CN206406074U - A kind of cantilevered robot palletizer - Google Patents
A kind of cantilevered robot palletizer Download PDFInfo
- Publication number
- CN206406074U CN206406074U CN201720026771.7U CN201720026771U CN206406074U CN 206406074 U CN206406074 U CN 206406074U CN 201720026771 U CN201720026771 U CN 201720026771U CN 206406074 U CN206406074 U CN 206406074U
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- China
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- guide rail
- axis
- timing belt
- axis guide
- cantilever
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Abstract
The utility model discloses a kind of cantilevered robot palletizer, including main frame, cantilever, X-axis guide rail, X-axis timing belt, Y-axis guide rail, Y-axis timing belt, Z axis guide rail, Z axis timing belt, handgrip mechanism and drive system and control system；Wherein, the X-axis guide rail is fixedly installed on the main frame in the horizontal direction；Vertically, and slip is arranged in the X-axis guide rail Z axis guide rail, and the X-axis timing belt drives the Z axis guide rail along X-axis guide rail horizontal sliding；The cantilever slip is arranged in the Z axis guide rail, and the Z axis timing belt drives the cantilever to be slid along the Z axis guide rail；It is provided with Y-axis guide rail on the cantilever, handgrip mechanism slip is arranged in the Y-axis guide rail, and the Y-axis timing belt drives the handgrip mechanism to be slid in the Y-axis guide rail；The control system controls the X-axis timing belt, the Y-axis timing belt and the Z axis timing belt to act with drive system.
Description
Technical field
The utility model is related to material transportation art, espespecially a kind of cantilevered robot palletizer.
Background technology
Robot palletizer be used in industrial processes perform high-volume workpiece, the acquisition of package, carrying, stacking,
One class industrial robot of the tasks such as de-stacking, is to integrate the subjects such as machinery, electronics, information, intellectual technology, computer science
High-new electronic product.Stacking machine domestic at present based on low level side-push,
Low level side-push stacking machine is in actual use, because it has problems with that time：1st, the positioning precision of stacking is not
It is high.2nd, the pile shape being finally put into also is difficult to see.Changed when the 3rd, carrying out palletization operations for different product relatively complicated.
Utility model content
The purpose of this utility model is to provide a kind of cantilevered robot palletizer, drives handgrip to realize that stacking is moved by cantilever
Make.
The technical scheme that the utility model is provided is as follows：A kind of cantilevered robot palletizer, including main frame, cantilever, X-axis
Guide rail, X-axis timing belt, Y-axis guide rail, Y-axis timing belt, Z axis guide rail, Z axis timing belt, handgrip mechanism and drive system and control
System processed.
Wherein, the X-axis guide rail is fixedly installed on the main frame in the horizontal direction；The vertical side in Z axis guide rail edge
To, and slip is arranged in the X-axis guide rail, and the X-axis timing belt drives the Z axis guide rail along X-axis guide rail level
Sliding；The cantilever slip is arranged in the Z axis guide rail, and the Z axis timing belt drives the cantilever to be led along the Z axis
Rail slides；It is provided with Y-axis guide rail on the cantilever, handgrip mechanism slip is arranged in the Y-axis guide rail, the Y
Axle timing belt drives the handgrip mechanism to be slid in the Y-axis guide rail.
The control system controls the X-axis timing belt, the Y-axis timing belt and the Z axis with the drive system
Timing belt is acted.
X-axis guide rail is on main frame, and being arranged in X-axis guide rail for Z axis guide rail slip can in X direction namely horizontal direction
Translation, being arranged on Z guide rails for cantilever slip can be translated along Z-direction i.e. vertical direction, and such cantilever realizes two sides of XZ
To action.The Y-axis guide rail translation that handgrip is set along along cantilever.Then final handgrip mechanism realizes the dynamic of XYZ three degree of freedoms
Make.
The structure for coordinating guide rail, timing belt by framework realizes the action of handgrip on cantilever and cantilever.First, structure
More compact, appearance and size is small, so that relatively low to requirements of installation space.Secondly, when changing palletized products, it is only necessary to change handgrip
And corresponding adjustment control system can be produced.The time of adjustment is saved, production efficiency is accelerated.Again, cantilever is passed through
Mode realizes the location action of high-order translation or vertical direction, and the positioning precision of stacking action is higher.
It is preferred that, the handgrip mechanism is to include rotary shaft and handgrip group, the control system and the drive system
The handgrip group is controlled to be rotated around the rotary shaft.Handgrip mechanism can complete spinning movement, and it is dynamic that robot palletizer can be realized
Make more horn of plenty, using more flexible and convenient.
Further, the handgrip group is sucked type handgrip group, and the pneumatic circuit of the sucked type handgrip group is provided with pressure
Power is switched.The control of sucked type handgrip group is relatively simple.The outfit of pressure switch can make to realize whether automatic decision product holds.
Specifically, being provided with strip through-hole on the cantilever, the strip through-hole both sides are the Y-axis guide rail, described to grab
Mobile phone structure is through the through hole and is connected to sliding in the Y-axis guide rail.The action of handgrip mechanism is more stable.
Specifically, the drive system includes driving the X-axis timing belt, the Y-axis timing belt, the Z axis timing belt
And four point drive mechanisms of rotary shaft action, described point of drive mechanism include servomotor and reductor.
Further, the servomotor for controlling the Z axis timing belt translation is band band-type brake servomotor.Z axis vertical direction
On need by cantilever, handgrip mechanism and and by palletized products quickly lifted and declined, larger Action of Gravity Field need to be overcome,
Also there is certain potential safety hazard, thus be equipped with band-type brake and ensure safety.
It is preferred that, the main frame be cuboid framework, the cuboid framework by two welding fabrications rectangle frame
Frame is spliced entirety by waling stripe, and the rectangular frame is fastened with the waling stripe by connecting plate and bolt,
And swash plate support is installed at four base angles of the cuboid framework.
The cuboid framework intensity of welding fabrication is high, and the quick start-stop that can carry cantilever and handgrip is acted.Spliced
Structure conveniently can be transported and installed.
Specifically, the control system includes programmable controller and touch-screen.
Specifically, being provided with protective door and/or protection network on the side of the main frame.Improve safety system when using
Number.
A kind of cantilevered robot palletizer provided by the utility model, can bring the following beneficial effect of at least one
Really：
1st, the structure for coordinating guide rail, timing belt by framework realizes the action of handgrip on cantilever and cantilever.Structure compared with
To be compact, appearance and size is small, so that relatively low to requirements of installation space.
When the 2nd, changing palletized products, it is only necessary to change handgrip and corresponding adjustment control system can be produced.Save tune
The whole time, accelerate production efficiency.
3rd, realize the location action of high-order translation or vertical direction by way of cantilever, the positioning precision of stacking action compared with
Height, is applicable very much for especially needing to coincide to some product levels.
4th, X-axis guide rail is on main frame, and being arranged in X-axis guide rail for Z axis guide rail slip can in X direction namely level side
To translation, being arranged on Z guide rails for cantilever slip can be translated along Z-direction i.e. vertical direction, and such cantilever realizes XZ two
The action in direction.The Y-axis guide rail translation that handgrip is set along along cantilever.Handgrip can be rotated around rotary shaft simultaneously, then final handgrip
Mechanism realizes the action of four frees degree of XYZ and rotary shaft.
Brief description of the drawings
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of cantilevered stacking machine
Above-mentioned characteristic, technical characteristic, advantage and its implementation of people is further described.
Fig. 1 is the dimensional structure diagram of cantilevered robot palletizer.
Fig. 2 is Fig. 1 A direction views.
Fig. 3 is cantilever and the structural representation of Z axis guide rail.
Fig. 4 is the dimensional structure diagram of main frame.
Fig. 5 is the dimensional structure diagram of handgrip mechanism.
Drawing reference numeral explanation：100th, main frame, 110, column, 120, waling stripe, 130, connecting plate, 140, protection network,
150th, motor mount, 160, swash plate, 170, horizonal base plate, 200, X-axis timing belt, 210, X-axis guide rail, 300, cantilever, 310, Y
Axle timing belt, 320, Y-axis guide rail, the 330, first sliding block, 400, Z axis timing belt, 410, Z axis guide rail, 500, handgrip mechanism, 510,
Servomotor, 520, sucker gripper, 530, motor mounting plate, the 540, second sliding block, 550, junction box, 560, travel switch,
570th, sucker installing plate, 600, touch-screen, 610, electric cabinet.
Embodiment
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, accompanying drawing will be compareed below
Illustrate embodiment of the present utility model.It should be evident that drawings in the following description are only of the present utility model one
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these
Accompanying drawing obtains other accompanying drawings, and obtains other embodiments.
To make only to schematically show the part related to the utility model in simplified form, each figure, they are not
It is represented as the practical structures of product.In addition, so that simplified form is readily appreciated, there is identical structure or work(in some figures
The part of energy, only symbolically depicts one of those, or only marked one of those.Herein, " one " is not only
Represent " only this ", the situation of " more than one " can also be represented.
As shown in figure 1, the utility model provides a kind of embodiment of cantilevered robot palletizer, including it is main frame 100, outstanding
Arm 300, X-axis guide rail 210, X-axis timing belt 200, Y-axis guide rail 320, Y-axis timing belt 310, Z axis guide rail 410, Z axis timing belt
400th, handgrip mechanism 500 and drive system and control system.The direction of XYZ axles is as shown in mark in Fig. 1.
As shown in figure 1, X-axis guide rail 210 is fixedly installed on main frame 100 in the horizontal direction, it can specifically be led to be double
Rail, as shown in figures 1 and 3, vertically, the Z axis guide rail back side is provided with and double guide rail positions corresponding one Z axis guide rail 410
The first sliding block 330 of group, Z axis guide rail horizontal sliding in X-axis guide rail 210 by the first sliding block 330.Cantilever 300 slip is set
Put in Z axis guide rail 410, handgrip mechanism 500 slip is arranged in Y-axis guide rail 320.And each guide rail and cantilever 300 is dynamic
Make to be driven by drive system driving timing belt, particularly, X-axis timing belt 200 drives Z axis guide rail 410 along the water of X-axis guide rail 210
It is smooth to move；, Z axis timing belt 400 drive cantilever 300 slid along Z axis guide rail 410；Y-axis guide rail 320, Y-axis are provided with cantilever 300
Timing belt 310 drives handgrip mechanism 500 to be slid in Y-axis guide rail 320.
As shown in figure 5, in a preferred embodiment of the present utility model, handgrip mechanism 500 is sucked type, including plays driving
The servomotor 510 of effect, the motor mounting plate 530 for installing servomotor 510, sucker gripper 520, installation sucker gripper 520
Sucker installing plate 570, servomotor driving rotary shaft drives sucker installing plate 570 to rotate, namely handgrip mechanism is led along Y-axis
Beyond the action of rail sliding, the action rotated around rotary shaft can also be completed.Handgrip group is sucked type handgrip group, sucked type handgrip
The pneumatic circuit of group is provided with pressure switch.Two the second sliding blocks are equiped with below one lateral edges of motor mounting plate 530
540, as shown in Figures 1 and 3, strip through-hole is provided with cantilever 300, handgrip mechanism 500 passes through guide rail of the through hole by two ends
Support, two the second sliding blocks 540 slip on guide rail is set.Sucked type handgrip group includes even number sucker gripper and sucker
Installing plate, the sucker gripper is uniformly divided into two rows and is arranged on the sucker installing plate, and the control system passes through different
Cylinder controls row's sucker gripper, often arranges sucker gripper and keeps strokes, and is acted between two row's sucker grippers different.As shown in figure 5,
Handgrip mechanism 500 also includes junction box 550 and travel switch 560.
In a specific embodiment of the present utility model, drive system includes driving X-axis timing belt 200, Y-axis timing belt
310th, Z axis timing belt 400 and four points of drive mechanisms of rotary shaft action, point drive mechanism include servomotor and deceleration
Machine.The servomotor for controlling Z axis timing belt 400 to translate is band band-type brake servomotor.As shown in Fig. 4 and Fig. 1, main frame 100 is
Cuboid framework, cuboid framework is formed by connecting overall cuboid by the column 110 of four welding fabrications by waling stripe 120
Framework, column 110 is fastened with waling stripe by connecting plate 130 and bolt, and four base angles of cuboid framework are provided with water
Flat underside 170 is supported, and installs the offer stability of swash plate 160.Protective door is provided with the front of main frame 100 and side
And/or protection network 140.The motor mount 150 for installing motor is also equiped with main frame 100.In addition, control system include can
Programmable controller and touch-screen 600, the core component of programmable controller is in electric cabinet 610.
During cantilevered robot palletizer real work of the present utility model, stacking machine grabs sucker by XYZ three-axis movings
Then hand 520 rises to setting height, according to product pile shape arrangement mode set in advance, chops to crawl position crawl product
Hand, which is run, to be put down product to specified location and then returns to crawl position crawl product, and so circulation is carried out, until complete pile of code
Shape.Fork truck takes whole fully stacked disk away.And whether the control system of stacking machine can include product can be detected in crawl position
Automatic station-keeping system, feed back to whether stacking machine carries out grasping movement by detecting signal.And referred to according to the difference of pile shape
Determine whether sucker gripper 520 needs rotation.Motion flow can coordinate electric cabinet 610 to preset by touch-screen 600, reach
The operation of automation.
It should be noted that above-described embodiment can independent assortment as needed.Described above is only of the present utility model
Preferred embodiment, it is noted that for those skilled in the art, is not departing from the utility model principle
On the premise of, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (9)
1. a kind of cantilevered robot palletizer, it is characterised in that including main frame, cantilever, X-axis guide rail, X-axis timing belt, Y-axis is led
Rail, Y-axis timing belt, Z axis guide rail, Z axis timing belt, handgrip mechanism and drive system and control system；Wherein,
The X-axis guide rail is fixedly installed on the main frame in the horizontal direction；The Z axis guide rail vertically, and can
What is slid is arranged in the X-axis guide rail, and the X-axis timing belt drives the Z axis guide rail along X-axis guide rail horizontal sliding；It is described
Cantilever slip is arranged in the Z axis guide rail, and the Z axis timing belt drives the cantilever to slide along the Z axis guide rail；Institute
State and Y-axis guide rail is provided with cantilever, handgrip mechanism slip is arranged in the Y-axis guide rail, the Y-axis timing belt band
The handgrip mechanism is moved to slide in the Y-axis guide rail；
The control system controls the X-axis timing belt, the Y-axis timing belt and the Z axis synchronous with the drive system
Band action.
2. cantilevered robot palletizer according to claim 1, it is characterised in that：The handgrip mechanism include rotary shaft with
And handgrip group, the control system and the drive system control the handgrip group to be rotated around the rotary shaft.
3. cantilevered robot palletizer according to claim 2, it is characterised in that：The handgrip group is sucked type handgrip
Group, the pneumatic circuit of the sucked type handgrip group is provided with pressure switch.
4. cantilevered robot palletizer according to claim 2, it is characterised in that：Bar shaped is provided with the cantilever to lead to
Hole, the strip through-hole both sides are the Y-axis guide rail, and the handgrip mechanism is through the through hole and is connected to the Y-axis guide rail
Upper sliding.
5. according to any described cantilevered robot palletizers of claim 1-4, it is characterised in that：The drive system includes driving
Move the X-axis timing belt, the Y-axis timing belt, the Z axis timing belt and four points of driving machines of rotary shaft action
Structure, described point of drive mechanism includes servomotor and reductor.
6. cantilevered robot palletizer according to claim 5, it is characterised in that：Control the Z axis timing belt translation
Servomotor is band band-type brake servomotor.
7. cantilevered robot palletizer according to claim 5, it is characterised in that：The main frame is cuboid framework,
The cuboid framework is formed by connecting entirety by the column of four welding fabrications by waling stripe, the column and the level
Connecting rod is fastened by connecting plate and bolt, and four base angles of the cuboid framework are provided with horizonal base plate.
8. cantilevered robot palletizer according to claim 5, it is characterised in that：The control system includes programmable control
Device and touch-screen processed.
9. cantilevered robot palletizer according to claim 5, it is characterised in that：The front and side of the main frame
On be provided with protective door and/or protection network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720026771.7U CN206406074U (en) | 2017-01-11 | 2017-01-11 | A kind of cantilevered robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720026771.7U CN206406074U (en) | 2017-01-11 | 2017-01-11 | A kind of cantilevered robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206406074U true CN206406074U (en) | 2017-08-15 |
Family
ID=59555133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720026771.7U Active CN206406074U (en) | 2017-01-11 | 2017-01-11 | A kind of cantilevered robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206406074U (en) |
-
2017
- 2017-01-11 CN CN201720026771.7U patent/CN206406074U/en active Active
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