CN209904529U

CN209904529U - Industrial robot for stacking

Info

Publication number: CN209904529U
Application number: CN201920698288.2U
Authority: CN
Inventors: 王昌伟; 高波; 陆芸婷; 任仙怡; 郭森
Original assignee: Shenzhen Institute of Information Technology
Current assignee: Shenzhen Institute of Information Technology
Priority date: 2019-05-16
Filing date: 2019-05-16
Publication date: 2020-01-07
Anticipated expiration: 2029-05-16

Abstract

The utility model provides an industrial robot for pile up neatly has certain walking ability, and structural design is ingenious, and better balance can be guaranteed to longer chassis, and supportable weight scope is great, is suitable for the higher occasion of product weight requirement. The robot can walk by means of a rear wheel driving device at the bottom of the rear frame body, the driving motor is powered by the battery pack, the driving motor is meshed with the driven gear through the driving gear to drive the rotating shaft to rotate, and the rear wheel on the rotating shaft can drive the robot to walk. The steering motor of the front wheel steering device can drive the front axle to steer, so that the robot can steer. The lifting device drives the movable plate to move up and down on the vertical rod by the lifting cylinder, and the stacking device on the movable plate moves up and down along with the lifting cylinder. The material stacking device supports the goods by means of the material stacking plate, and the thrust cylinder can push the goods outwards to stack the materials during material stacking.

Description

Industrial robot for stacking

Technical Field

The utility model relates to an industrial robot, especially an industrial robot for pile up neatly.

Background

The products of the production type enterprise need to enter the warehouse for temporary storage after being packaged, and the products are stacked together in a stacking mode, so that the space can be saved, and the effective utilization rate of the warehouse is improved. Traditional pile up neatly adopts manual operation to accomplish, and pile up neatly work not only consumes workman's physical power, when the operation is improper, causes the injury to workman's personal safety, and especially the height of pile up neatly is higher, and the pile up neatly takes place to incline and can injure the workman by a crashing object. In order to improve the production efficiency and standardize the safe production operation, the existing production enterprises mostly adopt automatic equipment to replace manual operation. The common automatic stacking robot that has can replace the workman to carry out the pile up neatly, and the efficiency of pile up neatly is higher, and the part takes place workman incident. The existing automatic palletizing robot has poor walking capability, basically performs palletizing at fixed points and also needs workers to assist in completing continuous palletizing. The size of the volume of the stacking robot determines the weight of stacked products, the existing stacking robot is compact in size for keeping balance design, flexible and convenient to use, and has the defect that the supportable weight range is small, and stacking work cannot be completed when heavier products are encountered.

SUMMERY OF THE UTILITY MODEL

The utility model provides an industrial robot for pile up neatly has certain walking ability, and structural design is ingenious, and better balance can be guaranteed to longer chassis, and supportable weight scope is great, is suitable for the higher occasion of product weight requirement.

The technical scheme of the utility model is realized like this: an industrial robot for stacking comprises a chassis, a rear wheel driving device and a front wheel steering device which are arranged at the bottom of the chassis, and a lifting device and a stacking device which are arranged above the chassis.

The chassis is including the preceding framework of back framework and connection in back framework front side, back framework both sides are equipped with the fixed block down, the fixed block has seted up the rotation hole along the side direction, be equipped with first backup pad and second backup pad along the fore-and-aft direction in the back framework, be equipped with the third backup pad along the side direction in the preceding framework.

The rear wheel driving device comprises a rotating shaft arranged in the rotating hole in a penetrating mode and rear wheels fixed at two ends of the rotating shaft, and a driven gear is arranged in the middle of the rotating shaft; install a pair of articulated seat on the first backup pad, it is a pair of install the driving gear between the articulated seat, the driving gear meshes with driven gear mutually, connect driving motor in the pivot of driving gear, driving motor fixes in the second backup pad, still be fixed with the group battery in the second backup pad.

The front wheel steering device comprises a rotating assembly arranged below the third supporting plate, the rotating assembly comprises an arched front shaft and a steering shaft arranged upwards from the front shaft, and front wheels are arranged at two ends of the front shaft; a steering hole is formed in the middle of the third supporting plate, and the steering shaft penetrates through the steering hole; the third supporting plate is provided with a mounting block outside the steering hole, a steering motor is fixed on the mounting block, and a main shaft of the steering motor is connected with a steering shaft.

The lifting device comprises a plurality of vertical rods vertically connected with the side edge of the rear frame body and a movable plate arranged among the vertical rods, sliding grooves are longitudinally formed in the inner sides of the vertical rods, sliding blocks are arranged on the side edge of the movable plate, and the sliding blocks can be installed in the sliding grooves in a matched mode and can slide up and down in the sliding grooves; a plurality of lifting bottom plates are arranged between the vertical rods, lifting cylinders are installed on the lifting bottom plates, and piston rods of the lifting cylinders are fixedly connected with the bottom surfaces of the movable plates.

The stacking device comprises a stacking plate arranged on the top surface of the movable plate, the front end of the stacking plate protrudes out of the front frame body, a thrust cylinder is arranged on the top surface of the rear end of the stacking plate, and a piston rod of the thrust cylinder is connected with a pushing plate.

Furthermore, the number of the vertical rods is three, and the three vertical rods are respectively connected to the two side edges and the rear side edge of the rear frame body.

Furthermore, the cross section of the sliding groove is T-shaped, and the cross section of the sliding block is T-shaped.

The stacking plate is Z-shaped and comprises a vertical plate, a first horizontal plate and a second horizontal plate, wherein the first horizontal plate and the second horizontal plate are connected to the upper end and the lower end of the vertical plate; and two sides of the second horizontal plate are provided with baffle plates.

By adopting the technical scheme, the beneficial effects of the utility model are that:

the utility model discloses an industrial robot for pile up neatly has certain walking ability, and structural design is ingenious, and better balance can be guaranteed to longer chassis, and supportable weight scope is great, is suitable for the higher occasion of product weight requirement. The robot can walk by means of a rear wheel driving device at the bottom of the rear frame body, the driving motor is powered by the battery pack, the driving motor is meshed with the driven gear through the driving gear to drive the rotating shaft to rotate, and the rear wheel on the rotating shaft can drive the robot to walk. The steering motor of the front wheel steering device can drive the front axle to steer, so that the robot can steer. The lifting device drives the movable plate to move up and down on the vertical rod by the lifting cylinder, and the stacking device on the movable plate moves up and down along with the lifting cylinder. The material stacking device supports the goods by means of the material stacking plate, and the thrust cylinder can push the goods outwards to stack the materials during material stacking. The utility model discloses can walk in the certain limit, install front wheel and rear wheel around the chassis bottom plate, front wheel and rear wheel keep having certain interval, and when the sign indicating number flitch held up the goods and carried out the sign indicating number material, the chassis rear wheel can not the perk, and the equilibrium on chassis is higher.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic sectional view of the present invention;

fig. 3 is a schematic view of the split structure of the present invention;

wherein: 1. the rear frame body, 2, the front frame body, 3, the fixed block, 4, the rotating hole, 5, the first support plate, 6, the second support plate, 7, the third support plate, 8, the rotating shaft, 9, the rear wheel, 10, the driven gear, 11, the hinged seat, 12, the driving gear, 13, the driving motor, 14, the battery pack, 15, the front shaft, 16, the steering shaft, 17, the front wheel, 18, the steering hole, 19, the mounting block, 20, the steering motor, 21, the vertical rod, 22, the movable plate, 23, the chute, 24, the sliding block, 25, the lifting bottom plate, 26, the lifting cylinder, 27, the stacking plate, 28, the thrust cylinder, 29, the pushing plate, 30, the vertical plate, 31, the first horizontal plate, 32, the second horizontal plate and the baffle plate 33.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1, 2 and 3, an industrial robot for palletizing comprises a chassis, a rear wheel driving device and a front wheel steering device which are arranged at the bottom of the chassis, and a lifting device and a stacking device which are arranged above the chassis; the method specifically comprises the following steps:

the chassis is including back framework 1 and the preceding framework 2 of connection in back framework 1 front side, 1 both sides of back framework are equipped with fixed block 3 down, rotation hole 4 has been seted up along the side direction to fixed block 3, be equipped with first backup pad 5 and second backup pad 6 along the fore-and-aft direction in the back framework 1, be equipped with third backup pad 7 along the side direction in the preceding framework 2.

The rear wheel driving device comprises a rotating shaft 8 penetrating through the rotating hole 4 and rear wheels 9 fixed at two ends of the rotating shaft 8, and a driven gear 10 is arranged in the middle of the rotating shaft 8; install a pair of articulated seat 11 on the first backup pad 5, it is a pair of install driving gear 12 between the articulated seat 11, driving gear 12 meshes with driven gear 10 mutually, connect driving motor 13 in driving gear 12's the pivot, driving motor 13 is fixed in second backup pad 6, still be fixed with group battery 14 on the second backup pad 6.

The front wheel steering device comprises a rotating assembly arranged below the third supporting plate 7, the rotating assembly comprises an arched front shaft 15 and a steering shaft 16 arranged on the front shaft 15 upwards, and front wheels 17 are arranged at two ends of the front shaft 15; a steering hole 18 is formed in the middle of the third support plate 7, and the steering shaft 16 penetrates through the steering hole 18; the third supporting plate 7 is provided with a mounting block 19 outside the steering hole 18, a steering motor 20 is fixed on the mounting block 19, and a main shaft of the steering motor 20 is connected with the steering shaft 16.

The lifting device comprises a plurality of vertical rods 21 vertically connected with the side edge of the rear frame body 1 and a movable plate 22 arranged among the vertical rods 21, sliding grooves 23 are formed in the inner sides of the vertical rods 21 along the longitudinal direction, sliding blocks 24 are arranged on the side edge of the movable plate 22, and the sliding blocks 24 can be arranged in the sliding grooves 23 in a matching mode and can slide up and down in the sliding grooves 23; a lifting bottom plate 25 is arranged between the vertical rods 21, a lifting cylinder 26 is mounted on the lifting bottom plate 25, a piston rod of the lifting cylinder 26 is fixedly connected with the bottom surface of the movable plate 22, the cross section of the chute 23 is T-shaped, and the cross section of the slider 24 is T-shaped.

The stacking device comprises a stacking plate 27 arranged on the top surface of the movable plate 22, the front end of the stacking plate 27 protrudes out of the front frame body 2, a thrust cylinder 28 is arranged on the top surface of the rear end of the stacking plate 27, and a piston rod of the thrust cylinder 28 is connected with a pushing plate 29.

The number of the vertical rods 21 of the present embodiment is three, and the three vertical rods 21 are connected to both side edges and the rear side edge of the rear frame body 1, respectively. The movable plate 22 is stable when sliding up and down on the three vertical rods 21, and the movable plate 22 does not have the inclination problem.

The stacking plate 27 of the present embodiment is in a zigzag shape, the stacking plate 27 includes a vertical plate 30, and a first horizontal plate 31 and a second horizontal plate 32 connected to the upper and lower ends of the vertical plate 30, and the first horizontal plate 31 is fixed on the movable plate 22; the second horizontal plate 32 is provided with baffles 33 on both sides. The Z-shaped stacking plate 27 effectively reduces the height of the goods during transportation, the goods are not easy to fall off from the second horizontal plate 32 during transportation, and the baffle plate 33 also plays a role in preventing slipping.

The utility model discloses a pile up neatly process of robot places the goods on sign indicating number flitch 27 earlier, and driving motor 13 can drive the robot with turning to the work of motor 20 and remove the goods, and when the sign indicating number material region in storehouse was reachd, certain height was risen to lift cylinder 26 drive fly leaf 22, and the start is seted up to thrust cylinder 28 on the sign indicating number flitch 27, and thrust cylinder 28 can be released the goods and carry out the sign indicating number material. Roughly divided into three steps of robot walking, goods lifting and goods stacking, and concretely comprises the following steps:

the robot walks by means of a rear wheel driving device at the bottom of the rear frame body 1, a driving motor 13 is powered by a battery pack 14, the driving motor 13 is meshed with a driven gear 10 through a driving gear 12 to drive a rotating shaft 8 to rotate, and a rear wheel 9 on the rotating shaft 8 can drive the robot to walk. The steering motor 20 of the front wheel steering apparatus can drive the front axle 15 to steer, so that the robot can steer.

The cargo lifting and descending are realized by driving the movable plate 22 to move up and down on the vertical rod 21 through the lifting cylinder 26 of the lifting device, and the stacking device on the movable plate 22 moves up and down along with the movement.

When the goods are stacked, the goods are supported by the stacking plate 27, and when the goods are stacked, the thrust cylinder 28 can push the goods outwards to stack the goods.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial robot for stacking is characterized by comprising a chassis, a rear wheel driving device and a front wheel steering device which are arranged at the bottom of the chassis, and a lifting device and a stacking device which are arranged above the chassis;

the chassis comprises a rear frame body (1) and a front frame body (2) connected to the front side of the rear frame body (1), wherein fixed blocks (3) are arranged on two sides of the rear frame body (1) downwards, rotating holes (4) are formed in the fixed blocks (3) along the lateral direction, a first supporting plate (5) and a second supporting plate (6) are arranged in the rear frame body (1) along the front-rear direction, and a third supporting plate (7) is arranged in the front frame body (2) along the lateral direction;

the rear wheel driving device comprises a rotating shaft (8) penetrating through the rotating hole (4) and rear wheels (9) fixed at two ends of the rotating shaft (8), and a driven gear (10) is installed in the middle of the rotating shaft (8); a pair of hinge seats (11) is mounted on the first supporting plate (5), a driving gear (12) is mounted between the hinge seats (11), the driving gear (12) is meshed with a driven gear (10), a rotating shaft of the driving gear (12) is connected with a driving motor (13), the driving motor (13) is fixed on the second supporting plate (6), and a battery pack (14) is further fixed on the second supporting plate (6);

the front wheel steering device comprises a rotating assembly arranged below the third supporting plate (7), the rotating assembly comprises an arched front shaft (15) and a steering shaft (16) arranged on the front shaft (15) upwards, and front wheels (17) are arranged at two ends of the front shaft (15); a steering hole (18) is formed in the middle of the third supporting plate (7), and the steering shaft (16) penetrates through the steering hole (18); an installation block (19) is arranged on the outer side of the steering hole (18) of the third support plate (7), a steering motor (20) is fixed on the installation block (19), and a main shaft of the steering motor (20) is connected with a steering shaft (16);

the lifting device comprises a plurality of vertical rods (21) vertically connected to the side edge of the rear frame body (1) and a movable plate (22) installed among the vertical rods (21), sliding grooves (23) are formed in the inner sides of the vertical rods (21) along the longitudinal direction, sliding blocks (24) are arranged on the side edge of the movable plate (22), and the sliding blocks (24) can be installed in the sliding grooves (23) in a matched mode and can slide up and down in the sliding grooves (23); a lifting bottom plate (25) is arranged among the vertical rods (21), a lifting cylinder (26) is mounted on the lifting bottom plate (25), and a piston rod of the lifting cylinder (26) is fixedly connected with the bottom surface of the movable plate (22);

the stacking device comprises a stacking plate (27) arranged on the top surface of the movable plate (22), the front end of the stacking plate (27) protrudes out of the front frame body (2), a thrust cylinder (28) is arranged on the top surface of the rear end of the stacking plate (27), and a piston rod of the thrust cylinder (28) is connected with a pushing plate (29).

2. An industrial robot for palletization according to claim 1, characterized in that said vertical rods (21) are provided in three in number, the three vertical rods (21) being connected to the two lateral and rear lateral edges of the rear frame (1), respectively.

3. Industrial robot for palletization according to claim 1, characterized in that the chute (23) is T-shaped in cross section and the slide (24) is T-shaped in cross section.

4. An industrial robot for palletization according to claim 1, characterized in that said palletizing plate (27) is zigzag-shaped, said palletizing plate (27) comprising a vertical plate (30) and a first horizontal plate (31) and a second horizontal plate (32) connected to the vertical plate (30) at the upper and lower ends thereof, said first horizontal plate (31) being fixed to the movable plate (22); and two sides of the second horizontal plate (32) are provided with baffle plates (33).