en) * | 2017-08-31 | 2020-03-27 | 肖特新康药品包装有限公司 | Glass injection bottle preparation system |
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