CN210233051U

CN210233051U - Get a pile up neatly machine people

Info

Publication number: CN210233051U
Application number: CN201921153865.6U
Authority: CN
Inventors: Yanzhong Wang; 王艳中
Original assignee: Suzhou Aiyongsi Robot Technology Co Ltd
Current assignee: Suzhou Aiyongsi Robot Technology Co Ltd
Priority date: 2019-07-22
Filing date: 2019-07-22
Publication date: 2020-04-03
Anticipated expiration: 2029-07-22

Abstract

The utility model discloses a get a pile up neatly machine people, including the forearm. The utility model discloses in, forearm lower extreme tip rotates connects first activity pivot, first activity pivot is rotated with the palm and is connected, palm upper surface central point puts the first motor of fixed connection, and first motor brake end downwards, first motor brake end lower part passes palm center and palm under center fixed connection perpendicularly, and the inside cavity state that is in of machine box, machine box both sides edge position is fixed respectively and is equipped with second activity pivot, second activity pivot is rotated and is connected the hand claw, and the hand claw is worn out from the machine box side, be provided with the backing plate in the middle of the hand claw of both sides, and the backing plate is in under the machine box and is tied with the machine box and move and be connected. The utility model discloses, simplified the structure of gripper, reduced the monomer cost of gripper, increased the stability of getting the article of clamp, in the more simple and easy hand claw of putting into of article, the box has independent rotating system.

Description

Get a pile up neatly machine people

Technical Field

The utility model relates to the technical field of robot, especially, relate to a get a pile up neatly machine people.

Background

Along with the development of the society, the rapid progress of industry, on traditional production line, the pile up neatly needs a large amount of manpower supports, and the inefficiency that brings is too high with costs, and industrial robot's application has just in time catered to the demand of enterprise, has still promoted economic benefits and social when having solved the problem.

Artifical pile up neatly is efficient with low costs high and has consumeed a large amount of times, and current pile up neatly machine people structure is comparatively complicated, and the cost of manufacture is high, and most pile up neatly machine people can't satisfy omnidirectional rotatory work, and the machine setting is comparatively stiff, very easily harms the article, causes the unnecessary loss.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing a robot for taking a pile up neatly.

In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides a get a pile up neatly machine people, includes the forearm, forearm lower extreme tip rotates connects first activity pivot, first activity pivot rotates with the palm to be connected, palm upper surface central point puts the first motor of fixed connection, and first motor braking end is downward, first motor braking end lower part passes palm center and palm under machine box center fixed connection perpendicularly, and the inside hollow state that is in of machine box, machine box both sides edge position is fixed respectively and is equipped with second activity pivot, second activity pivot rotates connects the hand claw, and the hand claw is worn out from the machine box limit side, be provided with the backing plate in the middle of the both sides hand claw, and the backing plate is in under the machine box and machine box bolt swing joint.

As a further description of the above technical solution:

the lower end of the first motor is connected with a first machine shaft in a braking mode, the first machine shaft vertically penetrates through the center of a palm, and the bottom end of the first machine shaft is fixedly connected with the center above the machine box.

As a further description of the above technical solution:

the front side and the rear side of the interior of the case are provided with second motors, the braking ends of the second motors face downwards, the braking ends of the bottom ends of the second motors are connected with a second crankshaft, the lower portions of the second crankshaft are fixedly connected with gears, and the two sides of each gear are respectively provided with a left rack rod and a right rack rod which are connected to the gears in an engaged mode.

As a further description of the above technical solution:

and connecting keys are arranged on two sides inside the paw and movably connected with the left rack rod.

As a further description of the above technical solution:

the surface of the paw is distributed with fixed rotating shafts from top to bottom, and the fixed rotating shafts are respectively sleeved with rollers inside the paw.

As a further description of the above technical solution:

the upper portion of the base plate is connected to the position right below the machine box through a movable bolt, the lower portion of the movable bolt is fixedly connected with the base plate, and a spring is arranged between the base plate and the lower portion of the machine box and sleeved on the movable bolt.

The utility model discloses following beneficial effect has:

1. the utility model adopts simple mechanical combination configuration, simplifies the structure of the mechanical gripper and reduces the single body cost of the mechanical gripper;

2. the elastic backing plate is arranged inside the paw of the utility model, which increases the stability of clamping the articles;

3. the roller is arranged inside the paw of the utility model, so that the articles can be more easily placed in the paw, and the articles are not easy to be damaged;

4. the utility model discloses it has independent rotating system to set up the machine box, can avoid the rotatory position restriction of pile up neatly.

Drawings

Fig. 1 is a side view of a pick palletizing robot;

FIG. 2 is a diagram of a pallet robot gripper configuration;

FIG. 3 is a schematic view of the internal structure of a robot box of the palletizer;

fig. 4 is a schematic view of a gear and rack bar connection.

Illustration of the drawings:

1. a first motor; 2. a palm; 3. a forearm; 4. a case; 5. a paw; 6. a base plate; 7. a first movable rotating shaft; 8. a first crankshaft; 9. a second movable rotating shaft; 10. a connecting bond; 11. fixing the rotating shaft; 12. a spring; 13. a movable bolt; 14. a left rack bar; 15. a second motor; 16. a second crankshaft; 17. a right rack bar; 18. a gear; 19. and (3) a roller.

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 work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-4, the present invention provides an embodiment: the utility model provides a get a pile up neatly machine people, including

forearm

3, 3 lower extreme tip of forearm rotates connects first activity pivot 7, first activity pivot 7 rotates with palm 2 to be connected, 2 upper surface central points of palm put fixed connection first motor 1, and first motor 1 brake end is downward, 1 brake end lower part of first motor passes 2 centers of palm perpendicularly and palm 2 under machine box 4 centers fixed connection, and machine box 4 is inside to be in hollow state, machine box 4 both sides edge position is fixed respectively and is equipped with second activity pivot 9, second activity pivot 9 rotates and connects hand claw 5, and hand claw 5 wears out from machine box 4 avris, be provided with backing plate 6 in the middle of the hand claw 5 of both sides, and backing plate 6 is in and is tied with machine box 4 under machine box 4 and is connected.

The lower end of the first motor 1 is connected with a first crankshaft 8 in a braking mode, the first crankshaft 8 vertically penetrates through the center of the palm 2, and the bottom end of the first crankshaft 8 is fixedly connected with the center above the machine box 4. The front side and the rear side of the interior of the case 4 are provided with a second motor 15, the braking end of the second motor 15 faces downwards, the braking end of the bottom end of the second motor 15 is connected with a second machine shaft 16, the lower part of the second machine shaft 16 is fixedly connected with a gear 18, and the two sides of the gear 18 are respectively provided with a left rack bar 14 and a right rack bar 17 which are meshed and connected with the gear 18. Both sides in the interior of the paw 5 are provided with a connecting key 10, and the connecting key 10 is movably connected with a left rack bar 14. The surface of the paw 5 is distributed with a fixed rotating shaft 11 from top to bottom, and the fixed rotating shaft 11 is respectively sleeved with a roller 19 inside the paw 5. The upper part of the backing plate 6 is connected under the machine box 4 through a movable bolt 13, the lower part of the movable bolt 13 is fixedly connected with the backing plate 6, and a spring 12 is arranged between the backing plate 6 and the lower part of the machine box 4 and sleeved on the movable bolt 13.

The working principle is as follows: forearm 3 removes to waiting to get directly over the thing, first motor 1 realizes that box 4 drives paw 5 adjusts to suitable position, paw 5 opens under second motor 15's effect simultaneously, forearm 3 makes backing plate 6 extrusion downwards on waiting to get the thing, 15 antiport of second motor makes paw 5 fold this moment, paw 5 is equipped with cylinder 19, can make the extrusion of waiting to get the thing more relaxed press on backing plate 6 tightly wait to get the thing, press from both sides and get after waiting to get the thing, forearm 3 drives palm 2 and removes to waiting to place the position, second motor 15 is rotatory to make paw 5 open, the transportation object is under the elastic force of backing plate 6 coupling spring 12, more quick place the assigned position to the thing that presss from both sides.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. The utility model provides a get a pile up neatly machine people, includes forearm (3), its characterized in that: the end part of the lower end of the front arm (3) is rotationally connected with a first movable rotating shaft (7), the first movable rotating shaft (7) is rotationally connected with the palm (2), the center of the upper surface of the palm (2) is fixedly connected with a first motor (1), the braking end of the first motor (1) is downward, the lower part of the braking end of the first motor (1) vertically penetrates through the center of the palm (2) and is fixedly connected with the center of the machine box (4) right below the palm (2), the interior of the case (4) is in a hollow state, the side edges of two sides of the case (4) are respectively and fixedly provided with a second movable rotating shaft (9), the second movable rotating shafts (9) are rotatably connected with the paw (5), the claws (5) penetrate out of the side of the case (4), a backing plate (6) is arranged between the claws (5) at the two sides, and the backing plate (6) is positioned under the case (4) and is in bolted connection with the case (4).

2. A pick palletizing robot as claimed in claim 1, characterized in that: the lower end of the first motor (1) is connected with a first crankshaft (8) in a braking mode, the first crankshaft (8) vertically penetrates through the center of the palm (2), and the bottom end of the first crankshaft (8) is fixedly connected with the center above the machine box (4).

3. A pick palletizing robot as claimed in claim 1, characterized in that: both sides are equipped with second motor (15) around machine box (4) is inside, and second motor (15) brake end is downward, second motor (15) bottom brake end is connected with second spindle (16), second spindle (16) lower part fixed connection gear (18), and gear (18) both sides set up left rack bar (14) respectively and right rack bar (17) interlock is connected on gear (18).

4. A pick palletizing robot as claimed in claim 1, characterized in that: both sides in hand claw (5) are all provided with hitch key (10), hitch key (10) swing joint left rack rod (14).

5. A pick palletizing robot as claimed in claim 1, characterized in that: the surface of the paw (5) is distributed with a fixed rotating shaft (11) from top to bottom, and the fixed rotating shaft (11) is sleeved with rollers (19) inside the paw (5) respectively.

6. A pick palletizing robot as claimed in claim 1, characterized in that: backing plate (6) upper portion is tied (13) through the activity and is connected under machine box (4), activity is tied (13) lower part fixed connection and is tied on backing plate (6), be provided with spring (12) between backing plate (6) and machine box (4) lower part, and overlap on activity is tied (13).