CN205500310U - Stacking robot - Google Patents
Stacking robot Download PDFInfo
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- CN205500310U CN205500310U CN201620280312.7U CN201620280312U CN205500310U CN 205500310 U CN205500310 U CN 205500310U CN 201620280312 U CN201620280312 U CN 201620280312U CN 205500310 U CN205500310 U CN 205500310U
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- shovel board
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- push
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Abstract
The utility model discloses a stacking robot. High efficiency, low -cost packing box are put things in good order becomes the demand that constantly increases on the market. The utility model discloses a caterpillar base plate part drive chassis, transfer component transmits the packing box to turn to the packing box, single case propelling movement part is followed transfer component with single individual packing box and is pushed shovel board spare, and two plastic parts of both sides are rectified the packing box before packing box entering shovel board spare, and two that shovel board drive disk assembly realization shovel board spare and both sides push away the synchronous lift of case part, single packing box is arrange into in order one row to shovel board spare, and shovel board spare relative horizontal tilt set up, two push away the case part and will shovel the packing box release a row last of board spare, controller control is shoveled board drive disk assembly, shovel board spare, is pushed away the coordinated actions of case part, plastic part, single case propelling movement part, transfer component and caterpillar base plate part. The utility model discloses single the problem of putting things in good order the inefficiency in the past of having solved is put things in good order to the in bank.
Description
Technical field
This utility model belongs to field of mechanical technique, is specifically related to a kind of robot palletizer.
Background technology
Along with the sustainable development of China's economy and advancing by leaps and bounds of science and technology so that robot piling is at thing
The industries such as stream, production line, supermarket have and are quite widely applied.Kind, the environment of plant and the visitor of packaging
Piling is become the bone that in packaging plant, one piece of difficulty is gnawed by family demands etc..In order to overcome these difficulties, piling
The various aspects of equipment are all improved in development, including from plant equipment to handling its software.On market right
The demand of motility constantly increases, and this trend has had influence on the many aspects of packaging, robot palletizer
It is unique selection, it is possible to high efficiency, low cost, easy to operate the packing crates code solving substantial amounts
Put problem.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, it is provided that a kind of robot palletizer, solve with
Toward piling up packing crates at free space, then moved to the low efficiency problem in container by fork truck.
The technical scheme that this utility model is used is:
This utility model includes controller, frame and rack-mounted shovel board drive disk assembly, shovel board portion
Part, push away box part, orthopaedic component, single case push parts, transmission part and crawler body parts；Described
Crawler body parts drive frame；Described transmission part transmission packing crates, and carry out packing crates turning
To；Single case pushes parts and from transmission part, individual packaging case is pushed shovel board parts, two shapings of both sides
Packing crates is corrected before packing crates enters shovel board parts by parts, and shovel board drive disk assembly realizes shovel board portion
Two of part and both sides push away box part synchronization lifting；Individual packaging case is organized into one by described shovel board parts
Row, shovel board parts relative level is obliquely installed；Two push away box part by the packaging of a row on shovel board parts
Case is released；Described controller control shovel board drive disk assembly, shovel board parts, push away box part, orthopaedic component,
Single case pushes parts, transmission part and the coordination of crawler body parts.
Described shovel board parts include steel wire rope, horizontal push away bending part, sloping desk, pressing plate, first servo electricity
Machine, shovel board support, drive sprocket, shovel board chain, duplicate sprocket, reel chain, round guide, slide block,
Steel wire rope positioning disk, active retaining rod, rolling element and edge cam.Shovel board drive disk assembly drives shovel board support
Lifting；Described sloping desk includes integrated rear portion hang plate and front rake plate；Rear portion tilts
Plate is fixed on shovel board support；The angle of rear portion hang plate and horizontal plane is 5～8 °, front rake plate with
The angle of horizontal plane is 11～15 °；The first described servomotor is fixed on shovel board support, and through subtracting
Speed device drives drive sprocket；Drive sprocket is connected by shovel board chain with a sprocket wheel of duplicate sprocket；Double
Another sprocket wheel of connection sprocket wheel is connected by reel chain with driven sprocket；Drive sprocket, duplicate sprocket and from
Movable sprocket is all hinged on shovel board support；Described round guide is fixed on shovel board support, and slide block is led with circle
Rail constitutes sliding pair；Two steel wire rope positioning disks are hinged on shovel board support two ends, and are connected by steel wire rope；
The side that steel wire rope and reel chain are mutually adjacent to is fixed by described pressing plate；The horizontal bending part that pushes away is positioned at inclined plane
Plate top, the gathering sill that the horizontal bending plate pushing away bending part two ends is offered through sloping desk respectively with reel chain
Fix with the opposite side of steel wire rope；The horizontal bending plate fixed with reel chain on bending part that pushes away also is fixed with slide block；
Rolling element is fixed in rotating shaft；Rotating shaft and shovel board are propped up and are configured to revolute pair, and rotating shaft is passed through with shovel board support
Torsion spring connects；Two ends of U-shaped pin are all fixed with rotating shaft, and are integrally provided in what sloping desk was offered
In U-type groove；It is secondary that edge cam and rolling element constitute cam, and by cam solenoid-driven.
Described shovel board drive disk assembly includes drive block, rotates bar, the second servomotor, reduction box, shovel board
Belt mechanism and shovel board drive rail.The second described servomotor is fixed in frame, and through slowing down
Case and a shovel board belt mechanism drive and rotate bar；Described rotation bar is bearing in frame by bearing,
And drive another shovel board belt mechanism；Shovel board belt mechanism is provided with regulating wheel and directive wheel；Two
Shovel board belt mechanism sets up separately at rotation bar two ends, and the transmission band of shovel board belt mechanism is fixed with transmission
Block；Described drive block constitutes sliding pair with the shovel board drive rail being fixed in frame.
The described box part that pushes away includes pushing away case servomotor, switchboard, pushes away box bracket, push away case electric cylinder and push away
Case guide rail.The described case electric cylinder that pushes away is fixed on and pushes away on case guide rail, and drives gear by synchronous belt mechanism；
Described switchboard includes the two pieces of push pedals mutually constituting sliding pair, tooth bar fixing in one of push pedal
Engaging with gear, another block push pedal is by pushing away case driven by servomotor；The described case servomotor that pushes away is fixed on
Push away on box bracket, push away case guide rail with push away box bracket constitute sliding pair；Two push away box part to push away box bracket equal
Lifting is driven by shovel board drive disk assembly.Two push away on box part by the push pedal setting pushing away case driven by servomotor
Sloping desk two ends at shovel board parts.
Described orthopaedic component includes the 3rd servomotor, shaping support, shaping guide rail, trim panel, elasticity
Plectrum, shaping electromagnetic valve, slide unit and shaping screw mandrel.The 3rd described servomotor drives whole through decelerator
Shape screw mandrel；Described shaping screw mandrel is bearing on shaping support by bearing；Slide unit is constituted with shaping screw mandrel
Screw pair, and constitute sliding pair with the shaping guide rail being fixed on shaping support；Described shaping electromagnetic valve
Drive trim panel；One end of elastic plectrum is fixed on trim panel, and the other end is arranged on above transmission part.
The elastic plectrum of two orthopaedic components is symmetrical arranged, in rear portion width, anterior narrow splayed.
Described single case push parts include guide post, knee-action servomotor, push rod, propelling movement slide rail,
Push belt mechanism, the 4th servomotor and slide plate.The 4th described servomotor is fixed in frame,
And drive propelling movement belt mechanism through decelerator；Described slide plate is fixed on the transmission pushing belt mechanism
On band, and constitute sliding pair with the propelling movement slide rail being fixed in frame；Knee-action servomotor is fixed on
On slide plate, and push rod is driven to move up and down；Described push rod is equal with two guide posts being fixed on slide plate
Constitute sliding pair；Push rod is arranged on directly over transmission part.
Described transmission part include translation servo-motors, the 5th servomotor, transmission sprocket wheel, transmission support,
Cylinder and bogie.Described transmission support is fixed in frame；One row's cylinder is equidistantly hinged on transmission
On frame, cylinder side is fixed with two transmission sprocket wheels, and all chains wheel is positioned at the same side；Adjacent roller
Transmission sprocket wheel connected by conveyor chain.Described bogie is arranged on above cylinder, and watches with the 5th
The output shaft taking motor is fixed；Described translation servo-motors drives the 5th servomotor upper and lower translation, the
Five driven by servomotor bogies rotate；Described bogie includes rectangle frame and is welded on rectangle frame
Interior cross；It is positioned at the cylinder immediately below bogie and the most circumferentially offers cannelure.
This utility model has the advantages that
This utility model is in a row piled up to solve and the most single is piled up inefficient problem.This utility model is not only
Disclosure satisfy that usual piling, and can piling in the most airtight container, solving in the past will packaging
Case is piled up at free space, then is moved to the problem in container by fork truck, and operation is two-in-one, numerical control program
Control realization is full-automatic, unattended, is greatly improved efficiency, saves labour cost.Sloping desk makes
Obtain packing crates to release along inclined-plane, will not deflect because of vibration, pile up more neat.
Accompanying drawing explanation
Fig. 1 is the integrally-built side isometric view of this utility model；
Fig. 2 is this utility model another side isometric view integrally-built；
Fig. 3 is the structural perspective of shovel board drive disk assembly in this utility model；
Fig. 4-1 is the structural perspective of shovel board parts in this utility model；
Fig. 4-2 is the partial sectional view of shovel board parts in this utility model；
Fig. 4-3 is the A-A sectional view of Fig. 4-2；
Fig. 4-4 is the C-C sectional view of Fig. 4-2；
Fig. 4-5 is the schematic side view of shovel board parts in this utility model；
Fig. 4-6 is the partial enlarged drawing of D part in Fig. 4-5；
Fig. 5 is the structural perspective pushing away box part in this utility model；
Fig. 6 is the structural perspective of orthopaedic component in this utility model；
Fig. 7 is the rigging position schematic diagram that in this utility model, single case pushes parts；
Fig. 8 is the structural perspective that in this utility model, single case pushes parts；
Fig. 9 is the structural perspective of transmission part in this utility model.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings.
As illustrated in fig. 1 and 2, a kind of robot palletizer, including controller, frame 8 and be arranged on frame
On shovel board drive disk assembly 1, shovel board parts 2, push away box part 3, orthopaedic component 4, single case push parts 5,
Transmission part 6 and crawler body parts 7.Crawler body parts 7 drive frame；Transmission part 6 transmission bag
Vanning, and packing crates is turned to；Single case pushes parts 5 and is pushed away from transmission part 6 by individual packaging case
Entering shovel board parts 2, packing crates is entered before packing crates enters shovel board parts 2 by two orthopaedic components 4 of both sides
Row correction, shovel board drive disk assembly 1 realize shovel board parts 2 and both sides two push away box part 3 synchronization lifting；
Individual packaging case is arranged in a row by shovel board parts 2, and shovel board parts 2 relative level is obliquely installed；Two
The packing crates of a row on shovel board parts 2 is released by the individual box part 3 that pushes away.Controller control shovel board drive disk assembly 1,
Shovel board parts 2, push away box part 3, orthopaedic component 4, single case push parts 5, transmission part 6 and crawler belt
The coordination of vehicle chassis component 7.
As it is shown on figure 3, shovel board drive disk assembly 1 includes drive block 1-1, rotates bar 1-2, the second servo electricity
Machine 1-3, reduction box 1-4, shovel board belt mechanism 1-5 and shovel board drive rail 1-6.Second servo electricity
Machine 1-3 is fixed in frame 8, and drives turn through reduction box 1-4 and shovel board belt mechanism 1-5
Lever 1-2；Rotate bar 1-2 to be bearing in frame 8 by bearing, and drive another to shovel plate and driving band machine
Structure 1-5；Shovel board belt mechanism 1-5 is provided with regulating wheel 1-7 and directive wheel 1-8；Two shovel plate and driving bands
Mechanism 1-5 sets up separately at rotation bar 1-2 two ends, and the transmission band of shovel board belt mechanism 1-5 is fixed with biography
Motion block 1-1；Drive block 1-1 constitutes sliding pair with shovel board drive rail 1-6 being fixed in frame 8.
As shown in Fig. 4-1,4-2,4-3,4-4,4-5 and 4-6, shovel board parts 2 include steel wire rope 2-1,
Horizontal push away bending part 2-2, sloping desk 2-3, pressing plate 2-4, the first servomotor 2-5, shovel board support 2-6,
Drive sprocket 2-7, shovel board chain 2-8, duplicate sprocket 2-9, reel chain 2-10, round guide 2-11, cunning
Block 2-12, steel wire rope positioning disk 2-13, active retaining rod 2-14, rolling element 2-15 and edge cam 2-16.
Shovel board support 2-6 both sides are fixed on two pieces of drive block 1-1 of shovel board drive disk assembly；Sloping desk 2-3
Including integrated rear portion hang plate and front rake plate；Rear portion hang plate is fixed on shovel board support 2-6
On；The angle of rear portion hang plate and horizontal plane is 5～8 °, the angle of front rake plate and horizontal plane be 11～
15°；First servomotor 2-5 is fixed on shovel board support 2-6, and drives drive sprocket through decelerator
2-7；One sprocket wheel of drive sprocket 2-7 and duplicate sprocket 2-9 is connected by shovel board chain 2-8；Duplex
Another sprocket wheel of sprocket wheel 2-9 is connected by reel chain 2-10 with driven sprocket；Drive sprocket 2-7, double
Connection sprocket wheel 2-9 and driven sprocket are all hinged on shovel board support 2-6；Round guide 2-11 is fixed on shovel board and props up
On frame 2-6, slide block 2-12 and round guide 2-11 constitutes sliding pair；Two steel wire rope positioning disk 2-13 hinges
It is connected on shovel board support 2-6 two ends, and is connected by steel wire rope 2-1；Pressing plate 2-4 by steel wire rope 2-1 and
The side that reel chain 2-10 is mutually adjacent to is fixed, it is ensured that have identical speed and direction；Horizontal push away bending part 2-2
Being positioned at sloping desk 2-3 top, the horizontal bending plate pushing away bending part 2-2 two ends is opened through sloping desk 2-3
If gathering sill opposite side with reel chain 2-10 and steel wire rope 2-1 respectively fix；Horizontal push away bending part 2-2
The upper bending plate fixing with reel chain 2-10 is also fixed with slide block 2-12, and slide block 2-12 is to slide block 2-12
Rise and support and guide effect；Rolling element 2-15 is fixed in rotating shaft；Rotating shaft turns with shovel board support 2-6 composition
Move pair, and rotating shaft is connected by torsion spring with shovel board support 2-6；Two ends of U-shaped pin 2-14 all with
Rotating shaft is fixed, and is integrally provided in the U-type groove that sloping desk 2-3 offers；Edge cam 2-16 and rolling
It is secondary that kinetoplast 2-15 constitutes cam, and by cam solenoid-driven；When chest pushes sloping desk 2-3,
Cam solenoid-driven edge cam 2-16 moves forward, and then drives rolling element 2-15, rotating shaft and active catch
Bar 2-14 synchronous axial system, active retaining rod 2-14 stands on sloping desk 2-3, and shelves live chest, entire row case
Son sequences when needing to release, and moves after cam solenoid-driven edge cam 2-16, and active retaining rod 2-14 falls
Under.
Include pushing away case servomotor 3-1, switchboard 3-2, pushing away box bracket as it is shown in figure 5, push away box part 3
3-3, push away case electric cylinder 3-4 and push away case guide rail 3-5.Push away case electric cylinder 3-4 to be fixed on and push away case guide rail 3-5
On, and drive gear by synchronous belt mechanism；Switchboard 3-2 includes two pieces that mutually constitute sliding pair to be pushed away
Plate, rack and pinion engagement fixing in one of push pedal, another block push pedal is by pushing away case servomotor 3-1
Drive；Push away case servomotor 3-1 to be fixed on and push away on box bracket 3-3, push away case guide rail 3-5 and push away box bracket
3-3 constitutes sliding pair；Each corresponding with shovel board drive disk assembly for box bracket 3-3 one piece that pushes away pushing away box part passes
Motion block 1-1 fixes.Two push away on box part by push away case servomotor 3-1 drive push pedal be arranged on shovel board
The sloping desk 2-3 two ends of parts so that be fixed with the push pedal of tooth bar and drive by pushing away case servomotor 3-1
When dynamic push pedal overlaps, the middle part of sloping desk 2-3 does not has obstacle.
As shown in Figure 6, orthopaedic component 4 includes that the 3rd servomotor 4-1, shaping support 4-2, shaping are led
Rail 4-3, trim panel 4-4, elastic plectrum 4-5, shaping electromagnetic valve 4-6, slide unit 4-7 and shaping screw mandrel
4-8.3rd servomotor 4-1 drives shaping screw mandrel 4-8 through decelerator；Shaping screw mandrel 4-8 passes through bearing
It is bearing on shaping support 4-2；Slide unit 4-7 and shaping screw mandrel 4-8 constitute screw pair, and be fixed on
Shaping guide rail 4-3 on shaping support 4-2 constitutes sliding pair；Shaping electromagnetic valve 4-6 drives trim panel 4-4；
One end of elastic plectrum 4-5 is fixed on trim panel 4-4, and the other end is arranged on above transmission part 6.
The elastic plectrum 4-5 of two orthopaedic components is symmetrical arranged, in rear portion width, anterior narrow splayed.
As shown in FIG. 7 and 8, single case push parts 5 include guide post 5-1, knee-action servomotor 5-2,
Push rod 5-3, propelling movement slide rail 5-4, propelling movement belt mechanism 5-5, the 4th servomotor 5-6 and slide plate 5-7.
4th servomotor 5-6 is fixed in frame 8, and drives propelling movement belt mechanism 5-5 through decelerator；Sliding
Plate 5-7 be fixed on push belt mechanism 5-5 transmission band on, and with the propelling movement being fixed in frame 8
Slide rail 5-4 constitutes sliding pair；Knee-action servomotor 5-2 is fixed on slide plate 5-7, and driving pushes away
Bar 5-3 moves up and down；Push rod 5-3 all constitutes cunning with the two guide post 5-1 being fixed on slide plate 5-7
Dynamic pair；Push rod 5-3 is arranged on directly over transmission part 6.
As it is shown in figure 9, transmission part 6 includes translation servo-motors, the 5th servomotor, transmission sprocket wheel
6-1, transmission support 6-2, cylinder 6-3 and bogie 6-4.Transmission support 6-2 is fixed in frame 8；
One row cylinder 6-3 is equidistantly hinged on transmission support 6-2, and cylinder 6-3 side is fixed with two chains
Wheel 6-1, all transmission sprocket wheel 6-1 are positioned at the same side；The transmission sprocket wheel 6-1 of adjacent roller 6-3 is by passing
Defeated chain connects.Bogie 6-4 is arranged on above cylinder 6-3, and with the output shaft of the 5th servomotor
Fixing；Translation servo-motors drives the 5th servomotor upper and lower translation, the 5th driven by servomotor bogie
6-4 rotates；Bogie 6-4 includes rectangle frame and the cross being welded in rectangle frame；It is positioned at and turns to
Cylinder 6-3 immediately below frame 6-4 the most circumferentially offers cannelure so that the cross energy of bogie 6-4
Embed in the axial gap of cannelure and adjacent roller 6-3, thus ensure casing transmission less than cylinder 6-3
Smooth and easy.
Controller controls the second servomotor 1-3, the first servomotor 2-5, cam electromagnetic valve, pushes away case and watch
Take motor 3-1, push away case electric cylinder 3-4, the 3rd servomotor 4-1, shaping electromagnetic valve 4-6, move up and down
Make servomotor 5-2, the 4th servomotor 5-6, translation servo-motors and the coordination work of the 5th servomotor
Make.
The operation principle of this robot palletizer is as follows:
Packing crates is transported to transmission part 6 by conveyer belt, the bogie 6-4 of transmission part 6 turn to needs
Packing crates turn to.During the transmission of cylinder, two orthopaedic components 4 are in the control of numerical control program
Adjust the spacing of two panels elastic plectrum 4-5 under system, packing crates is ajusted to centre.Single case pushes parts 5
Promoting packing crates to enter shovel board parts 2, when pushing, the active retaining rod 2-14 of shovel board parts 2 blocks packing crates
Prevent landing, horizontal push away bending plate about 2-2 promote packing crates is arranged in a row.Control at numerical control program
The lower crawler body parts 7 of system move to internal container, and shovel board drive disk assembly 1 adjusts shovel board according to program
Packing crates in a row in shovel board, to proper height position, is pushed out in container by parts by pushing away box part 3.
This robot palletizer is carried out numerical control program control by controller, is constantly transported in container by packing crates in a row
Portion is until whole container is filled, it is achieved full-automatic, unattended, is greatly improved efficiency, saves into
This.
Claims (6)
1. a robot palletizer, including controller, frame and rack-mounted shovel board drive disk assembly,
Shovel board parts, push away box part, orthopaedic component, single case push parts, transmission part and crawler body parts,
It is characterized in that: described crawler body parts drive frame；Described transmission part transmission packing crates, and
Packing crates is turned to；Single case pushes parts and from transmission part individual packaging case is pushed shovel board parts, and two
Packing crates is corrected before packing crates enters shovel board parts by two orthopaedic components of side, shovel board drive disk assembly
Two that realize shovel board parts and both sides push away box part synchronization lifting；Described shovel board parts are by individual packaging case
Arranging in a row, shovel board parts relative level is obliquely installed；Two push away box part by a row on shovel board parts
Packing crates release；Described controller controls shovel board drive disk assembly, shovel board parts, pushes away box part, shaping
Parts, single case push parts, transmission part and the coordination of crawler body parts；
Described shovel board parts include steel wire rope, horizontal push away bending part, sloping desk, pressing plate, first servo electricity
Machine, shovel board support, drive sprocket, shovel board chain, duplicate sprocket, reel chain, round guide, slide block, steel
Cord positioning disk, active retaining rod, rolling element and edge cam；Shovel board drive disk assembly drives the lifting of shovel board support；
Described sloping desk includes integrated rear portion hang plate and front rake plate；Rear portion hang plate is fixed on
On shovel board support；Rear portion hang plate is 5～8 ° with the angle of horizontal plane, front rake plate and the folder of horizontal plane
Angle is 11～15 °；The first described servomotor is fixed on shovel board support, and drives actively through decelerator
Sprocket wheel；Drive sprocket is connected by shovel board chain with a sprocket wheel of duplicate sprocket；Another of duplicate sprocket
Sprocket wheel is connected by reel chain with driven sprocket；Drive sprocket, duplicate sprocket and driven sprocket are all hinged on shovel
On board mount；Described round guide is fixed on shovel board support, and slide block constitutes sliding pair with round guide；Two
Steel wire rope positioning disk is hinged on shovel board support two ends, and is connected by steel wire rope；Described pressing plate is by steel wire rope
The side being mutually adjacent to reel chain is fixed；The horizontal bending part that pushes away is positioned at sloping desk top, horizontal pushes away bending part two
The gathering sill that the bending plate of end is offered through sloping desk opposite side with reel chain and steel wire rope respectively is fixed；
The horizontal bending plate fixed with reel chain on bending part that pushes away also is fixed with slide block；Rolling element is fixed in rotating shaft；Turn
Axle and shovel board are propped up and are configured to revolute pair, and rotating shaft is connected by torsion spring with shovel board support；Two of U-shaped pin
End is all fixed with rotating shaft, and is integrally provided in the U-type groove that sloping desk is offered；Edge cam and rolling
It is secondary that body constitutes cam, and by cam solenoid-driven.
A kind of robot palletizer the most according to claim 1, it is characterised in that: described shovel board transmission
Parts include drive block, rotate bar, the second servomotor, reduction box, shovel board belt mechanism and shovel board biography
Dynamic guide rail；The second described servomotor is fixed in frame, and through reduction box and a shovel plate and driving band machine
Structure drives and rotates bar；Described rotation bar is bearing in frame by bearing, and drives another shovel board transmission
Band mechanism；Shovel board belt mechanism is provided with regulating wheel and directive wheel；Two shovel board belt mechanism set up separately and are turning
Lever two ends, the transmission band of shovel board belt mechanism is fixed with drive block；Described drive block be fixed on
Shovel board drive rail in frame constitutes sliding pair.
A kind of robot palletizer the most according to claim 1, it is characterised in that: described pushes away box part
Including pushing away case servomotor, switchboard, pushing away box bracket, push away case electric cylinder and push away case guide rail；Described pushes away case
Electric cylinder is fixed on and pushes away on case guide rail, and drives gear by synchronous belt mechanism；Described switchboard includes phase
Constituting two pieces of push pedals of sliding pair mutually, rack and pinion engagement fixing in one of push pedal, another block pushes away
Plate is by pushing away case driven by servomotor；The described case servomotor that pushes away is fixed on and pushes away on box bracket, push away case guide rail with
Push away box bracket and constitute sliding pair；Two box brackets that push away pushing away box part are driven lifting by shovel board drive disk assembly；
Two push away the sloping desk two ends being arranged on shovel board parts on box part by the push pedal pushing away case driven by servomotor.
A kind of robot palletizer the most according to claim 1, it is characterised in that: described orthopaedic component
Including the 3rd servomotor, shaping support, shaping guide rail, trim panel, elastic plectrum, shaping electromagnetic valve,
Slide unit and shaping screw mandrel；The 3rd described servomotor drives shaping screw mandrel through decelerator；Described shaping silk
Bar is bearing on shaping support by bearing；Slide unit and shaping screw mandrel constitute screw pair, and be fixed on shaping
Shaping guide rail on support constitutes sliding pair；Described shaping solenoid-driven trim panel；The one of elastic plectrum
End is fixed on trim panel, and the other end is arranged on above transmission part；The elastic plectrum pair of two orthopaedic components
Claim to arrange, in rear portion width, anterior narrow splayed.
A kind of robot palletizer the most according to claim 1, it is characterised in that: described single case pushes
Parts include guide post, knee-action servomotor, push rod, propelling movement slide rail, push belt mechanism, the
Four servomotors and slide plate；The 4th described servomotor is fixed in frame, and drives propelling movement through decelerator
Belt mechanism；Described slide plate be fixed on push belt mechanism transmission band on, and be fixed on frame
On propelling movement slide rail constitute sliding pair；Knee-action servomotor is fixed on slide plate, and drives push rod upper and lower
Motion；Described push rod all constitutes sliding pair with two guide posts being fixed on slide plate；Push rod is arranged on biography
Directly over defeated parts.
A kind of robot palletizer the most according to claim 1, it is characterised in that: described transmission part
Including translation servo-motors, the 5th servomotor, transmission sprocket wheel, transmission support, cylinder and bogie；Institute
The transmission support stated is fixed in frame；One row's cylinder is equidistantly hinged on transmission support, and cylinder side is fixed
Two transmission sprocket wheels, all chains wheel are had to be positioned at the same side；The transmission sprocket wheel of adjacent roller passes through chain
Bar connects；Described bogie is arranged on above cylinder, and fixes with the output shaft of the 5th servomotor；Institute
The translation servo-motors stated drives the 5th servomotor upper and lower translation, the 5th driven by servomotor bogie to rotate；
Described bogie includes rectangle frame and the cross being welded in rectangle frame；It is positioned at immediately below bogie
Cylinder the most circumferentially offer cannelure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620280312.7U CN205500310U (en) | 2016-04-06 | 2016-04-06 | Stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620280312.7U CN205500310U (en) | 2016-04-06 | 2016-04-06 | Stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205500310U true CN205500310U (en) | 2016-08-24 |
Family
ID=56736920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620280312.7U Withdrawn - After Issue CN205500310U (en) | 2016-04-06 | 2016-04-06 | Stacking robot |
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| Country | Link |
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| CN (1) | CN205500310U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105645118A (en) * | 2016-04-06 | 2016-06-08 | 孟永江 | Stacking robot |
| CN106185375A (en) * | 2016-08-29 | 2016-12-07 | 哈尔滨博实自动化股份有限公司 | A kind of Full-automatic loader |
| CN106429147A (en) * | 2016-10-26 | 2017-02-22 | 广州市杰兴制衣有限公司 | Automatic warehousing system of baby garment dehumidifying room |
| CN110790181A (en) * | 2019-11-05 | 2020-02-14 | 金陵科技学院 | Intelligent transportation and jacking equipment for building material transportation and transportation jacking method |
| CN117208501A (en) * | 2023-11-08 | 2023-12-12 | 烟台金丝猴食品科技有限公司 | Material bag conveying device |
-
2016
- 2016-04-06 CN CN201620280312.7U patent/CN205500310U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105645118A (en) * | 2016-04-06 | 2016-06-08 | 孟永江 | Stacking robot |
| CN105645118B (en) * | 2016-04-06 | 2018-04-17 | 河南小大机器人股份公司 | Robot palletizer |
| CN106185375A (en) * | 2016-08-29 | 2016-12-07 | 哈尔滨博实自动化股份有限公司 | A kind of Full-automatic loader |
| CN106185375B (en) * | 2016-08-29 | 2018-08-31 | 哈尔滨博实自动化股份有限公司 | A kind of Full-automatic loader |
| CN106429147A (en) * | 2016-10-26 | 2017-02-22 | 广州市杰兴制衣有限公司 | Automatic warehousing system of baby garment dehumidifying room |
| CN106429147B (en) * | 2016-10-26 | 2019-03-01 | 广州市杰兴制衣有限公司 | A kind of baby child's clothes dehumidifier room automated storage and retrieval system |
| CN110790181A (en) * | 2019-11-05 | 2020-02-14 | 金陵科技学院 | Intelligent transportation and jacking equipment for building material transportation and transportation jacking method |
| CN117208501A (en) * | 2023-11-08 | 2023-12-12 | 烟台金丝猴食品科技有限公司 | Material bag conveying device |
| CN117208501B (en) * | 2023-11-08 | 2024-01-30 | 烟台金丝猴食品科技有限公司 | Material bag conveying device |
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Granted publication date: 20160824 Effective date of abandoning: 20180417 |