CN207877133U - A kind of stack robot manipulator - Google Patents
A kind of stack robot manipulator Download PDFInfo
- Publication number
- CN207877133U CN207877133U CN201820006935.4U CN201820006935U CN207877133U CN 207877133 U CN207877133 U CN 207877133U CN 201820006935 U CN201820006935 U CN 201820006935U CN 207877133 U CN207877133 U CN 207877133U
- Authority
- CN
- China
- Prior art keywords
- handgrip
- telescopic rod
- mounting plate
- rail
- electric telescopic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of stack robot manipulators,Including top mounting plate,The upper surface of the top mounting plate is equipped with mounting flange,The lower surface of the top mounting plate is equipped with grid guide rail group,The grid guide rail group includes longitudinal rail and cross slide way,The utility model can reduce handgrip by vertically disposed handgrip and occupy stacking space,Ensure that stacking is neat,The kinds of goods on periphery will not be collided,It is not take up extra space by the setting of electric telescopic rod,Stacking regularity is not interfered with,And it can be used on being installed on the pipeline for being close to body wall side,Simultaneously,Electric telescopic rod extends when less than kinds of goods lower surface,Kinds of goods can be by a small margin lifted by handgrip,It is moved to below kinds of goods by the telescopic end of electric telescopic rod,Prevent from scratching the outer packing of kinds of goods,The utility model has the advantages of simple structure,Practical function,Effectively improve the deficiency of existing handgrip,Improve the quality of production.
Description
Technical field
The utility model is related to robot palletizer technical field, specific field is a kind of stack robot manipulator.
Background technology
Higher and higher now with manufacturing industry human cost, all trades and professions, which promote the automatization level of oneself and all carve, not to be allowed
It is slow, in recent years, occur a large amount of manipulator stacking equipment in the market, Palletizer relative to worker in load capacity and effectively
There is great advantage on operating time.
The robot gripper of existing stack robot manipulator especially bag type package stacking needs certain when handgrip opens
Space, cannot be mounted on and be close to use on the pipeline of body wall side, the production on side can be also encountered in palletization
Product, can not be placed on accurate position by product, and the expansion action of handgrip can also influence the regularity of stacking, and its grasping movement
Be finger make it is arc-shaped under copy movement, when crawl, easily scratches kinds of goods outer packing.For this purpose, it is proposed that a kind of robot palletizer
Handgrip.
Utility model content
The purpose of this utility model is to provide a kind of stack robot manipulators, mentioned above in the background art to solve
Problem.
To achieve the above object, the utility model provides the following technical solutions：A kind of stack robot manipulator, including top
The upper surface of mounting plate, the top mounting plate is equipped with mounting flange, and the lower surface of the top mounting plate is led equipped with grid
Rail group, the grid guide rail group include longitudinal rail and cross slide way, and the front end of longitudinal rail described in the outermost of left and right is equipped with
Preceding servo motor, the rear end of longitudinal rail described in the outermost of left and right are equipped with rear servo motor, the longitudinal rail and laterally lead
Intersection between rail is homogeneously intercommunicated, the diameter difference of the longitudinal rail and cross slide way in the middle part of the mounting plate of top
Less than the diameter of longitudinal rail and cross slide way on the outside of the mounting plate of top, set in the middle part of the lower surface of the top mounting plate
Have a mounting platform, be respectively equipped with fromer rail block and rear rail block in cross slide way described in the outermost of left and right, left side it is described before
The lower surface of way block and rear rail block is equipped with left handgrip, the lower surface of the fromer rail block and rear rail block on right side vertically
It is equipped with right handgrip vertically, the inner wall of the left handgrip and right handgrip is equipped with frictional layer, under the left handgrip and right handgrip
End face is rotatablely connected the fixing end of electric telescopic rod by cradle head, and the lateral wall of the electric telescopic rod is equipped with anti-skidding
The telescopic end of ripple, the electric telescopic rod is handled by rounded corner, and the vertical section of the electric telescopic rod is four sides
Shape；
The top mounting plate is equipped with controller, servo electricity before the controller has been electrically connected by electric conductor
Machine, rear servo motor, cradle head and electric telescopic rod, the controller are electrically connected external power supply by electric conductor.
Preferably, the side wall of the top mounting plate is equipped with warning light and alarm bell, and the warning light and alarm bell are logical
Cross electric conductor electrical connection controller.
Preferably, the number of the fromer rail block and rear rail block at least 2, the fromer rail block and rear rail block
Rear and front end side wall is equipped with snubber block.
Preferably, the mounting platform is equipped with the fixing end of Pneumatic extension bar, and the driving end of the Pneumatic extension bar is set
There is pressing plate, the lower surface of the pressing plate is equipped with protective flexible layer, and the lower surface of pressing plate is passed through protective flexible layer equipped with pressure
Sensor, the Pneumatic extension bar and pressure sensor are electrically connected controller by electric conductor.
Preferably, micromotor A, the micromotor are equipped in the middle part of the rear wall of the front side left handgrip and right handgrip
The driving end of A is connected with one end of front side lever through the side wall of the front side left handgrip and right handgrip, the front side lever
Other end rear wall is equipped with limit deck, and micromotor B is equipped in the middle part of the front side wall of the rear side left handgrip and right handgrip,
The driving end of the micromotor B is connected with one end of rear side lever, institute through the side wall of the rear side left handgrip and right handgrip
The other end front side wall for stating rear side lever is equipped with limit deck, and the micromotor A and micromotor B pass through electric conductor electricity
Connect controller.
Compared with prior art, the utility model has the beneficial effects that：A kind of stack robot manipulator, passes through mounting flange
Mounting plate and robot palletizer main body are attached at the top of disk, and can control fromer rail block by preceding servo motor is moved,
Rear rail block can be controlled by rear servo motor to be moved, longitudinal rail is connected to the intersection of cross slide way, is guide rail
Block provides movable passageway, and fromer rail block and rear rail block can carry out horizontal and vertical movement in grid guide rail group, can be with
It is adjusted according to the kinds of goods of different size, installation space can be provided for Pneumatic extension bar and pressing plate by mounting platform, led to
Handgrip occupancy stacking space can be reduced by crossing vertically disposed handgrip, ensured that stacking is neat, will not be collided the kinds of goods on periphery, electronic
Telescopic rod controls its location status by controller, and the original state position of electric telescopic rod is orthogonal state, in the past
Electric telescopic rod is seen at side or the visual angle of rear side and handgrip is straight line, when the lower end of handgrip is less than the lower surface of kinds of goods, is led to
Crossing controller control cradle head makes electric telescopic rod horizontally rotate, from electric telescopic rod and handgrip in terms of front side or the visual angle of rear side
For plumbness, the telescopic end that electric telescopic rod is controlled by controller carries out displacement, and the reset condition of electric telescopic rod is located at
The vertical lower of handgrip is not take up extra space, does not interfere with stacking regularity, and can be close to body wall side being installed on
Pipeline on use, meanwhile, electric telescopic rod extends when less than kinds of goods lower surface, kinds of goods can by handgrip carry out by a small margin
Lifting is moved to below kinds of goods by the telescopic end of electric telescopic rod, prevents the outer packing for scratching kinds of goods, controlled by controller
Front and back servo motor, carries out the position adjustment of way block, that is, handgrip, and controlling cradle head by controller carries out electric telescopic rod
Horizontal position adjustment, pass through controller control electric telescopic rod stretching motion；The utility model is grabbed by vertically disposed
Hand can reduce handgrip and occupy stacking space, ensure that stacking is neat, will not collide the kinds of goods on periphery, pass through setting for electric telescopic rod
It sets and is not take up extra space, do not interfere with stacking regularity, and can make on being installed on the pipeline for being close to body wall side
With, meanwhile, electric telescopic rod extends when less than kinds of goods lower surface, and kinds of goods can be by a small margin lifted by handgrip, pass through electricity
The telescopic end of dynamic telescopic rod is moved to below kinds of goods, prevents the outer packing for scratching kinds of goods, the utility model has the advantages of simple structure, function
Practicality effectively improves the deficiency of existing handgrip, improves the quality of production.
Description of the drawings
Fig. 1 is the main structure diagram of the utility model；
Fig. 2 is the backsight structural representation of the utility model；
Fig. 3 is the longitudinal rail and cross slide way present invention looks up structural representation of the utility model；
Fig. 4 is the front side lever structural schematic diagram of the utility model.
In figure：Mounting plate, 2- mounting flanges, 3- grid guide rails group, 301- longitudinal rails, 302- are laterally led at the top of 1-
Servo motor, the left handgrips of 6-, the right handgrips of 7-, 8- are electric after servo motor, 5- before rail, 303- fromer rails block, 304- rear rails block, 4-
Dynamic telescopic rod, 9- controllers, 10- warning lights, 11- alarms bell, 12- Pneumatic extensions bar, 13- pressing plates, 14- protective flexibles layer, 15-
Lever, 17- limits deck, 18- rear side levers on front side of pressure sensor, 16-.
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.
- 4 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of stack robot manipulator, including top peace
The upper surface of loading board 1, the top mounting plate is equipped with mounting flange 2, passes through mounting plate at the top of mounting flange and stacking machine
Device human agent is attached, and the lower surface of the top mounting plate is equipped with grid guide rail group 3, and the grid guide rail group includes longitudinal
Guide rail 301 and cross slide way 302, servo motor 4 before the front end of longitudinal rail described in the outermost of left and right is equipped with, left and right outermost
The rear end of the longitudinal rail is equipped with rear servo motor 5, and the intersection between the longitudinal rail and cross slide way is mutually
Connection, fromer rail block can be controlled by preceding servo motor and moved, by rear servo motor can control rear rail block into
Row movement, longitudinal rail are connected to the intersection of cross slide way, and movable passageway, fromer rail block and rear rail block are provided for way block
Horizontal and vertical movement can be carried out in grid guide rail group, can be adjusted according to the kinds of goods of different size, close to top
It leads the longitudinal direction that the diameter of the longitudinal rail and cross slide way in the middle part of portion's mounting plate is respectively smaller than on the outside of the mounting plate of top
The lower surface middle part of the diameter of rail and cross slide way, the top mounting plate is equipped with mounting platform, and mounting platform can be pneumatic
Telescopic rod and pressing plate provide installation space, be respectively equipped in cross slide way described in the outermost of left and right fromer rail block 303 and after lead
Rail block 304, the fromer rail block in left side and the lower surface of rear rail block vertically be equipped with left handgrip 6, right side it is described leading
The lower surface of rail block and rear rail block is equipped with right handgrip 7 vertically, and the inner wall of the left handgrip and right handgrip is equipped with frictional layer,
The frictional force between kinds of goods outer packing can be increased, vertically disposed handgrip can reduce handgrip and occupy stacking space, ensure
Stacking is neat, will not collide the kinds of goods on periphery, and the lower face of the left handgrip and right handgrip is rotatablely connected by cradle head
The lateral wall of the fixing end of electric telescopic rod 8, the electric telescopic rod is equipped with anti-skidding ripple, and the electric telescopic rod is stretched
End is handled by rounded corner, and the vertical section of the electric telescopic rod is quadrangle, and electric telescopic rod passes through controller control
Its location status is made, the original state position of electric telescopic rod is orthogonal state, from electricity in terms of front side or the visual angle of rear side
Dynamic telescopic rod is straight line with handgrip, when the lower end of handgrip is less than the lower surface of kinds of goods, controls rotation by controller and closes
Section makes electric telescopic rod horizontally rotate, and is plumbness from electric telescopic rod in terms of front side or the visual angle of rear side and handgrip, passes through control
The telescopic end of device control electric telescopic rod processed carries out displacement, and the reset condition of electric telescopic rod is located at the vertical lower of handgrip, no
Extra space is occupied, does not interfere with stacking regularity, and can be used on being installed on the pipeline for being close to body wall side, together
When, electric telescopic rod extends when less than kinds of goods lower surface, and kinds of goods can be by a small margin lifted by handgrip, pass through electric expansion
The telescopic end of bar is moved to below kinds of goods, and it is quadrangle to prevent the outer packing for scratching kinds of goods, electric telescopic rod, is had horizontal flat
Face can increase the contact area between kinds of goods, and anti-skidding ripple can improve stability of the kinds of goods in electric telescopic rod；
The top mounting plate is equipped with controller 9, servo electricity before the controller has been electrically connected by electric conductor
Machine, rear servo motor, cradle head and electric telescopic rod, the controller are electrically connected external power supply by electric conductor, pass through control
The front and back servo motor of device control processed, carries out the position adjustment of way block, that is, handgrip, and controlling cradle head by controller carries out electricity
The horizontal position adjustment of dynamic telescopic rod, the stretching motion of electric telescopic rod is controlled by controller.
Specifically, the side wall of the top mounting plate is equipped with warning light 10 and alarm bell 11, the warning light and alarm
Bell is electrically connected the failure or exception information that controller, warning light and alarm bell are transmitted by receiving control by electric conductor, into
Row warning lamp, which is always on, warns staff with alarm bell length sound.
Specifically, the number of the fromer rail block and rear rail block at least 2, the fromer rail block and rear rail block
Rear and front end side wall be equipped with snubber block, prevent fromer rail block and rear rail block when moving between guide rail generate collision, make
At damage.
Specifically, the mounting platform is equipped with the fixing end of Pneumatic extension bar 12, the driving of the Pneumatic extension bar
End is equipped with pressing plate 13, and the lower surface of the pressing plate is equipped with protective flexible layer 14, and the lower surface of pressing plate is set through protective flexible layer
There is pressure sensor 15, the Pneumatic extension bar and pressure sensor are electrically connected controller by electric conductor, in kinds of goods
After being crawled, controller control Pneumatic extension bar band dynamic pressure plate moves down, and is reinforced to kinds of goods upright position, prevents kinds of goods from moving
It shakes and falls during dynamic, while force information back controller can be passed through control by pressure sensor with senses change in pressure
Device controls the distance of stretch out and draw back of Pneumatic extension bar, can both prevent between pressing plate and kinds of goods vacantly, while can prevent excessive pressure
Kinds of goods are caused to damage.
Specifically, micromotor A is equipped in the middle part of the rear wall of the front side left handgrip and right handgrip, it is described miniature
The driving end of motor A is connected with one end of front side lever 16, the front side through the side wall of the front side left handgrip and right handgrip
The other end rear wall of lever, which is equipped with, limits deck 17, is equipped in the middle part of the front side wall of the rear side left handgrip and right handgrip micro-
The driving end of type motor B, the micromotor B are connected with rear side lever 18 through the side wall of the rear side left handgrip and right handgrip
One end, the other end front side wall of the rear side lever is equipped with limit deck, and the micromotor A and micromotor B are logical
Electric conductor electrical connection controller is crossed, micromotor A is controlled by controller and micromotor B drives front side lever and rear side lever
It is rotated, the initial position of front side lever and rear side lever is parallel position with left handgrip and right handgrip, when in use, front side
Lever and rear side lever are rotated to middle part direction, so that front side lever and rear side lever is stuck in electric telescopic rod by limiting deck
On, crawl kinds of goods are carried out with the limit of horizontal direction, prevents kinds of goods from falling.
Operation principle：The utility model is attached by mounting plate at the top of mounting flange and robot palletizer main body,
Fromer rail block can be controlled by preceding servo motor to be moved, can control rear rail block by rear servo motor is moved
Dynamic, longitudinal rail is connected to the intersection of cross slide way, and movable passageway is provided for way block, and fromer rail block and rear rail block can be with
Horizontal and vertical movement is carried out in grid guide rail group, can be adjusted according to the kinds of goods of different size, it is flat by installing
Platform can provide installation space for Pneumatic extension bar and pressing plate, and can reduce handgrip by vertically disposed handgrip occupies stacking sky
Between, ensure that stacking is neat, the kinds of goods on periphery will not be collided, electric telescopic rod controls its location status by controller, electronic to stretch
The original state position of contracting bar is orthogonal state, is one from electric telescopic rod in terms of front side or the visual angle of rear side and handgrip
Straight line, when the lower end of handgrip is less than the lower surface of kinds of goods, controlling cradle head by controller makes electric telescopic rod level turn
It is dynamic, it is plumbness from electric telescopic rod in terms of front side or the visual angle of rear side and handgrip, electric telescopic rod is controlled by controller
Telescopic end carries out displacement, and the reset condition of electric telescopic rod is located at the vertical lower of handgrip, is not take up extra space, Bu Huiying
Stacking regularity is rung, and can be used on being installed on the pipeline for being close to body wall side, meanwhile, electric telescopic rod is less than goods
Extend when product lower surface, kinds of goods can be by a small margin lifted by handgrip, and kinds of goods are moved to by the telescopic end of electric telescopic rod
Lower section prevents the outer packing for scratching kinds of goods, controls front and back servo motor by controller, carries out the position tune of way block, that is, handgrip
It is whole, the horizontal position adjustment that cradle head carries out electric telescopic rod is controlled by controller, electric expansion is controlled by controller
The stretching motion of bar.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of stack robot manipulator, including top mounting plate（1）, it is characterised in that：The top mounting plate（1）Upper table
Face is equipped with mounting flange（2）, the top mounting plate（1）Lower surface be equipped with grid guide rail group（3）, the grid guide rail group
（3）Including longitudinal rail（301）And cross slide way（302）, longitudinal rail described in the outermost of left and right（301）Front end be equipped with before
Servo motor（4）, longitudinal rail described in the outermost of left and right（301）Rear end be equipped with rear servo motor（5）, the longitudinal rail
（301）And cross slide way（302）Between intersection it is homogeneously intercommunicated, close to top mounting plate（1）It leads the longitudinal direction at middle part
Rail（301）And cross slide way（302）Diameter be respectively smaller than close to top mounting plate（1）The longitudinal rail in outside（301）And cross
Direction guiding rail（302）Diameter, the top mounting plate（1）Lower surface in the middle part of be equipped with mounting platform, it is horizontal described in the outermost of left and right
Direction guiding rail（302）Inside respectively it is equipped with fromer rail block（303）With rear rail block（304）, the fromer rail block in left side（303）With
Rear rail block（304）Lower surface vertically be equipped with left handgrip（6）, the fromer rail block on right side（303）With rear rail block
（304）Lower surface vertically be equipped with right handgrip（7）, the left handgrip（6）With right handgrip（7）Inner wall be equipped with frictional layer,
The left handgrip（6）With right handgrip（7）Lower face electric telescopic rod is rotatablely connected by cradle head（8）Fixing end,
The electric telescopic rod（8）Lateral wall be equipped with anti-skidding ripple, the electric telescopic rod（8）Telescopic end pass through rounded corner
Processing, the electric telescopic rod（8）Vertical section be quadrangle；
The top mounting plate（1）It is equipped with controller（9）, the controller（9）It is watched before being electrically connected by electric conductor
Take motor（4）, rear servo motor（5）, cradle head and electric telescopic rod（8）, the controller（9）It is electrically connected by electric conductor
External power supply.
2. a kind of stack robot manipulator according to claim 1, it is characterised in that：The top mounting plate（1）Side
Wall is equipped with warning light（10）With alarm bell（11）, the warning light（10）With alarm bell（11）It is electrically connected and is controlled by electric conductor
Device（9）.
3. a kind of stack robot manipulator according to claim 1, it is characterised in that：The fromer rail block（303）With it is rear
Way block（304）Number be at least 2, the fromer rail block（303）With rear rail block（304）Rear and front end side wall be all provided with
There is snubber block.
4. a kind of stack robot manipulator according to claim 1, it is characterised in that：The mounting platform is equipped with pneumatic
Telescopic rod（12）Fixing end, the Pneumatic extension bar（12）Driving end be equipped with pressing plate（13）, the pressing plate（13）Following table
Face is equipped with protective flexible layer（14）, and pressing plate（13）Lower surface run through protective flexible layer（14）Equipped with pressure sensor（15）,
The Pneumatic extension bar（12）And pressure sensor（15）Controller is electrically connected by electric conductor（9）.
5. a kind of stack robot manipulator according to claim 1, it is characterised in that：The front side left handgrip（6）The right side and
Handgrip（7）Rear wall in the middle part of be equipped with micromotor A, the micromotor A driving end run through the front side left handgrip（6）
With right handgrip（7）Side wall be connected with front side lever（16）One end, the front side lever（16）Other end rear wall be all provided with
There is limit deck（17）, the rear side left handgrip（6）With right handgrip（7）Front side wall in the middle part of be equipped with micromotor B, it is described micro-
The rear side left handgrip is run through at the driving end of type motor B（6）With right handgrip（7）Side wall be connected with rear side lever（18）One
End, the rear side lever（18）Other end front side wall be equipped with limit deck（17）, the micromotor A and micromotor B
Controller is electrically connected by electric conductor（9）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820006935.4U CN207877133U (en) | 2018-01-03 | 2018-01-03 | A kind of stack robot manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820006935.4U CN207877133U (en) | 2018-01-03 | 2018-01-03 | A kind of stack robot manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207877133U true CN207877133U (en) | 2018-09-18 |
Family
ID=63506681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820006935.4U Expired - Fee Related CN207877133U (en) | 2018-01-03 | 2018-01-03 | A kind of stack robot manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207877133U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103247A (en) * | 2019-05-16 | 2019-08-09 | 佛山隆深机器人有限公司 | A kind of product stacking control system |
| CN111232665A (en) * | 2020-03-23 | 2020-06-05 | 广东技术师范大学 | Pile up neatly machine people tongs |
| CN112061652A (en) * | 2019-06-11 | 2020-12-11 | 中国石油化工股份有限公司 | Method and system for shaping stacked goods |
-
2018
- 2018-01-03 CN CN201820006935.4U patent/CN207877133U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103247A (en) * | 2019-05-16 | 2019-08-09 | 佛山隆深机器人有限公司 | A kind of product stacking control system |
| CN112061652A (en) * | 2019-06-11 | 2020-12-11 | 中国石油化工股份有限公司 | Method and system for shaping stacked goods |
| CN111232665A (en) * | 2020-03-23 | 2020-06-05 | 广东技术师范大学 | Pile up neatly machine people tongs |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180918 Termination date: 20200103 |