CN207451112U - A kind of robot palletizer - Google Patents

Abstract

The utility model is related to a kind of robot palletizers, including shovel plate mechanism, push away draw box mechanism, reshaping device, single case delivery device, transmission mechanism, walking chassis mechanism, rack and controller.The walking chassis mechanism driving rack, transmission mechanism transmits packing case, individual packaging case is pushed into shovel plate mechanism by single case delivery device from transmission mechanism, two reshaping devices of both sides are corrected packing case before packing case enters shovel plate mechanism, the shovel plate mechanism oscilaltion and individual packaging case is arranged in a row, entire row pushes away draw box mechanism and releases the packing case of a row on shovel plate mechanism；Controller controls the coordination of all mechanisms.The utility model is realized full-automation, is improved work efficiency, reduce labour cost by the numerical control program control of electrical equipment control mechanism.

Description

A kind of robot palletizer

Technical field

The utility model belongs to mechanical equipment technical field more particularly to a kind of robot palletizer.

Background technology

Stacking machine is will to have been charged into the carton of container, by certain arranging and piling on pallet, pallet (wooden, plastic cement), into Row automatic stacking, can pile multilayer, then release, warehouse storage be transported to convenient for fork truck.With the continuous development of China's economy and Science and technology is advanced by leaps and bounds so that robot stacking has in industries such as logistics, production line, supermarkets to be quite widely applied.

It is the internal container progress stacking of form using manipulator mostly in existing robot palletizer technology, but by Can usually work to robot palletizer in the species, the environment of plant and customer demand of packaging the problems such as bring it is certain raise difficult questions for discussion, this Kind of stacking machine underaction, piles up not smooth enough, and operates also not convenient enough, high degree affects work efficiency.

The content of the invention

Technical problems based on background technology, the purpose of this utility model is to provide a kind of full-automatic, efficient Rate, low cost, easy to operate robot palletizer are piled up to solve the container of substantial amounts.

For the attainment of one's purpose, technical solution provided by the utility model is：

The utility model provides a kind of robot palletizer, including：Shovel plate mechanism pushes away draw box mechanism, reshaping device, single case Delivery device, transmission mechanism, walking chassis mechanism, rack and controller；The rack is fixed in walking chassis mechanism, is passed Transfer mechanism is mounted in rack, is provided with multiple rollers, and single case delivery device is arranged on above transmission mechanism, and both sides are equipped with Two reshaping devices, shovel plate mechanism are mounted on the front of transmission mechanism, and the draw box mechanism that pushes away is arranged on shovel plate mechanism and transmission Between mechanism；

The shovel plate mechanism includes shovel board, transmission mechanism and rack；The transmission mechanism is mounted in front of rack, with Shovel board connects, and transmission mechanism is by drive block, shovel board drive rail, driving chain, the first servomotor, drive link and Die Sheng mechanisms Composition；First servomotor is fixed in rack, is driven and is connected with the sprocket wheel on drive link through reduction box and driving chain It connects, drive link is supported on by bearing in rack, and both ends are set in total there are four sprocket wheel, and each sprocket wheel connects respectively with driving chain It connects；Drive block is fixed on the driving chain of shovel board driving chain mechanism, drive block is led with the shovel board transmission being fixed in rack Rail forms sliding pair, and Die Sheng mechanisms are equipped with drive rail, sliding pair is formed on drive block；

The shovel board includes shovel board stent, plate body, the 3rd servomotor, synchronous belt, driving pulley, first electronic pushes away Bar, driven pulley, slider connecting plate, straight line round guide, kicker baffle, horizontal push rod；Plate body is hinged with shovel board stent in rear end；Institute Shovel board stent is stated to be fixed in the Die Sheng mechanisms of transmission mechanism both sides；3rd servomotor connects through reduction box and driving pulley transmission It connects, driving pulley is connected with the synchronous belt on driven pulley by synchronous belt pressing plate, and driving pulley and driven pulley are installed in On shovel board stent, slider connecting plate is fixed on synchronous belt, shovel board stent is justified equipped with straight line matched with slider connecting plate Guide rail, slider connecting plate are fixed with horizontal push rod；First electric pushrod be mounted on shovel board stent on, the first electric pushrod be oriented to every Plate is sequentially connected, and kicker baffle is arranged below plate body.

Preferably, the Die Sheng mechanisms include the second servomotor and ball-screw, and the second servomotor is through reduction box It is connected with shaft coupling with ball-screw-transmission.

Preferably, the shovel board further includes the second electric pushrod, stop hook, connecting rod, bar, the second electric pushrod and gear Hook is located on shovel board stent, and the second electric pushrod is connected to form revolute pair with stop hook, and connecting rod is located at below plate body, and bar is located at In front of plate body, connecting rod and bar are all connected with stop hook.

Preferably, the stop hook quantity is 4, and parallel arrangement is on shovel board stent and below plate body, left side two A stop hook is connected by head rod, and two, right side stop hook is connected by the second connecting rod, and four pan hooks are connected with bar.

Preferably, laser sensor is additionally provided in the shovel board, the laser sensor is arranged on shovel board stent two Side.

Preferably, the draw box mechanism that pushes away includes the two symmetrical push rod driving mechanisms in left and right and is driven positioned at two push rods Push rod between mechanism, the push rod driving mechanism include the 4th servomotor, push rod bottom plate, push rod slide plate, push away case guide rod, Usher to seat linear bearing, close to switch, driving wheel, driven wheel and the 3rd electric pushrod, the 4th servomotor, which is fixed on, to be pushed away On bar bottom plate, it is connected through reduction box with capstan drive, push rod bottom plate connects and composes revolute pair by axis pin and push rod slide plate；Institute The 3rd electric pushrod stated is fixed on push rod slide plate, and linear bearing of usheing to seat is fixed on the 3rd electric pushrod, with pushing away case guide rod Connect and compose sliding pair；The driving wheel is mounted on push rod bottom plate, and driven wheel is three, and two driven wheels are mounted on push rod The downside of bottom plate, a driven wheel are mounted on the upside of push rod bottom plate, and driving wheel and three driven wheels form quadrilateral structure；It is main It is fixed between driving wheel and three driven wheels using synchronous band connection, synchronous belt both ends on synchronous cover plate and synchronous belt pressing plate, Synchronous belt pressing plate is fixed on the 3rd electric pushrod, described to be fixed on close to switch on push rod bottom plate, and close to push rod bottom plate The driven wheel of top；Push rod is respectively with the 3rd electric pushrod and pushing away the front end of case guide rod and being connected.

Preferably, the reshaping device includes the 5th servomotor, shaping stent, shaping guide rail, ball screw, guiding Axis, rack-and-pinion, the 6th servomotor, shaping push plate, guiding plectrum and sliding platform；5th servomotor is fixed on On shaping stent, it is connected through reduction box with ball leading screw driving, ball screw is supported on by bearing on shaping stent, guiding axis By usheing to seat, linear bearing is fixed in movable platform；Sliding platform forms screw pair with ball screw, and with being fixed on shaping Shaping guide rail on stent forms sliding pair；6th servomotor is connected through reduction box with rack pinion, is oriented to One end of plectrum is fixed in shaping push plate, and the other end is arranged on above transmission mechanism, the guiding plectrum pair of two reshaping devices Claim to set, in beloid splayed.

Preferably, single case delivery device include the 7th servomotor, push slide, the 4th electric pushrod, slide plate, Guide rod, push belt mechanism and single case push rod；7th servomotor is fixed in rack, and through reduction box with pushing away Belt mechanism is sent to be sequentially connected；Slide plate is fixed on the transmission belt of push belt mechanism, and with being fixed on pushing away in rack Slide is sent to form sliding pair；4th electric pushrod is fixed on slide plate, and is connected with single case push rod, and single case push rod is with consolidating Two guide rods being scheduled on slide plate form sliding pair, and single case push rod is arranged on directly over transmission mechanism.

Preferably, the transmission mechanism includes the 8th servomotor, roller, transmission stent, bogie；The transmission Stent is fixed in rack, and row's roller is equidistantly mounted on transmission stent, and adjacent roller is connected by polywedge bet, and described turns It is arranged on to frame above roller, bottom is equipped with the 8th servomotor, is sequentially connected through reduction box and bogie.

Preferably, the walking chassis mechanism includes the 9th servomotor, spandrel girder, bearing beam, Mecanum wheel, horizontal stroke Beam；9th servomotor is sequentially connected by reduction box and Mecanum wheel；Spandrel girder passes through axis and Mecanum wheel Connection；Bearing beam is hinged with spandrel girder, and the bearing beam of both sides is fixed by crossbeam.

Using technical solution provided by the utility model, compared with prior art, having the advantages that is：

1st, robot palletizer provided by the utility model controls each servomotor by electrical equipment control mechanism numerical control program, real Existing full-automation, it is unattended.

2nd, using Mecanum wheel as walking chassis mechanism, light-weight, easy for installation, at low cost, base in operational process This is noiseless, and motion mode is flexible.

3rd, robot palletizer robot palletizer provided by the utility model has filled up the market vacancy of Palletizer in packaging, It is more efficient than manually piling up suitable for the chest of plurality of specifications, labour cost has been saved, and has improved security.

Description of the drawings

Fig. 1 is the integrally-built side isometric view of the utility model；

Fig. 2 is another integrally-built side isometric view of the utility model；

Fig. 3 is the structural perspective of the utility model transmission mechanism；

Fig. 4-1 is the structural perspective of the utility model shovel board；

Fig. 4-2 is the partial sectional view of the utility model shovel board；

Fig. 4-3 is the partial enlarged view of part A in Fig. 4-2；

Fig. 5-1 is the structural perspective that the utility model pushes away draw box mechanism；

Fig. 5-2 is the left view that the utility model pushes away draw box mechanism；

Fig. 5-3 is the partial enlarged view of part B in Fig. 5-1；

Fig. 5-4 is the partial enlarged view of C portion in Fig. 5-1；

Fig. 6 is the structural perspective of the utility model reshaping device；

Fig. 7 is the structural perspective of the utility model list case delivery device；

Fig. 8 is the structural perspective of the utility model transmission mechanism；

Fig. 9 is the structural perspective of the utility model walking chassis mechanism；

Mark explanation in schematic diagram：1- transmission mechanisms；2- shovel boards；3- pushes away draw box mechanism；4- reshaping devices；The mono- case push of 5- Mechanism；6- transmission mechanisms；7- walking chassis mechanism；8- racks；1-1 drive blocks；1-2 shovel board drive rails；1-3 driving chains； The first servomotors of 1-4；1-5 drive links；The second servomotors of 1-6；1-7 Die Sheng mechanisms；The 3rd servomotors of 2-1；2-2 is synchronous Band；2-3 driving pulleys；2-4 slider connecting plates；2-5 straight line round guides；2-6 electric pushrods；2-7 driven pulleys；2-8 lasers Sensor；The second electric pushrods of 2-9；The close switches of 2-10；2-11 connecting rods；2-12 bars；2-13 stop hooks；2-14 kicker baffles； The horizontal push rods of 2-15；2-16 plate bodys；2-17 shovel board stents；The 4th servomotors of 3-1；3-2 push rod bottom plates；3-3 push rod slide plates；3-4 Push away case guide rod；3-5 ushers to seat linear bearing；3-6 push rods；The close switches of 3-7；3-8 axis pins；3-9 driving wheels；3-10 synchronous belts；3- 11 driven wheels；3-12 synchronization cover plates；3-13 synchronous belt pressing plates；The 3rd electric pushrods of 3-14；The 5th servomotors of 4-1；4-2 is whole Shape stent；4-3 shaping guide rails；4-4 ball screws；4-5 guiding axis；4-6 rack-and-pinion；The 6th servomotors of 4-7；4-8 shapings Push plate；4-9 is oriented to plectrum；4-10 sliding platforms；The 7th servomotors of 5-1；5-2 pushes slide；The 4th electric pushrods of 5-3；5-4 Slide plate；5-5 guide rods；5-6 pushes belt mechanism；The mono- case push rods of 5-7；6-1 rollers；6-2 transmits stent；6-3 bogies；7- 1 the 9th servomotor；7-2 spandrel girders；7-3 bearing beams；7-4 Mecanum wheels；7-5 crossbeams.

Specific embodiment

To further appreciate that the content of the utility model, the utility model is described in detail in conjunction with the embodiments, below in fact Example is applied for illustrating the utility model, but is not intended to limit the scope of the present invention.

As depicted in figs. 1 and 2, include shovel plate mechanism including it the utility model is related to a kind of robot palletizer, push away punch-out equipment Structure 3, reshaping device 4, single case delivery device 5, transmission mechanism 6, walking chassis mechanism 7, rack 8 and controller；The rack 8 It is fixed in walking chassis mechanism 7, transmission mechanism 6 is mounted in rack 8, is provided with multiple rollers, single case delivery device 5 is set It puts above transmission mechanism 6, both sides are set there are two reshaping device 4, and shovel plate mechanism is mounted on the front of transmission mechanism 6, described The draw box mechanism 3 that pushes away be arranged between shovel plate mechanism and transmission mechanism 6；

The shovel plate mechanism includes shovel board 2 and transmission mechanism 1.As shown in figure 3, the transmission mechanism 1 is by drive block 1-1, shovel board drive rail 1-2, driving chain 1-3, the first servomotor 1-4, drive link 1-5 and Die Sheng mechanism 1-7 compositions；Institute The the first servomotor 1-4 stated is fixed in rack 3, is driven through the sprocket wheel on reduction box and driving chain 1-3 and drive link 1-5 Connection, drive link 1-5 is supported on by bearing in rack 3, and both ends are set in total there are four sprocket wheel, each sprocket wheel respectively with transmission Chain 1-3 connections；Drive block 1-1 is fixed on the driving chain 1-3 of shovel board driving chain mechanism, drive block 1-1 is with being fixed on Shovel board drive rail 1-2 in rack 3 forms sliding pair, and Die Sheng mechanisms 1-7 is equipped with drive rail, on drive block 1-1 Form sliding pair.

The Die Sheng mechanisms 1-7 includes the second servomotor 1-6 and ball-screw, and the second servomotor 1-6 is through slowing down Case and shaft coupling are connected with ball-screw-transmission.The rotary motion of second servomotor 1-6 is converted into straight line fortune by ball-screw It is dynamic so that Die Sheng mechanisms can slide up and down.

By the drive link 1-5 of the first servomotor 1-4 driving driving chain 1-3 connections, drive link 1-5 is driven by shovel board The shovel board 2 that the driving chain 1-3 drives of link chain mechanism are fixed on Die Sheng mechanisms 1-7 rises the distance of 210cm, then is watched by second The second lift that motor 1-6 driving Die Sheng mechanism 1-7 realize shovel board 2 is taken, during second is promoted, shovel board 2 can promote the height of 12cm Degree.

As shown in Fig. 4-1 to Fig. 4-3, the shovel board 2 includes the 3rd servomotor 2-1, synchronous belt 2-2, driving pulley 2-3, slider connecting plate 2-4, straight line round guide 2-5, the first electric pushrod 2-6, driven pulley 2-7, laser sensor 2-8, Two electric pushrod 2-9, close switch 2-10, connecting rod 2-11, bar 2-12, stop hook 2-13, kicker baffle 2-14, horizontal push rod 2- 15th, plate body 2-16 and shovel board stent 2-17；The plate body 2-16 and shovel board stent 2-17 is hinged in rear end；Shovel board stent 2-17 It is fixed on the Die Sheng mechanisms 1-7 of 1 both sides of transmission mechanism；3rd servomotor 2-1 connects through reduction box and driving pulley 2-3 transmissions It connects, driving pulley 2-3 is connected with the synchronous belt 2-2 on driven pulley 2-7 by synchronous belt pressing plate, driving pulley 2-3 and driven Belt wheel 2-7 is installed on shovel board stent；Be fixed with slider connecting plate 2-4 on synchronous belt 2-2, shovel board stent 2-17 be equipped with Slider connecting plate 2-4 matched straight line round guide 2-5, slider connecting plate 2-4 are fixed with horizontal push rod 2-15；First electric pushrod 2-6 is mounted on shovel board stent 2-17, and the first electric pushrod 2-6 and kicker baffle 2-14 is sequentially connected, and kicker baffle 2-14 is set It puts below plate body 2-16.Second electric pushrod 2-9 and stop hook 2-13 is located on shovel board stent 2-17, the second electric pushrod 2-9 It being connected to form revolute pair with stop hook 2-13, connecting rod 2-11 is located at below plate body 2-16, and bar 2-12 is located in front of plate body 2-16, Stop hook 2-13 quantity is 4, and parallel arrangement is on shovel board stent 2-17 and below plate body 2-16, two, left side stop hook 2-13 It is connected by head rod 2-11, for two, right side stop hook 2-13 by the second connecting rod 2-11 connections, four pan hook 2-13 are equal It is connected with bar 2-11.

After cargo enters the plate body 2-16 of shovel board from the other component of robot palletizer, the second electric pushrod 2-9 drives Dynamic stop hook 2-13 rises 10 to 15 angle, while the bar 2-12 and connecting rod 2-11 that connect stop hook 2-13 drive plate body 2-16 Same angle is risen in front end, can prevent the container on plate body 2-16 from dropping；When row's chest, code is complete on plate body 2-16 When promoting container, stop hook 2-13 is fallen after rise together with bar 2-12, connecting rod 2-11 and plate body 2-16；First electric pushrod 2-6 bands Action-oriented partition plate 2-14 is forward extended out, container by robot palletizer other mechanisms be pushed into kicker baffle 2-14, be oriented to every 2-14 is more smooth than plate body 2-16, can prevent that chest is damaged in shipping process is promoted.

As shown in Fig. 5-1 to Fig. 5-4, pushing away draw box mechanism 3 includes the 4th servomotor 3-1, push rod bottom plate 3-2, push rod slide plate 3-3, case guide rod 3-4, the linear bearing 3-5 that ushers to seat, push rod 3-6, close switch 3-7, axis pin 3-8, driving wheel 3-9, synchronous belt are pushed away 3-10, driven wheel 3-11, synchronous cover plate 3-12, synchronous belt pressing plate 3-13, the 3rd electric pushrod 3-14.4th servomotor 3- 1 is fixed on the push rod bottom plate 3-2 of left and right, is sequentially connected through reduction box and driving wheel 3-9, push rod bottom plate 3-2 by axis pin 3-8 and Push rod slide plate 3-3 connects and composes revolute pair；3rd electric pushrod 3-14 is fixed on push rod slide plate 3-3；Usher to seat linear bearing 3-5 It is fixed on the 3rd electric pushrod 3-14, sliding pair is connected and composed with pushing away case guide rod 3-4；The driving wheel 3-9 is mounted on and pushes away On bar bottom plate 3-2, driven wheel 3-11 is three, and two driven wheel 3-11 are mounted on the downside of push rod bottom plate 3-2, a driven wheel 3-11 is mounted on the upside of push rod bottom plate 3-2, and driving wheel 3-9 and three driven wheel 3-11 form quadrilateral structure；Driving wheel 3-9 It is connected between three driven wheel 3-11 using synchronous belt 3-10, synchronous belt 3-10 both ends are fixed on synchronous cover plate 3-12 and same On step band pressing plate 3-13, synchronous belt pressing plate 3-13 is fixed on electric pushrod 3-14.Described is fixed on push rod close to switch 3-7 On bottom plate 3-2, and the driven wheel 3-11 above push rod bottom plate 3-2；Push rod 3-6 is respectively with the 3rd electric pushrod 3-14 and pushing away The front end connection of case guide rod 3-4.

When the 4th servomotor 3-1 is rotated in an anti-clockwise direction, the 4th servomotor 3-1 drives driving wheel 3- via reduction box 9 rotate counterclockwise, and upper end synchronous belt 3-10 shortens, and the 3rd electric pushrod 3-14 rises certain angle, when rising to 18 °, upper end The signal from synchronous cover plate 3-12 is received close to switch 3-7, the 4th servomotor 3-1 shuts down, and the 3rd electronic pushes away Bar 3-14 drives push rod 3-6 to stretch out, so as to shift cargo onto certain position.After cargo is released, the 4th servomotor 3-1 up times Pin direction rotates, and electronic slow push rod 3-14 is fallen after rise, and lower end receives signal close to switch 3-7, and the 4th servomotor 3-1 stops Operating.

Push rod 6 using whole form instead of switch gate structure, it is necessary to when pushing away case push rod 6 rise certain angle, push away Complete and rear automatic fall-back avoids chest and enters shovel board from transmission part, and causes the card case that may occur by miscount etc., Damage chest problem；It is also substantially improved on work efficiency.

As shown in fig. 6, reshaping device 4 includes the 5th servomotor 4-1, shaping stent 4-2, shaping guide rail 4-3, ball wire Bar 4-4, guiding axis 4-5, rack-and-pinion 4-6, the 6th servomotor 4-7, shaping push plate 4-8, guiding plectrum 4-9 and sliding platform 4-10.5th servomotor 4-1 is fixed on shaping stent 4-2；It is sequentially connected through reduction box and ball screw 4-4；Ball wire Bar 4-4 is supported on by bearing on shaping stent 4-2；Guiding axis 4-5 is fixed on movable platform 4-10 by linear bearing of usheing to seat On；Sliding platform 4-10 and ball screw 4-4 forms screw pair, and the shaping guide rail 4-3 structures with being fixed on shaping stent 4-2 Into sliding pair；6th servomotor 4-7 drive gear racks 4-6 makes shaping push plate 4-8 be drawn close toward centre；It is oriented to plectrum 4-9's One end is fixed on shaping push plate 4-8, and the other end is arranged on 6 top of transmission mechanism.4-9 pairs of the guiding plectrum of two reshaping devices Claim to set, in the splayed that rear portion is wide, forepart is narrow.

When cargo will enter reshaping device 4, the 6th servomotor 4-7 drive gear racks 4-6 stretches out, left and right shaping machine Structure spacing becomes smaller, and when code often arranges the last one cargo, the 5th servomotor 4-1 drivings ball screw 4-4 makes sliding platform 4- 10 move forward and backward arrival program designated position, and for cargo by rear, reshaping device 4 returns to initial position.Rack-and-pinion 4-6 gearratios Faster, long lifespan, stable working is at low cost for original screw rod transmission speed.

As shown in fig. 7, single case delivery device 5 includes the 7th servomotor 5-1, push slide 5-2, the 4th electric pushrod 5- 3rd, slide plate 5-4, guide rod 5-5, push belt mechanism 5-6 and single case push rod 5-7.7th servomotor 5-1 is fixed on rack 8 On, and drive push belt mechanism 5-6 through reduction box；Slide plate 5-4 is fixed on the transmission belt of push belt mechanism 5-6, And the push slide 5-2 with being fixed in rack 8 forms sliding pair；4th electric pushrod 5-3 is fixed on slide plate 5-4, and is driven Dynamic list case push rod 5-7 moves up and down；Single case push rod 5-7 and two guide rod 5-5 being fixed on slide plate 5-4 form slip It is secondary；Single case push rod 5-7 is arranged on directly over transmission mechanism 6.When cargo by reshaping device 4 will enter shovel plate mechanism 2, the 4th Electric pushrod 5-3 is extended downwardly to designated position, the 7th servomotor 5-1 by push conveyer mechanism 5-6 drive slide plate to Preceding movement pushes cargo to shovel plate mechanism 2.

As shown in figure 8, transmission mechanism 6 includes the 8th servomotor, roller 6-1, transmission stent 6-2, bogie 6-3.It passes Defeated stent 6-2 is fixed in rack 8, and row's roller 6-1 is equidistantly mounted on transmission stent 6-2, and adjacent roller 6-1 passes through more wedges Band connection, the bogie 6-3 are arranged on above roller 6-1, and bottom is equipped with the 8th servomotor, through reduction box with turning to Frame 6-3 is sequentially connected.Existing stacking machine cannot code flower pile, and the guide plate that we newly increase can meet code flower pile will It asks.Roller 6-1 is connected using polywedge bet and connected compared to existing chain, and noise very little is easy for installation.

As shown in figure 9, walking chassis mechanism includes the 9th servomotor 7-1, spandrel girder 7-2, bearing beam 7-3, Mecanum Take turns 7-4, crossbeam 7-5；The 9th servomotor 7-1 is sequentially connected by reduction box and Mecanum wheel 7-4, spandrel girder 7- 2 are connected by axis with Mecanum wheel 7-4；Bearing beam 7-3 is hinged with spandrel girder 7-2, and the bearing beam 7-3 of both sides is consolidated by crossbeam 7-5 It is fixed.Compared with original caterpillar chassis, the wheeled chassis weight of Mecanum is lighter, easy for installation on Mecanum wheeled chassis, into This is lower, substantially noiseless in operational process, and motion mode is flexible.

In conclusion container is transported to robot palletizer transmission mechanism 6 by conveyer belt, can be according to stacking formal character No steering is ajusted container by reshaping device 4, and single case pushes away draw box mechanism 5 and container is pushed into shovel plate mechanism 2, and shovel plate mechanism moves It is after work that the arrangement of single container is in a row, internal container, big frame and shovel board transmission are moved to by robot ambulation body chassis 7 Mechanism 1 adjusts shovel board to proper height, and container in a row in shovel board is pushed out to container by pushing away draw box mechanism (entire row is pushed forward) 3 It is interior.For a whole set of robot palletizer by the numerical control program control of electrical equipment control mechanism, realization is full-automatic, unattended.

Schematically the utility model and embodiments thereof are described above, this describes no restricted, attached drawing Shown in be also the utility model embodiment, actual structure is not limited thereto.So common skill of this field Art personnel are enlightened by it, without deviating from the purpose of the present invention, are not inventively designed and the technology The similar frame mode of scheme and embodiment, all should belong to the protection range of the utility model.

Claims (10)

1. a kind of robot palletizer, which is characterized in that it includes shovel plate mechanism, pushes away draw box mechanism, reshaping device, single case pusher Structure, transmission mechanism, walking chassis mechanism, rack and controller；The rack is fixed in walking chassis mechanism, transmission mechanism In rack, multiple rollers are provided with, single case delivery device is arranged on above transmission mechanism, and both sides set that there are two whole Shape mechanism, shovel plate mechanism are mounted on the front of transmission mechanism, it is described push away draw box mechanism be arranged on shovel plate mechanism and transmission mechanism it Between；

The shovel plate mechanism includes shovel board, transmission mechanism and rack；The transmission mechanism is mounted in front of rack, with shovel board Connection, transmission mechanism is by drive block, shovel board drive rail, driving chain, the first servomotor, drive link and Die Sheng mechanisms group Into；First servomotor is fixed in rack, is sequentially connected through reduction box and driving chain with the sprocket wheel on drive link, Drive link is supported on by bearing in rack, and both ends are set in total there are four sprocket wheel, and each sprocket wheel is connected respectively with driving chain； Drive block, drive block and the shovel board drive rail structure being fixed in rack are fixed on the driving chain of shovel board driving chain mechanism Into sliding pair, Die Sheng mechanisms are equipped with drive rail, sliding pair are formed on drive block；

The shovel board include shovel board stent, plate body, the 3rd servomotor, synchronous belt, driving pulley, the first electric pushrod, from Movable belt pulley, slider connecting plate, straight line round guide, kicker baffle, horizontal push rod；Plate body is hinged with shovel board stent in rear end；The shovel Board mount is fixed in the Die Sheng mechanisms of transmission mechanism both sides；3rd servomotor is sequentially connected through reduction box and driving pulley, Driving pulley is connected with the synchronous belt on driven pulley by synchronous belt pressing plate, and driving pulley and driven pulley are installed in shovel board On stent, be fixed with slider connecting plate on synchronous belt, shovel board stent be equipped with the matched straight line round guide of slider connecting plate, Slider connecting plate is fixed with horizontal push rod；First electric pushrod is mounted on shovel board stent, and the first electric pushrod is passed with kicker baffle Dynamic connection, kicker baffle are arranged below plate body.

2. robot palletizer according to claim 1, which is characterized in that the Die Sheng mechanisms include the second servomotor And ball-screw, the second servomotor are connected through reduction box and shaft coupling with ball-screw-transmission.

3. robot palletizer according to claim 1, which is characterized in that the shovel board further include the second electric pushrod, Stop hook, connecting rod, bar, the second electric pushrod and stop hook are located on shovel board stent, and the second electric pushrod is connected to be formed with stop hook Revolute pair, connecting rod are located at below plate body, and bar is located in front of plate body, and connecting rod and bar are all connected with stop hook.

4. robot palletizer according to claim 3, which is characterized in that the stop hook quantity is 4, and parallel arrangement exists On shovel board stent and below plate body, two, left side stop hook is connected by head rod, and two, right side stop hook passes through second Connecting rod connects, and four pan hooks are connected with bar.

5. robot palletizer according to claim 1, which is characterized in that be additionally provided in the shovel board laser sensor, The laser sensor is arranged on shovel board stent both sides.

6. robot palletizer according to claim 1, which is characterized in that the draw box mechanism that pushes away includes left and right two symmetrically Push rod driving mechanism and the push rod between two push rod driving mechanisms, the push rod driving mechanism include the 4th servo Motor, push rod bottom plate, push away case guide rod, linear bearing of usheing to seat, close to switch, driving wheel, driven wheel and the 3rd electronic at push rod slide plate Push rod, the 4th servomotor are fixed on push rod bottom plate, are connected through reduction box with capstan drive, push rod bottom plate passes through Axis pin and push rod slide plate connect and compose revolute pair；3rd electric pushrod is fixed on push rod slide plate, linear bearing of usheing to seat It is fixed on the 3rd electric pushrod, sliding pair is connected and composed with pushing away case guide rod；The driving wheel is mounted on push rod bottom plate, from Driving wheel is three, and two driven wheels are mounted on the downside of push rod bottom plate, and a driven wheel is mounted on the upside of push rod bottom plate, actively Wheel forms quadrilateral structure with three driven wheels；Using synchronous band connection, synchronous belt both ends between driving wheel and three driven wheels It is fixed on synchronous cover plate and synchronous belt pressing plate, synchronous belt pressing plate is fixed on the 3rd electric pushrod, described close to switch It is fixed on push rod bottom plate, and the driven wheel above push rod bottom plate；Push rod is respectively with the 3rd electric pushrod and pushing away case guide rod Front end connection.

7. robot palletizer according to claim 1, which is characterized in that the reshaping device includes the 5th servo electricity Machine, shaping stent, shaping guide rail, ball screw, guiding axis, rack-and-pinion, the 6th servomotor, shaping push plate, guiding plectrum And sliding platform；5th servomotor is fixed on shaping stent, is connected through reduction box with ball leading screw driving, ball Screw is supported on by bearing on shaping stent, and guiding axis is fixed on by linear bearing of usheing to seat in movable platform；Sliding platform Screw pair is formed with ball screw, and the shaping guide rail with being fixed on shaping stent forms sliding pair；6th servo Motor is connected through reduction box with rack pinion, and the one end for being oriented to plectrum is fixed in shaping push plate, and the other end is arranged on biography Above transfer mechanism, the guiding plectrum of two reshaping devices is symmetrical arranged, in beloid splayed.

8. robot palletizer according to claim 1, which is characterized in that single case delivery device includes the 7th servo Motor, push slide, the 4th electric pushrod, slide plate, guide rod, push belt mechanism and single case push rod；Described the 7th watches It takes motor to be fixed in rack, and is sequentially connected through reduction box and push belt mechanism；Slide plate is fixed on push transmission belt machine On the transmission belt of structure, and the push slide with being fixed in rack forms sliding pair；4th electric pushrod is fixed on cunning It on plate, and is connected with single case push rod, single case push rod forms sliding pair, single case push rod with two guide rods being fixed on slide plate It is arranged on directly over transmission mechanism.

9. robot palletizer according to claim 1, which is characterized in that the transmission mechanism includes the 8th servo electricity Machine, roller, transmission stent, bogie；The transmission stent is fixed in rack, and row's roller is equidistantly mounted on transmission stent On, adjacent roller is connected by polywedge bet, and the bogie is arranged on above roller, and bottom is equipped with the 8th servomotor, It is sequentially connected through reduction box and bogie.

10. robot palletizer according to claim 1, which is characterized in that the walking chassis mechanism is watched including the 9th Take motor, spandrel girder, bearing beam, Mecanum wheel, crossbeam；9th servomotor is passed by reduction box and Mecanum wheel Dynamic connection；Spandrel girder is connected by axis with Mecanum wheel；Bearing beam is hinged with spandrel girder, and the bearing beam of both sides is fixed by crossbeam.