CN207645372U - A kind of five degree of freedom wide working range robot palletizer - Google Patents
A kind of five degree of freedom wide working range robot palletizer Download PDFInfo
- Publication number
- CN207645372U CN207645372U CN201721481186.2U CN201721481186U CN207645372U CN 207645372 U CN207645372 U CN 207645372U CN 201721481186 U CN201721481186 U CN 201721481186U CN 207645372 U CN207645372 U CN 207645372U
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- arm
- servo motor
- degree
- robot palletizer
- working range
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Abstract
The utility model belongs to palletizing mechanical arm field, a kind of five degree of freedom wide working range robot palletizer proposed, including pedestal, rotating platform is provided on pedestal, it is in the arm of force to be hinged with successively on rotating platform main, adjutage, working arm and workbench, main is in the arm of force, adjutage, the rotary shaft of working arm and workbench is parallel to each other and parallel with the rotary shaft of rotating platform, master is connect by worm and gear with servo motor one in the arm of force, adjutage is connect with servo motor two, working arm and servo motor three, workbench is connect by servo cylinder with workbench, it is provided with handgrip below workbench, solving palletizing mechanical arm working range in the prior art is restricted the not high technical problem of wide usage.
Description
Technical field
The utility model belongs to palletizing mechanical arm field, is related to a kind of five degree of freedom wide working range robot palletizer.
Background technology
Palletizing mechanical arm can be neat, automatically code (or tearing open) is (or raw on pallet by the Bale Cargo of different appearance and sizes
Producing line is first-class).For make full use of pallet area and code heap material stability, robot has material stacking sequence, arrangement
Setting apparatus.It can meet from low speed to high speed, from packaging bag to carton, from a kind of product of stacking to a variety of different products of stacking.It answers
For product carrying, stacking etc., it is widely used in the different fields such as automobile, logistics, household electrical appliances, medicine, food and drink.
Palletizing mechanical arm is four-degree-of-freedom in the prior art, and working range is restricted, and function is more single, is only capable of full
For foot from level to horizontal palletization, wide usage is not high.
Utility model content
The utility model proposes a kind of five degree of freedom wide working range robot palletizers, solve stacking machine in the prior art
Tool hand working range is restricted the not high technical problem of wide usage.
What the technical solution of the utility model was realized in：
A kind of five degree of freedom wide working range robot palletizer, including pedestal are provided with rotating platform on the pedestal, institute
It is in the arm of force, adjutage, working arm and workbench to state and be hinged with master on rotating platform successively, and the master is in the arm of force, the extension
The rotary shaft of arm, the working arm and the workbench is parallel to each other and parallel with the rotary shaft of the rotating platform,
The master in the arm of force is connect by worm and gear with servo motor one, the adjutage is connect with servo motor two,
The working arm and servo motor three, the workbench is connect by servo cylinder with workbench, under the workbench
Side is provided with handgrip.
As further technical solution, the servo motor two and the servo motor three are arranged at the master in power
Arm and the rotating platform junction, the adjutage is being additionally provided in arm of force connecting pin in straining beam one with the master, described
Working arm is that the adjutage connecting pin is additionally provided in straining beam two, and the servo motor two connects institute by link mechanism one
It is in straining beam one to state, and it is in straining beam two that the servo motor three is connected described by the link mechanism two.
As further technical solution, the link mechanism one includes the tie rod being connect with the servo motor two
One, the tie rod one and one end of connecting rod one are hinged, and the other end of the connecting rod one is hinged with described in straining beam one.
As further technical solution, the link mechanism two includes tie rod two hinged successively, connecting rod two, triangle
Bar, connecting rod three, the connecting rod three are hinged with described in straining beam two, and it is in the arm of force and the extension that the triangle pole, which is hinged on the master,
Arm junction.
As further technical solution, the workbench includes pedestal and the extension that is connect with pedestal, described to prolong
Extending portion top is connect with the servo cylinder.
As further technical solution, the handgrip includes slide, clamping part there are two sliding settings on the slide,
The clamping part is connect by cylinder one with the slide.
As further technical solution, the clamping part includes sliding rail, and sliding setting on the sliding rail, there are two folders
Plate is held, the grip block is connect by cylinder two with the sliding rail, and the clamping part further includes locking roller and locking belt, the lock
Taut band one end is arranged on a grip block, and the other end is wrapped in around four grip blocks on locking roller.
Fluted as being arranged in further technical solution, with the grip block of the locking band connection, the groove is set
It is equipped with fastener, the fastener clamps the locking belt with the groove.
As further technical solution, through-hole, the locking are additionally provided with on the grip block of the locking band connection
Band passes through the through-hole, the other end to be then passed through the through-hole around four grip blocks and connect with the locking roller, the locking
Roller is arranged on the grip block being connect with described locking belt one end.
As further technical solution, the trough of belt for limiting the locking belt movement is provided on the grip block.
It the utility model use principle and has the beneficial effect that：
1, the utility model is five degree of freedom robot palletizer, and robot palletizer direction is adjusted including rotating platform,
Servo motor one, servo motor two and servo motor three adjust separately the main angle in the arm of force, adjutage and working arm, make work
Platform moves, and then adjusts the position of workbench, the angle that servo cylinder adjustment workbench is in horizontal plane, wherein main
It is connect with servo motor one with by worm and gear in the arm of force, enables main to be in arm of force self-locking, the utility model is different from existing
The working range of four-degree-of-freedom robot palletizer in technology, the utility model is larger, and suitable for the work of movement locus complexity
Environment, the handgrip that workbench lower section is arranged can capture cargo, and setting is scientific and reasonable.
2, the servo motor two in the utility model and servo motor three are fixed on the joint of robot palletizer, in stacking
Machine man-hour can make the parallelogram that link mechanism is constituted link with robot palletizer, and superposition of movement degree is high, in turn
Promoted robot palletizer kinematic accuracy, adjutage and in straining beam one be integrally formed, working arm in straining beam two be integrally formed, it is excellent
It is in power structure to have changed, wherein tie rod one, connecting rod one, in straining beam one and main constitute parallelogram sturcutre, tie rod in the arm of force
Two, connecting rod two, triangle pole and adjutage constitute parallelogram sturcutre, triangle pole, connecting rod three, working arm and are constituted in straining beam three
Parallelogram sturcutre enables servo motor two or servo motor three by controlling tie rod one or tie rod two, changes flat
The shape of row quadrangle, and then drive adjutage and working arm.
Workbench in the utility model includes pedestal and extension, and wherein extension increases servo cylinder pulling force
Torque reduces required pulling force, relaxes the specification of servo cylinder, and setting is scientific and reasonable.
3, the handgrip of the utility model is passed through by two clamping part goods clampings being slided on slide, wherein clamping part
Cylinder moves,
Two grip blocks of sliding setting on single clamping part, wherein include four grip blocks altogether, when work, four are clamped
Plate is moved to the direction of quadrangle respectively by cylinder one and the driving of cylinder two, stretches to clamp band, and be sleeved on cargo, one He of cylinder
Cylinder two retracts, and makes grip block by cargo contacts, locking roller locking clamping band locks latch and cargo jointly, due to this reality
With novel big with cargo active area, it is small that pressure applied to cargo, prevents cargo larger and deform by pressure, while originally grabbing
Hand getting is capable of providing larger coupling mechanism force with locking mode, can ensure to pick up larger cargo while cargo does not deform.
4, locking belt is the groove being arranged on used grip block and interlocks with the fastener of groove match in the utility model
It is fixed on grip block, fastener is fixed by screws on grip block, simplifies the structure of handgrip, outside the grip block upper groove
Side is additionally provided with through-hole, and trough of belt passes through through-hole inwardly after winding four grip blocks on the outside of grip block, and outside wraparound grip block
Side with locking roller connect, locking roller with grip block junction be provided with for clamping band by groove, optimize locking belt wind
The mode of grip block, the trough of belt being arranged on grip block can be fixed to playing the role of around the clamping band of grip block, prevent
Clamping band falls off, and setting is scientific and reasonable.
Description of the drawings
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model side structure schematic diagram；
Fig. 3 is that the utility model locks locking cargo schematic diagram；
Fig. 4 is the utility model gripping structure schematic diagram；
Fig. 5 is the utility model handgrip overlooking structure diagram；
Fig. 6 is the structural schematic diagram of the utility model grip block；
In figure：1- pedestals, 2- rotating platforms, 3- master are in straining beam one, 5- working arms, 51- in the arm of force, 4- adjutages, 41-
Straining beam two, 6- workbenches, 61- pedestals, 62- extensions, 7- handgrips, 71- slides, 72- clamping parts, 721- sliding rails, 722- folders
Plate, 723- cylinders two are held, 724- locks roller, 725- locking belts, 726- grooves, 727- fasteners, 728- through-holes, 729- troughs of belt, 73-
Cylinder one, 8- servo motors one, 9- servo motors two, 10- servo motors three, 11- servo cylinders, 12- link mechanisms one, 121-
Tie rod one, 122- connecting rods one, 13- link mechanisms two, 131- tie rods two, 132- connecting rods two, 133- triangle poles, 134- connecting rods
Three.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
As shown in Fig. 1~Fig. 6, a kind of five degree of freedom wide working range robot palletizer, including pedestal 1 are arranged on pedestal 1
There is rotating platform 2, it is in the arm of force 3, adjutage 4, working arm 5 and workbench 6 to be hinged with successively on rotating platform 2 main, and main is in power
Arm 3, adjutage 4, the rotary shaft of working arm 5 and workbench 6 are parallel to each other and parallel with the rotary shaft of rotating platform 2,
Main is in that the arm of force 3 is connect by worm and gear with servo motor 1, adjutage 4 is connect with servo motor 29, is worked
Arm 5 and servo motor 3 10, workbench 6 are connect by servo cylinder 11 with workbench 6, and 6 lower section of workbench is provided with
Handgrip 7.
The utility model is five degree of freedom robot palletizer, adjusts robot palletizer direction including rotating platform 2, watches
It takes motor 1, servo motor 29 and servo motor 3 10 and adjusts separately the main angle in the arm of force 3, adjutage 4 and working arm 5,
So that workbench 6 is moved, and then adjust the position of workbench 6, servo cylinder 11 adjusts workbench 6 and is in horizontal plane
Angle enables main to be in 3 self-locking of the arm of force, this practicality wherein master connect with by worm and gear with servo motor 1 in the arm of force 3
Novel to be different from four-degree-of-freedom robot palletizer in the prior art, the working range of the utility model is larger, and suitable for movement
The working environment of track complexity, the handgrip 7 that 6 lower section of workbench is arranged can capture cargo, and setting is scientific and reasonable.
Further, it is in the arm of force 3 and 2 junction of rotating platform that servo motor 29 and servo motor 3 10, which are arranged at main, is prolonged
Semi-girder 4 is additionally provided in 3 connecting pin of the arm of force in straining beam 1 with main, and working arm 5 is that 4 connecting pin of adjutage is additionally provided with and is in
Straining beam 2 51, servo motor 29 are in straining beam 1 by the connection of link mechanism 1, and servo motor 3 10 passes through link mechanism two
13 connections are in straining beam 2 51.
Further, link mechanism 1 includes the tie rod 1 being connect with servo motor 29, tie rod 1 and company
One end of bar 1 is hinged, and the other end of connecting rod 1 is hinged in straining beam 1.
Further, link mechanism 2 13 includes tie rod 2 131 hinged successively, connecting rod 2 132, triangle pole 133, connecting rod
3 134, connecting rod 3 134 is hinged in straining beam 2 51, and it is in 4 junction of the arm of force 3 and adjutage that triangle pole 133, which is hinged on main,.
Servo motor 29 and servo motor 3 10 in the utility model are fixed on the joint of robot palletizer, in code
Stack machine device man-hour can make the parallelogram that link mechanism is constituted link with robot palletizer, and superposition of movement degree is high, into
And promote the kinematic accuracy of robot palletizer, adjutage 4 and in straining beam 1 be integrally formed, working arm 5 be in straining beam 2 51 1
It is body formed, optimize in power structure, wherein tie rod 1, connecting rod 1, in straining beam 1 with it is main constitute in the arm of force 3 it is parallel
Quadrilateral structure, tie rod 2 131, connecting rod 2 132, triangle pole 133 and adjutage 4 constitute parallelogram sturcutre, triangle pole
133, connecting rod 3 134, working arm 5 and in straining beam 2 51 constitute parallelogram sturcutre, make servo motor 29 or servo motor three
10 can change the shape of parallelogram, and then drive 4 He of adjutage by controlling tie rod 1 or tie rod 2 131
Working arm 5.
Further, workbench 6 includes pedestal 61 and the extension 62 being connect with pedestal 61,62 top of extension and servo
Cylinder 11 connects.
Workbench 6 in the utility model includes pedestal 61 and extension 62, and wherein extension 62 increases servo gas
The torque of 11 pulling force of cylinder, reduces required pulling force, relaxes the specification of servo cylinder 11, and setting is scientific and reasonable.
Further, handgrip 7 includes slide 71, setting is slided on slide 71 there are two clamping part 72, clamping part 72 passes through
Cylinder 1 is connect with slide 71.
Further, clamping part 72 includes sliding rail 721, and sliding setting on sliding rail 721, there are two grip block 722, grip blocks
722 are connect by cylinder 2 723 with sliding rail 721, and clamping part 72 further includes locking roller 724 and locking belt 725, locking belt 725 1
End is arranged on a grip block 722, and the other end is wrapped in around four grip blocks 722 on locking roller 724.
The handgrip 7 of the utility model passes through two 72 goods clampings of clamping part slided on slide 71, wherein clamping part
72 are moved by cylinder,
Two grip blocks 722 of sliding setting on single clamping part 72, wherein include four grip blocks 722 altogether, when work,
Four grip blocks 722 are moved to the direction of quadrangle respectively by cylinder 1 and the driving of cylinder 2 723, stretch to clamp band, and cover
On cargo, cylinder 1 and cylinder 2 723 retract, and make grip block 722 by cargo contacts, locking roller 724 locks clamping band will
Latch and cargo are locked jointly, small to cargo application pressure since the utility model and cargo active area are big, prevent cargo
It is larger and deform by pressure, while this handgrip 7 is capable of providing larger coupling mechanism force using locking mode, can ensure cargo not
Larger cargo is picked up while deforming.
Further, fluted 726 are arranged on the grip block 722 being connect with locking belt 725, groove 726 is provided with fastener
727, fastener 727 clamps locking belt 725 with groove 726.
Further, through-hole 728 is additionally provided on the grip block 722 being connect with locking belt 725, locking belt 725 passes through through-hole
728, the other end around four grip blocks 722 be then passed through through-hole 728 and with locking roller 724 connect, locking roller 724 be arranged with lock
On the grip block 722 of 725 one end of taut band connection.
Further, the trough of belt 729 for limiting the movement of locking belt 725 is provided on grip block 722.
Locking belt 725 is the groove 726 being arranged on used grip block 722 and matches with groove 726 in the utility model
Fastener 727 interlock and be fixed on grip block 722, fastener 727 is fixed by screws on grip block 722, simplifies handgrip 7
Structure, 722 upper groove of grip block, 726 outside is additionally provided with through-hole 728, and trough of belt 729 is wound after four grip blocks 722 from folder
Hold the outside of plate 722 and pass through through-hole 728 inwardly, and 722 outside of wraparound grip block is connect with locking roller 724, lock roller 724 with
722 junction of grip block be provided with for clamping band by groove 726, optimize locking belt 725 wind grip block 722 mode,
The trough of belt 729 being arranged on grip block 722 can be fixed to playing the role of around the clamping band of grip block 722, prevents from being clamped
Band falls off, and setting is scientific and reasonable.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of five degree of freedom wide working range robot palletizer, which is characterized in that including pedestal (1), set on the pedestal (1)
Be equipped with rotating platform (2), be hinged with successively on the rotating platform (2) it is main in the arm of force (3), adjutage (4), working arm (5) and
Workbench (6), the master are in the rotation of the arm of force (3), the adjutage (4), the working arm (5) and the workbench (6)
Shaft is parallel to each other and parallel with the rotary shaft of the rotating platform (2),
The master connect by worm and gear with servo motor one (8) in the arm of force (3), the adjutage (4) and servo motor two
(9) connection, the working arm (5) and servo motor three (10), the workbench (6) are flat with work by servo cylinder (11)
Platform (6) connects, and handgrip (7) is provided with below the workbench (6).
2. a kind of five degree of freedom wide working range robot palletizer according to claim 1, which is characterized in that the servo
Motor two (9) and the servo motor three (10) are arranged at the master in the arm of force (3) and the rotating platform (2) junction,
The adjutage (4) is being additionally provided in the arm of force (3) connecting pin in straining beam one (41) with the master, and the working arm (5) is
Adjutage (4) connecting pin is additionally provided in straining beam two (51), and the servo motor two (9) is connected by link mechanism one (12)
It is in straining beam one (41) to connect described, and it is in straining beam two that the servo motor three (10) is described by the link mechanism two (13) connection
(51)。
3. a kind of five degree of freedom wide working range robot palletizer according to claim 2, which is characterized in that the connecting rod
Mechanism one (12) includes the tie rod one (121) being connect with the servo motor two (9), the tie rod one (121) and connecting rod
One end of one (122) is hinged, and the other end of the connecting rod one (122) is hinged with described in straining beam one (41).
4. a kind of five degree of freedom wide working range robot palletizer according to claim 2, which is characterized in that the connecting rod
Mechanism two (13) includes hinged successively tie rod two (131), connecting rod two (132), triangle pole (133), connecting rod three (134), institute
It states connecting rod three (134) to be hinged in straining beam two (51) with described, it is in the arm of force (3) and institute that the triangle pole (133), which is hinged on the master,
State adjutage (4) junction.
5. a kind of five degree of freedom wide working range robot palletizer according to claim 1, which is characterized in that the work
Platform (6) includes pedestal (61) and the extension (62) being connect with pedestal (61), extension (62) top and the servo
Cylinder (11) connects.
6. a kind of five degree of freedom wide working range robot palletizer according to claim 1, which is characterized in that the handgrip
(7) include slide (71), there are two clamping part (72), the clamping part (72) passes through gas for sliding setting on the slide (71)
Cylinder one (73) is connect with the slide (71).
7. a kind of five degree of freedom wide working range robot palletizer according to claim 6, which is characterized in that the clamping
Portion (72) includes sliding rail (721), and sliding setting on the sliding rail (721), there are two grip block (722), the grip blocks
(722) it is connect with the sliding rail (721) by cylinder two (723), the clamping part (72) further includes locking roller (724) and locking
Band (725), described locking belt (725) one end are arranged on a grip block (722), and the other end bypasses four grip blocks (722)
It is wrapped on locking roller (724).
8. a kind of five degree of freedom wide working range robot palletizer according to claim 7, which is characterized in that with the lock
It is arranged fluted (726) on the grip block (722) of taut band (725) connection, the groove (726) is provided with fastener (727), described
Fastener (727) clamps the locking belt (725) with the groove (726).
9. a kind of five degree of freedom wide working range robot palletizer according to claim 8, which is characterized in that with the lock
Through-hole (728) is additionally provided on the grip block (722) of taut band (725) connection, the locking belt (725) passes through the through-hole
(728), the other end is then passed through the through-hole (728) around four grip blocks (722) and is connect with the locking roller (724), institute
Locking roller (724) is stated to be arranged on the grip block (722) connecting with the locking belt (725) one end.
10. a kind of five degree of freedom wide working range robot palletizer according to claim 9, which is characterized in that the folder
It holds and is provided with the trough of belt (729) mobile for limiting the locking belt (725) on plate (722).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721481186.2U CN207645372U (en) | 2017-11-08 | 2017-11-08 | A kind of five degree of freedom wide working range robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721481186.2U CN207645372U (en) | 2017-11-08 | 2017-11-08 | A kind of five degree of freedom wide working range robot palletizer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207645372U true CN207645372U (en) | 2018-07-24 |
Family
ID=62888968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721481186.2U Active CN207645372U (en) | 2017-11-08 | 2017-11-08 | A kind of five degree of freedom wide working range robot palletizer |
Country Status (1)
| Country | Link |
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| CN (1) | CN207645372U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
| CN113173427A (en) * | 2021-05-13 | 2021-07-27 | 哈尔滨汇智实业科技发展有限公司 | Automatic material picking mechanism for slitting line decoiler |
-
2017
- 2017-11-08 CN CN201721481186.2U patent/CN207645372U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
| CN113173427A (en) * | 2021-05-13 | 2021-07-27 | 哈尔滨汇智实业科技发展有限公司 | Automatic material picking mechanism for slitting line decoiler |
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