CN207957137U - A kind of robot palletizer - Google Patents

Abstract

The utility model discloses a kind of robot palletizers, including waist pedestal, the waist mechanism being connected and fixed by waist pedestal, waist mechanism connects swing arm swivel arm mechanism, and swing arm swivel arm mechanism connects pneumatic gripper mechanism, and the pneumatic gripper mechanism is equipped with rotatable connection disk, be rotatably connected disk lower surface connection gas handgrip plate, gas handgrip plate is connected and fixed clamping cylinder, and clamping cylinder drives bending claws, bending claws to be symmetrical arranged；Vertically arranged compression cylinder is equipped with above bending claws, compression cylinder drives air cylinder pressure plate.The utility model acts power and spinning movement by waist pedestal, waist mechanism offer, utilize the connection setting clamping cylinder on rotatable connection disk, crawl article is carried out using cylinder driving bending claws, and compression cylinder is set above bending claws, the article being crawled is fixed using compression cylinder driving air cylinder pressure plate, the stability for being crawled article in moving process is improved, stacking precision is improved.

Description

A kind of robot palletizer

Technical field

The utility model is related to robots, are exactly a kind of robot palletizers.

Background technology

With the continuous improvement of industrial automatization, the domestic research to robot palletizer is also gradually goed deep into.

Robot palletizer generally includes:Waist pedestal, waist general assembly, swing arm swivel arm mechanism, pneumatic gripper mechanism.

Wherein the flexibility of pneumatic gripper mechanism action, the stability of action process have the precision of stacking very high influence, If precision is inadequate, the case where stacking can be caused uneven or even the cargo being crawled, article is made to damage.

Utility model content

The technical problem to be solved by the present invention is to provide a kind of robot palletizers, and the apparatus structure is simple, stability Good, action precision is high.

In order to solve the above technical problems, the utility model uses following technological means：

A kind of robot palletizer, including waist pedestal, the waist mechanism being connected and fixed by waist pedestal, waist mechanism connect Swing arm swivel arm mechanism is connect, swing arm swivel arm mechanism connects pneumatic gripper mechanism, and pneumatic gripper mechanism is equipped with rotatable connection disk, and be rotatably connected disk Lower surface connects gas handgrip plate, and gas handgrip plate is symmetricly set on rotatable connection disk both sides, and gas handgrip plate is connected and fixed clamping cylinder, Clamping cylinder drives bending claws fixed seat, bending claws fixed seat to be equipped with spaced bending claws, and bending claws are along rotatable connection disk formed symmetrical Setting；It is equipped with vertically arranged compression cylinder above bending claws, air cylinder pressure plate is fixed on the cylinder axis of compression cylinder bottom end；Gas is grabbed Palm connects the support of bearing, is connected and fixed clamping cylinder on the outside of the support of bearing, compression gas is connected and fixed on the inside of the support of bearing Cylinder.

The technical program carries out spinning movement by waist pedestal, waist mechanism, the setting clamping gas on rotatable connection disk Cylinder carries out crawl article using cylinder driving bending claws, and compression cylinder is arranged above bending claws, and gas is driven using compression cylinder Cylinder pressing plate fixes the article being crawled, and improves the stability that article is crawled in moving process, improves stacking precision.

Further optimal technical scheme is as follows：

The center of the support of bearing is equipped with swinging axle, and the both ends of swinging axle are connect by oscillation bearing with the support of bearing It is fixed；Linking arm is equipped at the center of swinging axle, the cylinder axis of clamping cylinder controls the swing of swinging axle by linking arm；It swings The both ends of axis connect swing arm weldment, and the top of swing arm weldment connects with axis connection, the bottom of swing arm weldment is swung Connect bending claws fixed seat.

Swinging axle is arranged in the support of bearing, is supported by the support of bearing, stability higher, and swing arm is in integrally inverted L-shaped, clamping cylinder drives swinging axle rotation, to drive swing arm to rotate.

The bending claws fixed seat is equipped with beam seat, and beam seat is equipped with spaced connecting hole, and connecting hole is connected and fixed curved Pawl；Vertical baffle is connected and fixed on the inside of beam seat.

By the way that beam seat is arranged, increase the load-bearing capacity of bending claws fixed seat.

The swing arm swivel arm mechanism is equipped with front column, the rear column to play a supportive role, is connect with front column, rear column Large arm, rear column connect with connecting plate by connecting shaft component under rear column, and column linking arm one end is connected under front column On connecting shaft component, the column linking arm other end is connected to by Assembly of pin on rear column；Front column passes through large arm front column Assembly of pin is connected in large arm, and rear column is connected to by large arm rear pin shaft component in large arm, and the front end of large arm passes through large arm Assembly of pin is connected with End assemblies balance arm component and End assemblies；Balance arm component is equipped with upper connecting rod and lower pull rod, pull-up The front end of bar is connect with End assemblies, and the rear end of upper connecting rod is connect with counter-jib weldment, and counter-jib weldment is in up-side down triangle Setting, bottom end is fastened on large arm front column Assembly of pin, the one end at the top of counter-jib weldment and upper connecting rod Rear end connects, and the counter-jib weldment other end connect with the top of lower pull rod, the bottom end of lower pull rod by pull rod lower connecting base and Connecting shaft component connects under front column.

By the way that front column and rear column is arranged, fixation is attached to large arm using two columns, improves large arm work Stability, by be arranged balance arm component, using balance arm component further increase large arm work stability, to improve The precision of stacking when work.

The End assemblies are equipped with speed reducer mounting plate, and be rotatably connected disk, and speed reducer mounting plate is connected and fixed motor tune Plate is saved, motor adjustable plate is connected and fixed driving motor, gear reducer, and driving motor connects driving rotatable connection disk by speed reducer； Driving motor drives the big belt wheel being fixed on speed reducer input shaft to rotate by small pulley, the synchronous belt being connected on its axis, Speed reducer is fixed on by upper rotating shaft bearing seat on speed reducer mounting plate, and output axis connection is connected on the output shaft of speed reducer Disk, output shaft terminal pad lower surface are connected with rotatable connection disk, motor shroud are equipped with outside driving motor.

By the way that motor adjustable plate is arranged, driving motor, gear reducer is installed, speed reducer mounting plate is made to match with motor cover It closes to be formed and surrounds structure, improve safety and the stability of driving motor work.

Connecting shaft component is equipped with connecting shaft under the rear column, and connecting shaft passes through the hole of two connecting plates to be fixed, It is equipped with axle sleeve between two connecting plates to limit, the both sides of connecting shaft are provided with deep groove ball bearing, bearing block, and bearing block passes through bolt It is fixed on rear column, bearing block is connect with connecting shaft by deep groove ball bearing；Connecting shaft component is equipped with connecting shaft under front column, The both ends of connecting shaft are fixed in front column supporting block, the inside of front column supporting block be respectively front column bottom left spacer and before Column lower right spacer, is fixed with pull rod lower connecting base on the outside of front column lower right spacer, and front column lower end passes through bearing block and depth Ditch ball bearing is connected in connecting shaft, column linking arm one end inner sleeve deep groove ball bearing, has linking arm bearing gland on the outside of bearing, Deep groove ball bearing is limited by the spacer of both sides；Assembly of pin is equipped with axis pin, and the shaft end of axis pin is arranged axis pin gland, on axis pin bar There are two axle sleeve column linking arms to limit for setting, is connected on axis pin by deep groove ball bearing inside column linking arm, in axis There is bearing gland in the outside held；Large arm rear pin shaft component is equipped with axis pin, and axis pin is fixed on rear column, there are one axis pin both ends are each Deep groove ball bearing is for connecting large arm；Large arm front column Assembly of pin is equipped with axis pin, and axis pin is fixed on front column, axis pin both ends Each there are one deep groove ball bearings to be used to connect large arm, bearing is connected in pin the tip of the axis, for connecting counter-jib weldment；Greatly Arm Assembly of pin includes axis pin, and axis pin is fixed on End assemblies, and respectively there are one deep groove ball bearings for connecting greatly at axis pin both ends Arm.By the setting of above-mentioned connector, the stability of connection and the stationarity of action are further increased.

The waist mechanism has been equipped with the sliding rack weldment of skeletal support effect, and sliding rack weldment is connected and fixed horizontal shifting Dynamic general assembly and vertical shift general assembly；Sliding rack weldment is equipped with horizontal guide rail, upright guide rail；Move horizontally general assembly be equipped with move horizontally Driving motor moves horizontally driving motor and is fixed on sliding rack weldment by electric rotating machine mounting plate；Move horizontally driving electricity Machine drives horizontal lead screw rotation, horizontal lead screw to be connected on sliding rack weldment by horizontal lead screw bearing block, set on horizontal lead screw It is equipped with horizontal drive feed screw nut, horizontal drive feed screw nut is connected and fixed with plate is moved horizontally, and moves horizontally plate and passes through level Mobile sliding block slides on horizontal guide rail；Vertical shift general assembly is equipped with vertical shift driving motor, and vertical shift driving motor drives Dynamic vertical lead screw rotation, bottom end and the sliding rack weldment of vertical lead screw are connected and fixed, and vertical driving silk is provided on vertical lead screw Stem nut, vertical that feed screw nut is driven to be fixed on vertical shift plate, vertical shift plate is being led vertically by vertical shift sliding block It is slided on rail；It moves horizontally and is set on plate there are two spaced front column supporting block, the two of front column supporting block and connecting shaft End is separately connected；Connecting shaft is connected and fixed the linking arm of swing arm swivel arm mechanism, pull rod lower connecting base；Vertical shift plate is equipped with Spaced connecting plate；Connecting plate connects rear column；Sliding rack weldment is fixed on the inner ring upper surface of floating bearing；Rotating shaft Hold the connection support total arrangement of waist speed reducer；One end connection setting of sliding rack weldment moves horizontally driving motor；Sliding rack The other end connection setting vertical shift of weldment drives electricity.

By the way that sliding rack weldment is arranged, general assembly vertical shift general assembly is moved horizontally using the connection of sliding rack weldment, makes structure It is more compact；The distance adjustment on horizontal and vertical direction is carried out by the cooperation of lead screw, nut, regulation performance is stablized.

Described moving horizontally is equipped with small pulley in drive motor shaft, small pulley is fastened on by pressing sleeve on motor shaft, small Belt wheel drives big belt wheel rotation, big belt wheel to be fastened on horizontal lead screw by Antisliding bolt by horizontal drive synchronous belt；Vertically Small pulley is installed in mobile drive motor shaft, is fastened on motor shaft by pressing sleeve, the small pulley on motor shaft passes through Vertical driving synchronous belt driving big belt wheel rotation, big belt wheel are fastened on by Antisliding bolt on vertical lead screw.

The waist pedestal is equipped with pedestal weldment, the total arrangement of waist speed reducer, and pedestal weldment is that cavity connects structure, The total arrangement of waist speed reducer is fixed on the top of pedestal weldment by floating bearing, and floating bearing outer ring is fixed on pedestal weldering The upper surface of part；The total arrangement of waist speed reducer is equipped with vertically electric rotating machine setting up and down, speed reducer, electric rotating machine with Reductor shaft connects, and pedestal weldment is equipped with horizontal speed reducer fixed plate, and horizontal speed reducer fixed plate one end passes through under speed reducer Terminal pad connection support speed reducer, the other end of horizontal speed reducer fixed plate is connect with vertical speed reducer fixed plate, vertical to slow down Connecting seat is equipped at the top of machine fixed plate.

Above-mentioned setting keeps the waist base construction of the technical program compact, and being connected and fixed for electric rotating machine and speed reducer is steady Qualitative height, while providing strong support for the waist mechanism of robot.

The electric rotating machine is connected by diaphragm coupling, connecting shaft and reductor shaft；Terminal pad upper table under speed reducer Face is equipped with the inner ring of speed reducer, and connection disk center is equipped with connecting hole, deep groove ball bearing under speed reducer, and terminal pad passes through under speed reducer Deep groove ball bearing, the inner ring of speed reducer and speed reducer are connected and fixed；Pedestal weldment is equipped with access hole, and pedestal is equipped at access hole Access cover；Connector on speed reducer is equipped at the top of speed reducer, connector connects support electric rotating machine mounting plate, slows down on speed reducer The shell of machine；It is equipped with mounting disc in swivel bearing at the top of speed reducer, connector on mounting disc connection speed reducer in swivel bearing returns The inner ring that shaft is held；The upper surface of the inner ring of floating bearing is connected and fixed sliding rack weldment, and sliding rack weldment is connected and fixed waist Mechanism.

The stability that above-mentioned setting further improves speed reducer, electric rotating machine is connected and fixed.

Description of the drawings

Fig. 1 is the overall structure diagram of the robot palletizer mechanism of the utility model.

Fig. 2 is the stereogram of the utility model waist pedestal.

Fig. 3 is the utility model waist speed reducer stereogram.

Fig. 4 is cut-away view of the utility model waist speed reducer along the vertical plane where axle center.

Fig. 5 is the stereogram of the waist mechanism of the utility model.

Fig. 6 is the stereogram of the utility model vertical shift general assembly.

Fig. 7 is the stereogram for moving horizontally general assembly of the utility model.

Fig. 8 is the structural schematic diagram of the swing arm swivel arm mechanism of the utility model.

Fig. 9 is the End assemblies stereogram of the utility model.

Figure 10 is the stereogram of the End assemblies of swing arm rotating arm.

Figure 11 is the stereogram of connecting shaft component under the utility model rear column.

Figure 12 is the stereogram of the utility model rear column Assembly of pin.

Figure 13 is the stereogram of connecting shaft component under the utility model front column.

Figure 14 is the stereogram of connecting shaft after the utility model large arm.

Figure 15 is the stereogram of the pneumatic gripper mechanism of the utility model.

Figure 16 is the stereogram of the utility model support of bearing.

Reference sign：

1 waist pedestal；

11- pedestal weldments；12-floating bearings；The total arrangement of 13- waist speed reducers；131- electric rotating machines；132- rotates Motor mounting plate；Connector on 133- speed reducers；Mounting disc in 134- swivel bearings；135- speed reducers；Connect under 136- speed reducers Connect disk；The horizontal speed reducer fixed plates of 137-；The vertical speed reducer fixed plates of 138-；139- diaphragm couplings；1310- connecting shafts； 1311- speed reducer input shafts；The inner ring of 1312- speed reducers；14- pedestal access covers；1313- deep groove ball bearings.

2 waist mechanisms；

21- sliding rack weldments；22- vertical shift general assemblies；221- vertical shift driving motors；222- drives synchronization vertically Band；223- electric rotating machine mounting plates；The vertical screw mandrel shaft blocks of 224-；225- big belt wheels；226- vertical shift sliding blocks；227- is vertical Lead screw；228- vertical shift plates；229- drives feed screw nut's seat vertically；2210- drives feed screw nut vertically；23- is moved horizontally General assembly；231- moves horizontally driving motor；232- electric rotating machine mounting plates；233- small pulleys；234- pressing sleeves；235- big belt wheels； 236- Antisliding bolts；237- horizontal lead screw bearing blocks；238- moves horizontally plate；239- horizontal lead screws；2310- horizontal drive lead screws Nut；2311- horizontal drives feed screw nut's seat；2312- moves horizontally sliding block；24- front column supporting blocks；25- horizontal guide rails； 26- upright guide rails.3 swing arm swivel arm mechanisms.

31- connecting plates；32- rear columns；33- column linking arms；34- large arm；35- front columns；36- End assemblies；361- Speed reducer mounting plate；362- motor shrouds；363- rotatable connection disks；364- speed reducers；365- big belt wheels；366- driving motors； 367- small pulleys；368- synchronous belts；369- output shaft terminal pads；The upper rotating shaft bearing seats of 3610-；3611- motor adjustable plates； Connecting shaft component under 37- rear columns；371- connecting shafts；372- deep groove ball bearings；373- axle sleeves；374- bearing blocks；38- axis pin groups Part；381- axis pins；382- axle sleeves, 383- bearing glands；384- axis pin glands；Connecting shaft component under 39- front columns；391- connections Axis；392- front column lower right spacers；393- bearing blocks；394- linking arm bearing glands；395- spacers；396- deep groove ball bearings, 397- front column bottom left spacers；310- pull rod lower connecting bases；Pull rod under 311-；312- counter-jib weldments；313- upper connecting rods； 314- large arm rear pin shaft components；3141- axis pins；315- large arm front column Assembly of pin；3151- axis pins；3152- bearings；3153- Universal joint；316- large arm Assembly of pin.

4 pneumatic gripper mechanisms；

41- gas handgrip plates；42- clamping cylinders；43- bending claws fixed seats；44- bending claws；45- swinging axles；46- linking arms；47- Clamping cylinder holder；48- swing arm weldments；49- oscillation bearings；410- compression cylinders；The 411- supports of bearing；412- cylinder pressures Plate.

Specific implementation mode

With reference to embodiment, the utility model is further illustrated.

Referring to Fig. 1 it is found that a kind of robot palletizer mechanism of the utility model controls swinging arm by waist pedestal 1 Waist mechanism 2 acts the swing arm swivel arm mechanism 3 for transmitting supporting role, and the pneumatic gripper mechanism 4 for grasping object forms.

It is complete machine machine referring to Fig. 2-Fig. 4 it is found that waist pedestal 1 has included the pedestal weldment 11 of overall support fixed function Structure provides the total arrangement 13 of waist speed reducer in rotational power source, the floating bearing 12 of the total arrangement of support waist speed reducer 13, 12 outer ring of floating bearing is fixed on the upper surface of pedestal weldment 11, and the horizontal speed reducer of the total arrangement of fixed waist speed reducer 13 is solid Fixed board 137 and vertical speed reducer fixed plate 138, the inner ring 1312 of speed reducer are fixed on level by terminal pad under speed reducer 136 On one end of speed reducer fixed plate 137, the bottom of the other end of horizontal speed reducer fixed plate 137 and vertical speed reducer fixed plate 138 The top of end connection, vertical speed reducer fixed plate 138 is equipped with connecting seat, and connecting seat is bolted fixation, base with pedestal weldment 11 Seat weldment 11 is equipped with closable pedestal access cover 14.

The total arrangement of waist speed reducer 13 includes 130 electric rotating machines 131 that power source is provided for the component, by 130 rotations The small torque revolution action of high speed of motor 131 is converted to the speed reducer RV6081AT 135 of low speed high torque revolution action, by 130 The revolution of electric rotating machine 131 passes to the connecting shaft 1310 of speed reducer input shaft 1311, connects 130 turning motor axis and connecting shaft 1310 diaphragm coupling SFK56C 2,022 139 supports terminal pad 136 under the speed reducer of speed reducer RV6081AT 135, peace Fill the electric rotating machine mounting plate 132 of 130 electric rotating machines 131, support connection electric rotating machine mounting plate 132 and speed reducer RV6081AT Connector 133 on the speed reducer of 131 shells connects on speed reducer in the swivel bearing of 12 inner ring of connector 133 and floating bearing Mounting disc 134 connects the deep groove ball bearing 1313 of terminal pad 136 under 135 input shafts of speed reducer RV6081AT and speed reducer.

Referring to Fig. 5-Fig. 7 it is found that waist mechanism 2 has included the sliding rack weldment 21 of skeletal support effect, sliding rack weldment 21 are fixed on the inner ring upper surface of floating bearing 12, are provided for swing arm swivel arm mechanism 3 and move horizontally moving horizontally for power source General assembly 23 provides the vertical shift general assembly 22 of vertical shift power source for swing arm swivel arm mechanism 3, is installed on sliding rack weldment 21 Outside, to the waist cover 1 and waist cover 2 of entire its protective effect of component, waist cover 1 and waist cover 2 follow sliding rack weldment 21 Rotation.

It includes being fixed on moving horizontally on sliding rack weldment 21 by electric rotating machine mounting plate 232 to move horizontally general assembly 23 Driving motor 231 moves horizontally and is equipped with small pulley 233 on 231 axis of driving motor, is fastened on motor shaft by pressing sleeve 234, peace Small pulley 233 on motor shaft drives big belt wheel 235 to rotate by horizontal drive synchronous belt, and big belt wheel 235 is by anti-skidding Bolt 236 is fastened on horizontal lead screw 239, and then horizontal lead screw 239 is driven to rotate, and horizontal lead screw 239 passes through horizontal lead screw axis Bearing 237 is fixed on sliding rack weldment 21, and horizontal drive feed screw nut 2310, horizontal drive are provided on horizontal lead screw 239 Feed screw nut 2310 moves horizontally with the rotation of horizontal lead screw 239.Horizontal drive feed screw nut 2310 passes through horizontal drive silk Stem nut seat 2311, which is fixed on, to be moved horizontally on plate 238, moves horizontally plate 238 by moving horizontally sliding block 2312 in horizontal guide rail It is slided on 25, horizontal guide rail 25 is fixed on the horizontal plane of sliding rack weldment 21.

Vertical shift general assembly 22 includes the vertical shift being fixed on by electric rotating machine mounting plate 223 on sliding rack weldment 21 Driving motor 221 is equipped with small pulley 2 on 221 axis of vertical shift driving motor, is fastened on motor shaft, is mounted on by pressing sleeve For small pulley on motor shaft by driving synchronous belt 222 that big belt wheel 225 is driven to rotate vertically, big belt wheel 225 passes through Antisliding bolt It is fastened on vertical lead screw 227, and then vertical lead screw 227 is driven to rotate, vertical lead screw 227 passes through vertical screw mandrel shaft block 224 It is fixed on sliding rack weldment 21, vertical driving feed screw nut 2210 is provided on vertical lead screw 227, drives feed screw nut vertically 2210 with the rotation of vertical lead screw 227 vertical shift.Vertical driving feed screw nut 2210 by driving feed screw nut's seat vertically 229 are fixed on vertical shift plate 228, and vertical shift plate 228 is slided by vertical shift sliding block 226 on upright guide rail 26, Upright guide rail 26 is fixed on the perpendicular of sliding rack weldment 21.

Referring to Fig. 8-Figure 14 it is found that swing arm swivel arm mechanism 3 includes the front column 35 to play a supportive role, rear column 32, stands Column linking arm 33, large arm 34, balance arm component and End assemblies 36.

Rear column 32 is connected to by two connecting plates 31 on vertical shift plate 228, and rear column 32 passes through with connecting plate 31 Connecting shaft component 37 connects under rear column, and front column 35 is fixed on by two front column supporting blocks 24 to be moved horizontally on plate 238, Two front column supporting blocks 24 are connect by connecting shaft component under front column 39 with front column 35, the connection of 33 one end of column linking arm Under front column on connecting shaft component 39, the other end is connected to by Assembly of pin 38 on rear column 32.Front column 35 is by big Arm front column Assembly of pin 315 is connected in large arm 34, and rear column 32 is connected to large arm 34 by large arm rear pin shaft component 314 On, the front end of large arm 34 is connected with End assemblies 36 by large arm Assembly of pin 316, and balance arm component passes through 313 He of upper connecting rod Lower pull rod 311 keeps the balance of End assemblies 36.

Connecting shaft component includes the hole that connecting shaft 371 passes through two connecting plates 31 under rear column, is led between two connecting plates The limit of axle sleeve 373 is crossed, the both sides of connecting shaft 371 are provided with deep groove ball bearing 372 and bearing block 374, bearing block 374 passes through spiral shell Bolt is fixed on rear column 32, and bearing block 374 is connect with connecting shaft 371 by deep groove ball bearing 372.

Connecting shaft component 39 includes connecting shaft 391 under front column, and the both ends of connecting shaft 391 are fixed on front column supporting block 24 On, it is front column bottom left spacer 397 and front column lower right spacer 392 respectively in the inside of front column supporting block 24, in front column 392 outside of lower right spacer is fixed with pull rod lower connecting base 310, and front column lower end is connected by bearing block 393 and deep groove ball bearing 396 It is connected in connecting shaft 391, column linking arm one end inner sleeve deep groove ball bearing, has linking arm bearing gland 394, zanjon on the outside of bearing Ball bearing is limited by the spacer 395 of both sides.

Assembly of pin 38 includes axis pin 381 and axis pin gland 384, and there are two axle sleeves 382 for giving for setting on 381 bar of axis pin Column linking arm 33 limits, and is connected on axis pin 381 by deep groove ball bearing inside column linking arm 33, is had on the outside of bearing Bearing gland 383.Large arm rear pin shaft component 314 includes axis pin 3141, and axis pin 3141 is fixed on rear column 32,3141 liang of axis pin Respectively there are one deep groove ball bearings for connecting large arm 34 at end.Large arm front column Assembly of pin 315 includes axis pin 3151, axis pin 3151 It is fixed on front column 35, respectively there are one deep groove ball bearings at axis pin 3151 both ends for connecting large arm 34, connects in pin the tip of the axis It is connected to bearing 3152, for connecting counter-jib weldment 312.Large arm Assembly of pin 316 includes axis pin 3161, and axis pin is fixed on end On parts 36, respectively there are one deep groove ball bearings for connecting large arm 34 at axis pin 3161 both ends.

Balance arm component includes the pull rod lower connecting base 310 being fixed under front column on connecting shaft component 39, is connected under pull rod Joint chair 310 is secured by bolts in front column supporting block 24, and lower pull rod 311 under 3154 one end connecting rod of universal joint by connecting Joint chair 310, the other end connect counter-jib weldment 312, and counter-jib weldment 312 is connected to large arm front column connecting shaft component On 315, the speed reducer that upper connecting rod 313 is separately connected counter-jib weldment 312 and End assemblies 36 by universal joint 3153 is installed Plate 361.

End assemblies 36 include the driving motor 366 being installed on by motor adjustable plate 3611 on speed reducer mounting plate 361, Driving motor 366 is driven by the small pulley 367, the synchronous belt 368 that are connected on its axis to be fixed on 364 input shaft of speed reducer Big belt wheel 365 rotates, and speed reducer 364 is fixed on by upper rotating shaft bearing seat 3610 on speed reducer mounting plate 361, speed reducer Output shaft terminal pad 369 is connected on 364 output shaft, 369 lower surface of output shaft terminal pad is connected with rotatable connection disk 363, 363 lower surface of rotatable connection disk is connected with the gas handgrip plate 41 of pneumatic gripper mechanism 4, and 366 outside of driving motor is equipped with motor shroud 362。

Referring to Figure 15,16 it is found that pneumatic gripper mechanism 4 includes being connected to the gas handgrip plate 41 of rotatable connection disk 363 lower surface, Gu Due to two supports of bearing 411 on gas handgrip plate 41, two clamping cylinders 42 are fixed on two by clamping cylinder holder 47 The outside of the support of bearing 411, the cylinder axis of clamping cylinder 42 control the swing of swinging axle 45 by linking arm 46, swinging axle 45 Both ends have oscillation bearing 49,45 both sides of swinging axle to be connected with swing arm weldment 48 respectively, and the end of swing arm weldment 48 connects It is connected to bending claws fixed seat 43,8 bending claws 44 are fixed in bending claws fixed seat 43, compression cylinder is further fixed on the support of bearing 411 410, air cylinder pressure plate 412 is fixed on the cylinder axis of compression cylinder 410.

Since the above is only the specific embodiments of the utility model, but the protection of the utility model is without being limited thereto, any Those skilled in the art it is contemplated that the equivalent variation or replacement of the technical program technical characteristic, all covers in this reality Within novel protection domain.

Claims (10)

1. a kind of robot palletizer, including waist pedestal, the waist mechanism being connected and fixed by waist pedestal, waist mechanism connection Swing arm swivel arm mechanism, swing arm swivel arm mechanism connect pneumatic gripper mechanism, it is characterised in that：The pneumatic gripper mechanism is equipped with rotation and connects Disk is connect, rotatable connection disk lower surface connects gas handgrip plate, and gas handgrip plate is symmetricly set on rotatable connection disk both sides, and gas handgrip plate connects It connects and fixes to clamp cylinder, clamping cylinder drives bending claws fixed seat, bending claws fixed seat to be equipped with spaced bending claws, and bending claws are along rotation Terminal pad formed symmetrical is arranged；It is equipped with vertically arranged compression cylinder above bending claws, is fixed on the cylinder axis of compression cylinder bottom end There is air cylinder pressure plate；Gas handgrip plate connects the support of bearing, and clamping cylinder, the inside of the support of bearing are connected and fixed on the outside of the support of bearing It is connected and fixed compression cylinder.

2. robot palletizer according to claim 1, it is characterised in that：The center of the support of bearing, which is equipped with, to be swung The both ends of axis, swinging axle are connected and fixed by oscillation bearing and the support of bearing；It is equipped with linking arm at the center of swinging axle, clamps gas The cylinder axis of cylinder controls the swing of swinging axle by linking arm；The both ends of swinging axle connect swing arm weldment, swing arm welding The top of part connects bending claws fixed seat with axis connection, the bottom of swing arm weldment is swung.

3. robot palletizer according to claim 1, it is characterised in that：The bending claws fixed seat is equipped with beam seat, beam seat It is equipped with spaced connecting hole, connecting hole is connected and fixed bending claws；Vertical baffle is connected and fixed on the inside of beam seat.

4. robot palletizer according to claim 1, it is characterised in that：The swing arm swivel arm mechanism has been equipped with support Front column, the rear column of effect, the large arm being connect with front column, rear column, rear column is with connecting plate by being connected under rear column Shaft assembly connects, and column linking arm one end is connected under front column on connecting shaft component, and the column linking arm other end passes through axis pin Component is connected on rear column；Front column is connected to by large arm front column Assembly of pin in large arm, after rear column is by large arm Assembly of pin is connected in large arm, and the front end of large arm is connected with End assemblies balance arm component and end by large arm Assembly of pin Component；Balance arm component is equipped with upper connecting rod and lower pull rod, the front end of upper connecting rod and connect with End assemblies, the rear end of upper connecting rod and puts down The arm weldment that weighs connects, and counter-jib weldment is arranged in up-side down triangle, and bottom end is fastened on large arm front column Assembly of pin On, the one end at the top of counter-jib weldment and the rear end of upper connecting rod connect, the top of the counter-jib weldment other end and lower pull rod End connection, the bottom end of lower pull rod is connect by pull rod lower connecting base with connecting shaft component under front column.

5. robot palletizer according to claim 4, it is characterised in that：The End assemblies are installed equipped with speed reducer Plate, be rotatably connected disk, and speed reducer mounting plate is connected and fixed motor adjustable plate, and motor adjustable plate is connected and fixed driving motor, slows down Machine, driving motor connect driving rotatable connection disk by speed reducer；Driving motor passes through the small pulley that is connected on its axis, synchronization It is fixed on the rotation of the big belt wheel on speed reducer input shaft with driving, speed reducer is fixed on speed reducer by upper rotating shaft bearing seat pacifies In loading board, output shaft terminal pad is connected on the output shaft of speed reducer, output shaft terminal pad lower surface is connected with rotatable connection disk, Motor shroud is installed outside driving motor.

6. robot palletizer according to claim 4, it is characterised in that：Connecting shaft component, which is equipped with, under the rear column connects Spindle, connecting shaft pass through the hole of two connecting plates to be fixed, and axle sleeve is equipped between two connecting plates and is limited, the both sides of connecting shaft It is provided with deep groove ball bearing, bearing block, bearing block is bolted on rear column, and bearing block passes through deep-groove ball with connecting shaft Bearing connects；Connecting shaft component is equipped with connecting shaft under front column, and the both ends of connecting shaft are fixed in front column supporting block, preceding vertical The inside of column supporting block is front column bottom left spacer and front column lower right spacer respectively, is fixed on the outside of front column lower right spacer Pull rod lower connecting base, front column lower end are connected to by bearing block and deep groove ball bearing in connecting shaft, in column linking arm one end Deep groove ball bearing is covered, has linking arm bearing gland, deep groove ball bearing to be limited by the spacer of both sides on the outside of bearing；Assembly of pin is set There are axis pin, the shaft end of axis pin that axis pin gland is set, is arranged on axis pin bar there are two the limit of axle sleeve column linking arm, column connects It is connected on axis pin by deep groove ball bearing inside arm, there is bearing gland on the outside of bearing；Large arm rear pin shaft component is equipped with pin Axis, axis pin are fixed on rear column, and respectively there are one deep groove ball bearings for connecting large arm at axis pin both ends；Large arm front column axis pin group Part is equipped with axis pin, and axis pin is fixed on front column, and respectively there are one deep groove ball bearings at axis pin both ends for connecting large arm, in axis pin End is connected with bearing, for connecting counter-jib weldment；Large arm Assembly of pin includes axis pin, and axis pin is fixed on End assemblies On, respectively there are one deep groove ball bearings for connecting large arm at axis pin both ends.

7. robot palletizer according to claim 1, it is characterised in that：The waist mechanism has been equipped with skeletal support work Sliding rack weldment, sliding rack weldment, which is connected and fixed, moves horizontally general assembly and vertical shift general assembly；Sliding rack weldment is equipped with water Level gauge, upright guide rail；General assembly is moved horizontally equipped with driving motor is moved horizontally, driving motor is moved horizontally and passes through electric rotating machine Mounting plate is fixed on sliding rack weldment；Driving motor driving horizontal lead screw rotation is moved horizontally, horizontal lead screw passes through horizontal silk Rod bearing seat is connected on sliding rack weldment, and horizontal drive feed screw nut, horizontal drive feed screw nut are provided on horizontal lead screw It is connected and fixed with plate is moved horizontally, moves horizontally plate and slided on horizontal guide rail by moving horizontally sliding block；Vertical shift general assembly Equipped with vertical shift driving motor, vertical shift driving motor drives vertical lead screw rotation, the bottom end of vertical lead screw and sliding rack Weldment is connected and fixed, and vertical driving feed screw nut is provided on vertical lead screw, vertical that feed screw nut is driven to be fixed on vertical shift On plate, vertical shift plate is slided by vertical shift sliding block on upright guide rail；Move horizontally interval setting there are two being set on plate Front column supporting block, the both ends of front column supporting block and connecting shaft are separately connected；Connecting shaft is connected and fixed swing arm rotating arm machine Linking arm, the pull rod lower connecting base of structure；Vertical shift plate is equipped with spaced connecting plate；Connecting plate connects rear column；It is sliding Moving frame weldment is fixed on the inner ring upper surface of floating bearing；The floating bearing connection support total arrangement of waist speed reducer；Sliding rack One end connection setting of weldment moves horizontally driving motor；The other end connection setting vertical shift of sliding rack weldment drives electricity.

8. robot palletizer according to claim 7, it is characterised in that：Described moving horizontally is pacified on the axis of driving motor Equipped with small pulley, small pulley is fastened on by pressing sleeve on motor shaft, and small pulley drives big belt wheel to rotate by horizontal drive synchronous belt, Big belt wheel is fastened on by Antisliding bolt on horizontal lead screw；Small pulley is installed in vertical shift drive motor shaft, it is tight by pressing sleeve Gu on motor shaft, the small pulley on motor shaft by driving synchronous belt to drive big belt wheel rotation, big belt wheel logical vertically Antisliding bolt is crossed to be fastened on vertical lead screw.

9. robot palletizer according to claim 1, it is characterised in that：The waist pedestal is equipped with pedestal weldment, The total arrangement of waist speed reducer, pedestal weldment are that cavity connects structure, and the total arrangement of waist speed reducer is fixed on by floating bearing The top of pedestal weldment, floating bearing outer ring are fixed on the upper surface of pedestal weldment；The total arrangement of waist speed reducer is equipped with edge Vertical direction electric rotating machine setting up and down, speed reducer, electric rotating machine are connect with reductor shaft, and pedestal weldment is equipped with horizontal slow down Machine fixed plate, horizontal speed reducer fixed plate one end are fixed by terminal pad connection support speed reducer, horizontal speed reducer under speed reducer The other end of plate is connect with vertical speed reducer fixed plate, and connecting seat is equipped at the top of vertical speed reducer fixed plate.

10. robot palletizer according to claim 9, it is characterised in that：The electric rotating machine by diaphragm coupling, Connecting shaft is connect with reductor shaft；Terminal pad upper surface is equipped with the inner ring of speed reducer under speed reducer, and disk center is connected under speed reducer Equipped with connecting hole, deep groove ball bearing, terminal pad is connect admittedly by the inner ring of deep groove ball bearing, speed reducer with speed reducer under speed reducer It is fixed；Pedestal weldment is equipped with access hole, and pedestal access cover is equipped at access hole；Connector on speed reducer is equipped at the top of speed reducer, The shell of connector connection support electric rotating machine mounting plate, speed reducer on speed reducer；Peace in swivel bearing is equipped at the top of speed reducer Sabot, in swivel bearing on mounting disc connection speed reducer connector, floating bearing inner ring；The upper surface of the inner ring of floating bearing It is connected and fixed sliding rack weldment, sliding rack weldment is connected and fixed waist mechanism.