CN208132969U - A kind of waist mechanism of the control swinging arm of robot palletizer - Google Patents

A kind of waist mechanism of the control swinging arm of robot palletizer Download PDF

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Publication number
CN208132969U
CN208132969U CN201820184447.2U CN201820184447U CN208132969U CN 208132969 U CN208132969 U CN 208132969U CN 201820184447 U CN201820184447 U CN 201820184447U CN 208132969 U CN208132969 U CN 208132969U
Authority
CN
China
Prior art keywords
waist
general assembly
vertical
sliding rack
vertical shift
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
Application number
CN201820184447.2U
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Chinese (zh)
Inventor
张翠华
孙群
刘少凯
楚晓华
张兰江
赵艳荣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liaocheng University
Original Assignee
Liaocheng University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liaocheng University filed Critical Liaocheng University
Priority to CN201820184447.2U priority Critical patent/CN208132969U/en
Application granted granted Critical
Publication of CN208132969U publication Critical patent/CN208132969U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of waist mechanisms of the control swinging arm of robot palletizer, including waist general assembly, move horizontally general assembly and vertical shift general assembly, waist general assembly has included the sliding rack weldment of skeletal support effect, and sliding rack weldment, which is connected and fixed, moves horizontally general assembly and vertical shift general assembly;Sliding rack weldment is equipped with horizontal guide rail, upright guide rail;Plate is moved horizontally to slide on the horizontal guide rail by moving horizontally sliding block;Vertical shift plate is slided on upright guide rail by vertical shift sliding block.The technical program moves horizontally general assembly vertical shift general assembly by setting sliding rack weldment, using the connection of sliding rack weldment, makes more compact structure;The distance adjustment on horizontal and vertical direction is carried out by the cooperation of screw rod, nut, regulation performance is stablized.

Description

A kind of waist mechanism of the control swinging arm of robot palletizer
Technical field
The utility model relates to robots, are exactly a kind of waist machines of the control swinging arm of robot palletizer Structure.
Background technique
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.
Waist general assembly controls swinging arm, and reasonability, the stability of the total assembling structure of waist will affect swing arm swivel arm mechanism Stability and stacking precision.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of waist machines of the control swinging arm of robot palletizer Structure, the apparatus structure advantages of simple can preferably cooperate swing arm swivel arm mechanism to work, and improve stacking precision.
In order to solve the above technical problems, the utility model uses following technological means:
A kind of waist mechanism of the control swinging arm of robot palletizer, including waist general assembly, move horizontally general assembly and perpendicular General assembly is moved in translation, and waist general assembly has been equipped with the sliding rack weldment of skeletal support effect, and sliding rack weldment, which is connected and fixed, to be moved horizontally 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 drive Dynamic motor, moves horizontally driving motor and is fixed on sliding rack weldment by rotating electric machine mounting plate;Move horizontally driving motor Horizontal lead screw rotation is driven, horizontal lead screw is connected on sliding rack weldment by horizontal lead screw bearing block, is arranged on horizontal lead screw There is horizontal drive feed screw nut, horizontal drive feed screw nut is connected and fixed with plate is moved horizontally, and moves horizontally plate and moves by horizontal Movable slider slides on the horizontal guide rail;Vertical shift general assembly is equipped with vertical shift driving motor, the driving of vertical shift driving motor Vertical screw rod rotation, bottom end and the sliding rack weldment of vertical screw rod are connected and fixed, and vertical driving screw rod is provided on vertical screw rod Nut, vertical that feed screw nut is driven to be fixed on vertical shift plate, vertical shift plate is by vertical shift sliding block in upright guide rail Upper sliding.
The technical program passes through setting sliding rack weldment, and it is total to move horizontally general assembly vertical shift using the connection of sliding rack weldment Dress, makes more compact structure;The distance adjustment on horizontal and vertical direction is carried out by the cooperation of screw rod, nut, regulation performance is steady It is fixed.
Further optimal technical scheme is as follows:
Described moving horizontally is equipped with small pulley in drive motor shaft, small pulley is fastened on motor shaft by pressing sleeve, small Belt wheel drives big belt wheel rotation by horizontal drive synchronous belt, and big belt wheel is fastened on horizontal lead screw by Antisliding bolt.Pass through The stability of power transmission when above-mentioned setting increase moves horizontally.
Small pulley is installed in the vertical shift drive motor shaft, is fastened on motor shaft by pressing sleeve, is mounted on electricity Small pulley on arbor drives big belt wheel rotation by driving synchronous belt vertically, and big belt wheel is fastened on vertical thread by Antisliding bolt On bar.
Described move horizontally sets that there are two spaced front column supporting block, front column supporting block and connecting shafts on plate Both ends be separately connected;Connecting shaft is connected and fixed the linking arm of swing arm swivel arm mechanism, pull rod lower connecting base.Pass through above-mentioned setting The stability of power transmission when increasing vertical shift.
The vertical shift plate is equipped with spaced connecting plate;Connecting plate connects rear column.
The sliding rack weldment is fixed on the inner ring upper surface of floating bearing;Floating bearing connection support waist speed reducer Total arrangement.
One end connection setting of the sliding rack weldment moves horizontally driving motor;The other end of sliding rack weldment connects Vertical shift driving motor is set.
Detailed description of the invention
Fig. 1 is the perspective view of the utility model.
Fig. 2 is the perspective view of the utility model vertical shift general assembly.
Fig. 3 is the perspective view for moving horizontally general assembly of the utility model.
Description of symbols:21- sliding rack weldment;22- vertical shift general assembly;221- vertical shift driving motor;222- Vertical driving synchronous belt;223- rotating electric machine mounting plate;The vertical screw mandrel shaft block of 224-;225- big belt wheel;226- vertical shift Sliding block;The vertical screw rod of 227-;228- vertical shift plate;229- drives feed screw nut's seat vertically;2210- drives screw rod spiral shell vertically It is female;23- moves horizontally general assembly;231- moves horizontally driving motor;232- rotating electric machine mounting plate;233- small pulley;234- pressure Set;235- big belt wheel;236- Antisliding bolt;237- horizontal lead screw bearing block;238- moves horizontally plate;239- horizontal lead screw; 2310- horizontal drive feed screw nut;2311- horizontal drive feed screw nut's seat;2312- moves horizontally sliding block;The support of 24- front column Block;25- horizontal guide rail;26- upright guide rail.
Specific embodiment
Below with reference to embodiment, the utility model is further illustrated.
Referring to Fig. 1 it is found that a kind of robot palletizer of the utility model control swinging arm waist mechanism, by waist General assembly moves horizontally general assembly 23 and the total 22 dress composition of vertical shift;Waist general assembly has been equipped with the sliding rack weldering of skeletal support effect Part 21, sliding rack weldment 21 are fixed on the inner ring upper surface of floating bearing, provide for swing arm swivel arm mechanism and move horizontally power Source moves horizontally 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 To the waist cover and waist cover of entire its protective effect of component outside sliding rack weldment 21, waist cover and waist cover follow sliding rack Weldment 21 rotates.
Referring to fig. 2, vertical shift general assembly 22 is equipped with is fixed on sliding rack weldment 21 by rotating electric machine mounting plate 223 Vertical shift driving motor 221 is equipped with small pulley 2 on 221 axis of vertical shift driving motor, is fastened on motor shaft by pressing sleeve On, the small pulley being mounted on motor shaft drives big belt wheel 225 to rotate by driving synchronous belt 222 vertically, and big belt wheel 225 passes through Antisliding bolt is fastened on vertical screw rod 227, and then vertical screw rod 227 is driven to rotate, and vertical screw rod 227 passes through vertical screw axis It holds seat 224 to be fixed on sliding rack weldment 21, vertical driving feed screw nut 2210 is provided on vertical screw rod 227, it is vertical to drive The vertical shift with the rotation of vertical screw rod 227 of feed screw nut 2210.Vertical driving feed screw nut 2210 by driving silk vertically Stem nut seat 229 is fixed on vertical shift plate 228, and vertical shift plate 228 is by vertical shift sliding block 226 in upright guide rail 26 Upper sliding, upright guide rail 26 are fixed on the perpendicular of sliding rack weldment 21.
Referring to Fig. 3, moves horizontally general assembly 23 and be equipped with and be fixed on sliding rack weldment 21 by rotating electric machine mounting plate 232 Driving motor 231 is moved horizontally, moves horizontally and small pulley 233 is installed on 231 axis of driving motor, electricity is fastened on by pressing sleeve 234 On arbor, the small pulley 233 being mounted on motor shaft drives big belt wheel 235 to rotate by horizontal drive synchronous belt, big belt wheel 235 It is fastened on horizontal lead screw 239 by Antisliding bolt 236, and then horizontal lead screw 239 is driven to rotate, horizontal lead screw 239 passes through water Flat screw mandrel shaft block 237 is fixed on sliding rack weldment 21, and horizontal drive feed screw nut 2310 is provided on horizontal lead screw 239, Horizontal drive feed screw nut 2310 moves horizontally with the rotation of horizontal lead screw 239.Horizontal drive feed screw nut 2310 passes through water Flat driving feed screw nut seat 2311, which is fixed on, to be moved horizontally on plate 238, is moved horizontally plate 238 and is existed by moving horizontally sliding block 2312 It is slided on horizontal guide rail 25, horizontal guide rail 25 is fixed on the horizontal plane of sliding rack weldment 21.
Since the foregoing is merely specific embodiment of the present 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 substitution of the technical program technical characteristic, all covers Within the protection scope of the utility model.

Claims (7)

1. a kind of waist mechanism of the control swinging arm of robot palletizer, including waist general assembly, move horizontally general assembly and vertical Mobile general assembly, it is characterised in that:The waist general assembly has been equipped with the sliding rack weldment of skeletal support effect, and sliding rack weldment connects It connects fixation and moves horizontally general assembly and vertical shift general assembly;Sliding rack weldment is equipped with horizontal guide rail, upright guide rail;Move horizontally general assembly Equipped with driving motor is moved horizontally, moves horizontally driving motor and be fixed on sliding rack weldment by rotating electric machine mounting plate;Water Dynamic driving motor driving horizontal lead screw rotation is translated, horizontal lead screw is connected on sliding rack weldment by horizontal lead screw bearing block, Horizontal drive feed screw nut is provided on horizontal lead screw, horizontal drive feed screw nut is connected and fixed with plate is moved horizontally, and level is moved Movable plate is slided on the horizontal guide rail by moving horizontally sliding block;Vertical shift general assembly is equipped with vertical shift driving motor, vertical to move Dynamic driving motor drives vertical screw rod rotation, and bottom end and the sliding rack weldment of vertical screw rod are connected and fixed, are arranged on vertical screw rod There is vertical driving feed screw nut, vertical that feed screw nut is driven to be fixed on vertical shift plate, vertical shift plate passes through vertical shift Sliding block slides on upright guide rail.
2. the waist mechanism of the control swinging arm of robot palletizer according to claim 1, it is characterised in that:Described It moves horizontally and small pulley is installed on the axis of driving motor, small pulley is fastened on motor shaft by pressing sleeve, and small pulley passes through level Synchronous belt driving big belt wheel rotation is driven, big belt wheel is fastened on horizontal lead screw by Antisliding bolt.
3. the waist mechanism of the control swinging arm of robot palletizer according to claim 1, it is characterised in that:Described Small pulley is installed on the axis of vertical shift driving motor, is fastened on motor shaft by pressing sleeve, the small band being mounted on motor shaft Wheel drives big belt wheel rotation by driving synchronous belt vertically, and big belt wheel is fastened on vertical screw rod by Antisliding bolt.
4. the waist mechanism of the control swinging arm of robot palletizer according to claim 1, it is characterised in that:Described It moves horizontally and is set on plate there are two spaced front column supporting block, the both ends of front column supporting block and connecting shaft connect respectively It connects;Connecting shaft is connected and fixed the linking arm of swing arm swivel arm mechanism, pull rod lower connecting base.
5. the waist mechanism of the control swinging arm of robot palletizer according to claim 1, it is characterised in that:Described Vertical shift plate is equipped with spaced connecting plate;Connecting plate connects rear column.
6. the waist mechanism of the control swinging arm of robot palletizer according to claim 1, it is characterised in that:Described Sliding rack weldment is fixed on the inner ring upper surface of floating bearing;The floating bearing connection support total arrangement of waist speed reducer.
7. the waist mechanism of the control swinging arm of robot palletizer according to claim 1, it is characterised in that:Described One end connection setting of sliding rack weldment moves horizontally driving motor;The other end connection setting vertical shift of sliding rack weldment is driven Dynamic motor.
CN201820184447.2U 2018-02-02 2018-02-02 A kind of waist mechanism of the control swinging arm of robot palletizer Expired - Fee Related CN208132969U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820184447.2U CN208132969U (en) 2018-02-02 2018-02-02 A kind of waist mechanism of the control swinging arm of robot palletizer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820184447.2U CN208132969U (en) 2018-02-02 2018-02-02 A kind of waist mechanism of the control swinging arm of robot palletizer

Publications (1)

Publication Number Publication Date
CN208132969U true CN208132969U (en) 2018-11-23

Family

ID=64286118

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201820184447.2U Expired - Fee Related CN208132969U (en) 2018-02-02 2018-02-02 A kind of waist mechanism of the control swinging arm of robot palletizer

Country Status (1)

Country Link
CN (1) CN208132969U (en)

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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: 20181123

Termination date: 20200202