CN206679889U - Carve robot palletizer - Google Patents
Carve robot palletizer Download PDFInfo
- Publication number
- CN206679889U CN206679889U CN201720103359.0U CN201720103359U CN206679889U CN 206679889 U CN206679889 U CN 206679889U CN 201720103359 U CN201720103359 U CN 201720103359U CN 206679889 U CN206679889 U CN 206679889U
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- CN
- China
- Prior art keywords
- postbrachium
- forearm
- engraving
- robot palletizer
- motor
- Prior art date
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Abstract
It the utility model is related to a kind of engraving robot palletizer, it includes pedestal, the power set being installed on pedestal, the swing arm unit driven by power set, the performs device for being arranged on swing arm unit front end and the balanced component for keeping performs device balance, the performs device includes the motor mount, the actuating motor being installed on motor mount and the Suction cup assembly by actuating motor driving rotation for being hinged on swing arm unit front end, and cam plane engraving component is additionally provided with the motor mount.The purpose of this utility model is to provide a kind of intelligently carry for stone slab and to the engraving robot palletizer of stone slab progress cam plane engraving.The utility model has the advantage of：Performs device includes Suction cup assembly and cam plane engraving component, carries out cam plane engraving after stone slab can be carried to assigned work platform, a tractor serves several purposes, intelligence degree is high, greatly improves production efficiency.
Description
Technical field
Field of machinery automation is the utility model is related to, particularly a kind of engraving robot palletizer.
Background technology
Stacking machine extensive utilization in the factory, its by piling up goods is neat or shifts, effectively increase production and
The efficiency of transport.But existing stacking machine function is single, simple loading, unloading and transhipment are can be only done, is not adapted to
The demand of automated production.
The content of the invention
The purpose of this utility model is that providing a kind of stone slab that is used for intelligently carries and carry out cam plane engraving to stone slab
Engraving robot palletizer.
The purpose of this utility model is achieved through the following technical solutions：One kind engraving robot palletizer, it includes pedestal, consolidated
The power set that are located on pedestal, by power set driving swing arm unit, be arranged on the performs device of swing arm unit front end with
And keep performs device balance balanced component, the performs device include be hinged on swing arm unit front end motor mount,
The actuating motor that is installed on motor mount and the Suction cup assembly rotated is driven by actuating motor, on the motor mount
Cam plane engraving component is additionally provided with, the cam plane engraving component rotates including Carving machine head, the driving Carving machine head set down
Carving motor and the lifting actuator for driving carving motor lifting displacement.
For prior art, the utility model has the advantage of：
1. performs device includes Suction cup assembly and cam plane engraving component, carried out after stone slab can be carried to assigned work platform
Cam plane engraving, a tractor serves several purposes, intelligence degree is high, greatly improves production efficiency.
Driven 2. cam plane engraving component includes Carving machine head, carving motor and lifting actuator, Carving machine head by lifting
Moving part controls its level height, when Suction cup assembly works, Carving machine head is risen into vacuum cup level above, avoids disturbing；
In cam plane engraving component operation, weight carve to stone slab of Carving machine head, raising sheet material are controlled by lifting actuator
Carve quality.
3. set elastic counter weighting component between postbrachium drive component and pedestal, during transshipment cargo, elastic counter weighting component can will
Postbrachium is shared to pedestal to the active force of postbrachium drive component, not only increases the balance of complete machine, also mitigates postbrachium driving group
Load suffered by part.
Brief description of the drawings
Fig. 1 is a kind of working state schematic representation for carving robot palletizer embodiment of the utility model.
Fig. 2 is Fig. 1 side view.
Fig. 3 is the dimensional structure diagram of performs device.
Fig. 4 is Fig. 3 front view.
Fig. 5 is Fig. 3 side view.
Fig. 6 is Fig. 3 top view.
Fig. 7 is to carve robot palletizer to remove the dimensional structure diagram after shell.
Fig. 8 is Fig. 7 side view.
Fig. 9 is Fig. 7 disassembled form schematic diagram.
Label declaration：Before 1 pedestal, 11 level frames, 12 cross slide ways, 13 vertical racks, 14 vertical guides, 2 power set, 20
Arm installing plate, 201 transverse sliders, 21 horizontal support plates, 22 forearm rotating shafts, 23 horizontal lead screws, 24 forearm servomotors, 25 postbrachiums peace
Loading board, 251 vertical sliding blocks, 26 vertical support plates, 27 postbrachium rotating shafts, 28 down-feed screws, 29 postbrachium servomotors, 3 swing arm units, 31
Forearm, 32 postbrachiums, 33 principal arms, 4 performs devices, 41 motor mounts, 42 actuating motors, 43 adapters, 44 vacuum cups, 45 carvings
Carve head, 46 carving motors, 47 lead screw motors, 48 elevating screws, 49 lifter plates, 410 vertical tracks, 411 lifting sliders, 5 times
Turn component, 51 chassis, 52 pivoting supports, 53 reductors, 54 rotating servo motors, 6 balanced components, 61 set squares, 62 first flat
Weigh pull bar, 63 second balancing pull rods, 7 elastic counter weighting components, 8 workbench, 9 positioning sucker disks.
Embodiment
The utility model content is described in detail with reference to Figure of description and embodiment：
It is as shown in Figure 1 to 9 a kind of embodiment schematic diagram for carving robot palletizer provided by the utility model.
One kind engraving robot palletizer, it includes pedestal 1, the power set 2 being installed on pedestal 1, driven by power set 2
Dynamic swing arm unit 3, the performs device 4 for being arranged on the front end of swing arm unit 3 and the balanced component 6 for keeping performs device 4 to balance,
The performs device 4 includes being hinged on the motor mount 41 of the front end of swing arm unit 3, the execution being installed on motor mount 41
Motor 42 and the Suction cup assembly that rotation is driven by actuating motor 42, cam plane engraving group is additionally provided with the motor mount 41
Part, the cam plane engraving component include set down Carving machine head 45, driving Carving machine head 45 rotate carving motor 46 with
And drive the lifting actuator of the lifting displacement of carving motor 46.
It is described lifting actuator include be installed on motor mount 41 lead screw motor 47, by lead screw motor 47 drive turn
Dynamic elevating screw 48 and the lifter plate 49 being fixedly connected with carving motor 46；The lifter plate 49 is provided with and elevating screw
The drive nut that 48 screw threads coordinate.
The motor mount 41 is provided with vertical track 410, and lifter plate 49 is provided with the liter coordinated with vertical track 410
Sliding block 411 drops.
The upper end of motor mount 41 is provided with horizontal fixed plate, and lead screw motor 47 is arranged on horizontal fixed plate, elevating screw
48 is vertically arranged, and it is rotatably connected on horizontal fixed plate by bearing, the rotary shaft and elevating screw 48 of lead screw motor 47
Upper end linked by belt pulley and belt composition.
The Suction cup assembly includes adapter 43 and is connected with adapter 43 and horizontally disposed vacuum cup 44.
When Suction cup assembly works, lifting actuator control Carving machine head 45 rises to the level above of vacuum cup 44 so that inhales
Disk component can normal rotation or absorption；
During cam plane engraving component operation, lifting actuator control Carving machine head 45 is down to vacuum cup height below 44；This
Outside, the weight that by lifting actuator Carving machine head 45 can be controlled to carve stone slab, makes depiction form stereovision, carries
High sheet material carves quality.
Stone slab is transferred to workbench 8 by Suction cup assembly, and some positioning for being used to fix stone slab are set on workbench 8
Sucker 9, positioning sucker disk 9 are used for the downside of adsorbent, prevent sheet material from being shifted when carving stress.
The swing arm unit 3 includes forearm 31, postbrachium 32 and is connected to forearm 31 and the principal arm 33 of the upper end of postbrachium 32；
The power set 2 are included for driving the lower end of forearm 31 to carry out the forearm drive component of horizontal displacement and be used for
The postbrachium drive component that driving postbrachium 32 lower end is vertically moved up or down.
Set square 61, the first balancing pull rod 62 and second that the balanced component 6 includes being hinged on the upper end of forearm 31 are flat
Weigh pull bar 63；One end of first balancing pull rod 62 is hinged on forearm drive component, and the other end is hinged on set square 61；
One end of second balancing pull rod 63 is hinged on set square 61, and the other end is hinged on motor mount 41.
Two pieces of horizontal branch that the forearm drive component includes forearm installing plate 20, interval is installed on forearm installing plate 20
Plate 21, the forearm rotating shaft 22 between horizontal support plate 21, horizontal lead screw 23 and for driving the forearm of horizontal lead screw 23 to watch
Take motor 24；The lower end of the forearm 31 is enclosed in forearm rotating shaft 22；The bottom of forearm installing plate 20 is provided with and horizontal lead screw
23 nuts coordinated；
Two pieces of vertical branch that the postbrachium drive component includes postbrachium installing plate 25, interval is installed on postbrachium installing plate 25
Plate 26, the postbrachium rotating shaft 27 between vertical support plate 26, down-feed screw 28 and for driving the postbrachium of down-feed screw 28 to watch
Take motor 29；The lower end of the postbrachium 32 is enclosed in postbrachium rotating shaft 27；The postbrachium installing plate 25 is provided with and down-feed screw 28
The nut of cooperation；One end of the elastic counter weighting component 4 is fixed on postbrachium installing plate 25.
Locked the waist seat that is inherently welded by level frame 11 and vertical rack 13 in pedestal 1；
The forearm installing plate 20 is arranged on pedestal 1 by level frame 11, and the level frame 11 is provided with cross slide way
12, the forearm installing plate 20 is provided with the transverse slider 201 coordinated with cross slide way 12；
The postbrachium installing plate 25 is arranged on pedestal 1 by vertical rack 13, and the vertical rack 13 is provided with vertical guide
14, the postbrachium installing plate 25 is provided with the vertical sliding block 251 coordinated with vertical guide 14.
It also includes the gyro black assembly 5 for being arranged on the downside of pedestal 1；
The gyro black assembly 5 includes chassis 51, the pivoting support 52 on chassis 51, subtracted with what pivoting support 52 coordinated
Fast machine 53 and the rotating servo motor 54 for driving reductor 53.
Elastic counter weighting component 7 is connected between the postbrachium drive component and pedestal 1, the elastic counter weighting component 7 is post
Formula spring, gas spring or oily spring.
During robot transshipment cargo, elastic counter weighting component 7 postbrachium 32 can be shared to the active force of postbrachium drive component to
Pedestal 1, it is become stress at two by an original stress, improve the overall balance of stacking machine, and alleviate
Load suffered by postbrachium drive component.
When elastic counter weighting component 7 is vertically moved up or down with postbrachium drive component, the elastic deformation of elastic counter weighting component 7 is produced
Raw opposition, it can further mitigate load suffered by postbrachium drive component.
Claims (10)
1. one kind engraving robot palletizer, it includes pedestal (1), the power set (2) being installed on pedestal (1), filled by power
The swing arm unit (3) for putting (2) driving, the performs device (4) and holding performs device (4) that are arranged on swing arm unit (3) front end
The balanced component (6) of balance, the performs device (4) include being hinged on the motor mount (41) of swing arm unit (3) front end, consolidated
The actuating motor (42) being located on motor mount (41) and the Suction cup assembly rotated by actuating motor (42) driving, its feature
It is：Cam plane engraving component is additionally provided with the motor mount (41), the cam plane engraving component includes the carving set down
Carve head (45), the carving motor (46) that driving Carving machine head (45) rotates and the liter for driving carving motor (46) lifting displacement
Actuator drops.
2. engraving robot palletizer according to claim 1, it is characterised in that：The lifting actuator includes being installed in electricity
Lead screw motor (47) in machine mounting seat (41), driven by lead screw motor (47) elevating screw (48) that rotates and with engraving electricity
The lifter plate (49) that machine (46) is fixedly connected；The lifter plate (49) is provided with the driving spiral shell coordinated with elevating screw (48) screw thread
It is female.
3. engraving robot palletizer according to claim 2, it is characterised in that：The motor mount (41) is provided with perpendicular
To track (410), lifter plate (49) is provided with the lifting slider (411) coordinated with vertical track (410).
4. engraving robot palletizer according to claim 1, it is characterised in that：The Suction cup assembly includes adapter (43)
And it is connected with adapter (43) and horizontally disposed vacuum cup (44).
5. according to the engraving robot palletizer described in claim 1-4 any one, it is characterised in that：The swing arm unit (3)
Including forearm (31), postbrachium (32) and it is connected to forearm (31) and the principal arm (33) of postbrachium (32) upper end；
The power set (2) are included for driving forearm (31) lower end to carry out the forearm drive component of horizontal displacement and be used for
The postbrachium drive component that driving postbrachium (32) lower end is vertically moved up or down.
6. engraving robot palletizer according to claim 5, it is characterised in that：The balanced component (6) includes being hinged on
The set square (61), the first balancing pull rod (62) and the second balancing pull rod (63) of forearm (31) upper end；First balance is drawn
One end of bar (62) is hinged on forearm drive component, and the other end is hinged on set square (61)；Second balancing pull rod
(63) one end is hinged on set square (61), and the other end is hinged on motor mount (41).
7. engraving robot palletizer according to claim 5, it is characterised in that：The forearm drive component is pacified including forearm
Loading board (20), interval be installed on forearm installing plate (20) two pieces of horizontal support plates (21), between horizontal support plate (21)
Forearm rotating shaft (22), horizontal lead screw (23) and the forearm servomotor (24) for driving horizontal lead screw (23)；The forearm
(31) lower end is enclosed in forearm rotating shaft (22)；Forearm installing plate (20) bottom is provided with the spiral shell coordinated with horizontal lead screw (23)
It is female；
Two pieces of vertical branch that the postbrachium drive component includes postbrachium installing plate (25), interval is installed on postbrachium installing plate (25)
Plate (26), the postbrachium rotating shaft (27) between vertical support plate (26), down-feed screw (28) and for driving down-feed screw
(28) postbrachium servomotor (29)；The lower end of the postbrachium (32) is enclosed in postbrachium rotating shaft (27)；The postbrachium installing plate
(25) it is provided with the nut coordinated with down-feed screw (28).
8. engraving robot palletizer according to claim 7, it is characterised in that：The forearm installing plate (20) passes through level
Frame (11) is arranged on pedestal (1), and the level frame (11) is provided with cross slide way (12), and the forearm installing plate (20) is provided with
The transverse slider (201) coordinated with cross slide way (12)；
The postbrachium installing plate (25) is arranged on pedestal (1) by vertical rack (13), and the vertical rack (13) is provided with vertical
Guide rail (14), the postbrachium installing plate (25) are provided with the vertical sliding block (251) coordinated with vertical guide (14).
9. engraving robot palletizer according to claim 5, it is characterised in that：It also includes being arranged on the downside of pedestal (1)
Gyro black assembly (5)；
The gyro black assembly (5) includes chassis (51), the pivoting support (52) on chassis (51), matched somebody with somebody with pivoting support (52)
The reductor (53) of conjunction and the rotating servo motor (54) of driving reductor (53).
10. engraving robot palletizer according to claim 5, it is characterised in that：The postbrachium drive component and pedestal (1)
Between be connected with elastic counter weighting component (7), the elastic counter weighting component (7) is plunger spring, gas spring or oily spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720103359.0U CN206679889U (en) | 2017-01-23 | 2017-01-23 | Carve robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720103359.0U CN206679889U (en) | 2017-01-23 | 2017-01-23 | Carve robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206679889U true CN206679889U (en) | 2017-11-28 |
Family
ID=60394740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720103359.0U Active CN206679889U (en) | 2017-01-23 | 2017-01-23 | Carve robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206679889U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629090A (en) * | 2017-01-23 | 2017-05-10 | 福建省华隆机械有限公司 | Engraving stacking robot |
-
2017
- 2017-01-23 CN CN201720103359.0U patent/CN206679889U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629090A (en) * | 2017-01-23 | 2017-05-10 | 福建省华隆机械有限公司 | Engraving stacking robot |
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