CN210456638U - Bag stacking robot - Google Patents

Bag stacking robot Download PDF

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Publication number
CN210456638U
CN210456638U CN201921072012.XU CN201921072012U CN210456638U CN 210456638 U CN210456638 U CN 210456638U CN 201921072012 U CN201921072012 U CN 201921072012U CN 210456638 U CN210456638 U CN 210456638U
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China
Prior art keywords
movable
robotic arm
base
quadrilateral
carousel
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Active
Application number
CN201921072012.XU
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Chinese (zh)
Inventor
蒲书元
罗杨
钟国云
蒲书忠
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Sichuan Xinyuanhong Machinery Equipment Co ltd
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Sichuan Xinyuanhong Machinery Equipment Co ltd
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Priority to CN201921072012.XU priority Critical patent/CN210456638U/en
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Abstract

The utility model relates to a sack pile up neatly machine people, including lift base, carousel, manipulator fixing base, first movable quadrilateral robotic arm, second movable quadrilateral robotic arm and tongs mechanism, the carousel is connected on the top of upgrading the base, manipulator fixing base is connected to the carousel, it is provided with the rack to slide on the manipulator fixing base, the rack passes through the gear and is connected with first movable robotic arm, first movable robotic arm one end fixed connection is on the manipulator fixing base, and the other end is connected with second movable quadrilateral robotic arm, second movable quadrilateral robotic arm fixed connection tongs mechanism. The utility model discloses under the control of PLC system, can realize the pile up neatly operation of remote article in bags, and pile up neatly operating stability is strong.

Description

Bag stacking robot
Technical Field
The utility model relates to a mechanical automation technical field, specifically speaking relate to a sack pile up neatly machine people.
Background
At present, with the decline of domestic labor population and the rise of aging population, the past cheap labor force is not recovered, and many enterprises face the crisis of rising labor cost, and the introduction of robots into industrial production to replace manual labor has become an unblocked trend. The stacking is to stack the objects orderly according to a certain placing form, so that the activities of storing, carrying, transferring and the like of the objects can be changed into unit operation, and the efficiency of logistics transportation is greatly improved. Traditional pile up neatly work is accomplished by the manual work in big country, and work load is big, and is efficient, has consumed a large amount of costs of labor.
Disclosure of Invention
An object of the utility model is to solve the above-mentioned problem that exists among the prior art, provide a sack pile up neatly machine people. The utility model discloses under the control of PLC system, can realize the pile up neatly operation of remote article in bags, and pile up neatly operating stability is strong.
In order to achieve the above object, the utility model adopts the following technical scheme:
a bag pile up neatly machine people which characterized in that: including lift base, carousel, manipulator fixing base, first movable quadrilateral robotic arm, second movable quadrilateral robotic arm and tongs mechanism, the carousel is connected on the top of upgrading base, manipulator fixing base is connected to the carousel, the slip is provided with the rack on the manipulator fixing base, the rack passes through the gear and is connected with first movable robotic arm, first movable robotic arm one end fixed connection is on the manipulator fixing base, and the other end is connected with second movable quadrilateral robotic arm, second movable quadrilateral robotic arm fixed connection tongs mechanism.
The first movable quadrilateral mechanical arm and the second movable quadrilateral mechanical arm are fixedly connected through a connecting strip and are connected through a gear, and an included angle between the first movable quadrilateral mechanical arm and the second movable quadrilateral mechanical arm is 0-180 degrees.
The length of any two opposite sides of the first movable quadrilateral mechanical arm is the same, the shorter side of the first movable quadrilateral mechanical arm is fixedly connected to the manipulator fixing seat, the shorter side of the other length is fixedly connected with the second movable quadrilateral mechanical arm, and any two sides of the first movable quadrilateral mechanical arm are connected through a pin shaft.
The length of any two opposite sides of the second movable quadrilateral mechanical arm is the same, the side with the shorter length is fixedly connected with the gripper mechanism, the other side with the shorter length is fixedly connected with the first movable quadrilateral mechanical arm, and any two sides of the second movable quadrilateral mechanical arm are connected through a pin shaft.
The gripper mechanism comprises a fixing seat, a U-shaped connecting piece, a driving shaft and two V-shaped grippers, one end of the fixing seat is fixedly connected with the second movable quadrilateral mechanical arm, the other end of the fixing seat is fixedly connected with the U-shaped connecting piece, the U-shaped connecting piece is connected with the V-shaped grippers in a rotating mode, the two V-shaped grippers are arranged in a crossed mode, and the V-shaped grippers are connected with the driving shaft through rotating shafts.
The lifting base comprises an upper base, an air cylinder and a lower base, the base of the air cylinder is fixedly connected in the lower base, and a piston rod of the air cylinder is fixedly connected with the upper base.
The carousel includes carousel and lower fixed disk, lower fixed disk one end fixed connection goes up the base, and the carousel is connected to the other end through the pivot, go up carousel fixed connection manipulator fixing base.
Adopt the utility model has the advantages of:
one, the utility model discloses in, the carousel is connected on the top of upgrading the base, carousel connection manipulator fixing base, it is provided with the rack to slide on the manipulator fixing base, the rack passes through the gear and is connected with first activity robotic arm, first activity robotic arm one end fixed connection is on the manipulator fixing base, and the other end is connected with second activity quadrilateral robotic arm, second activity quadrilateral robotic arm fixed connection tongs mechanism, the utility model discloses under the control of PLC system, can realize the pile up neatly operation of remote bagged object, and pile up neatly operating stability is strong.
Secondly, in the utility model, the first movable quadrilateral mechanical arm and the second movable quadrilateral mechanical arm are fixedly connected through a connecting strip and are connected through a gear, and the included angle between the first movable quadrilateral mechanical arm and the second movable quadrilateral mechanical arm is 0-180 degrees; the first movable quadrilateral mechanical arm and the second movable quadrilateral mechanical arm are rotated through the matching of the gears, so that the purpose of picking and placing bagged articles is achieved; the included angle is 0-180 degrees, so that the first movable quadrilateral mechanical arm and the second movable quadrilateral mechanical arm can be extended and placed to the maximum extent, and the action range of the mechanical arms is maximized.
Third, in the utility model, the length of any two opposite sides of the first movable quadrilateral mechanical arm is the same, the side with shorter length is fixedly connected to the mechanical arm fixing seat, the other side with shorter length is fixedly connected with the second movable quadrilateral mechanical arm, and any two sides of the first movable quadrilateral mechanical arm are connected through a pin shaft; the first movable quadrilateral mechanical arm can move, and the purpose of stretching is achieved.
Fourthly, in the utility model, the length of any two opposite sides of the second movable quadrilateral mechanical arm is the same, the shorter side is fixedly connected with the gripper mechanism, the other shorter side is fixedly connected with the first movable quadrilateral mechanical arm, and any two sides of the second movable quadrilateral mechanical arm are connected through a pin shaft; the second movable quadrilateral mechanical arm can move, and the purpose of stretching is achieved.
Fifthly, in the utility model, the gripper mechanism comprises a fixed seat, a U-shaped connecting piece, a driving shaft and V-shaped grippers, one end of the fixed seat is fixedly connected with the second movable quadrilateral mechanical arm, the other end of the fixed seat is fixedly connected with the U-shaped connecting piece, the U-shaped connecting piece is rotatably connected with the V-shaped grippers, the number of the V-shaped grippers is two, and the two V-shaped grippers are arranged in a crossed manner and are connected with the driving shaft through rotating shafts; the stability of grabbing bagged articles is guaranteed.
Sixth, the utility model discloses in, the lift base includes base, cylinder and lower base, the base fixed connection of cylinder is in base down, the piston rod fixed connection of cylinder is connected the upper base, and the cylinder makes the upper base flexible, guarantees to snatch the different article in bags of height.
Seventhly, the utility model discloses in, the carousel includes carousel and lower fixed disk, lower fixed disk one end fixed connection goes up the base, and the carousel is connected through the pivot to the other end, go up carousel fixed connection manipulator fixing base, increased the working range who snatchs the stack up neatly of article in bags.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is another schematic structural diagram of the present invention;
the reference numbers in the figures are: 1. the manipulator comprises a lower base, 2, a cylinder, 3, an upper base, 4, a lower turntable, 5, an upper turntable, 6, a rack, 7, a manipulator fixing seat, 8, a first movable quadrilateral mechanical arm, 9, a second movable quadrilateral mechanical arm, 10, a connecting strip, 11, a gear, 12, a fixing seat, 13, a U-shaped connecting piece, 14, a V-shaped gripper, 15 and a driving shaft.
Detailed Description
The utility model provides a sack pile up neatly machine people, includes lift base, carousel, manipulator fixing base 7, first movable quadrilateral robotic arm 8, second movable quadrilateral robotic arm and gripper mechanism, the carousel is connected on the top of upgrading base, manipulator fixing base 7 is connected to the carousel, it is provided with rack 6 to slide on the manipulator fixing base 7, rack 6 passes through gear 11 and is connected with first movable robotic arm, first movable robotic arm one end fixed connection is on manipulator fixing base 7, and the other end is connected with second movable quadrilateral robotic arm 9, 9 fixed connection gripper mechanisms of second movable quadrilateral robotic arm. The rack 6 is fixedly connected with a first servo motor, and the rack 6 is driven by the first servo motor.
The first movable quadrilateral mechanical arm 8 is fixedly connected with the second movable quadrilateral mechanical arm 9 through a connecting strip 10 and is connected with the second movable quadrilateral mechanical arm 9 through a gear 11, and an included angle between the first movable quadrilateral mechanical arm 8 and the second movable quadrilateral mechanical arm 9 is 0-180 degrees.
Two arbitrary opposite side lengths of first movable quadrilateral robotic arm 8 are the same, and the limit fixed connection that length is shorter is on manipulator fixing base 7, the limit that another length is shorter and 9 fixed connection of second movable quadrilateral robotic arm, 8 arbitrary both sides of first movable quadrilateral robotic arm all are through round pin hub connection.
The length of any two opposite sides of the second movable quadrilateral mechanical arm 9 is the same, the side with the shorter length is fixedly connected with the gripper mechanism, the other side with the shorter length is fixedly connected with the first movable quadrilateral mechanical arm 8, and any two sides of the second movable quadrilateral mechanical arm are connected through a pin shaft.
The gripper mechanism comprises a fixed seat 12, a U-shaped connecting piece 13, a driving shaft 15 and a V-shaped gripper 14, one end of the fixed seat 12 is fixedly connected with the second movable quadrilateral mechanical arm 9, the other end of the fixed seat is fixedly connected with the U-shaped connecting piece 13, the U-shaped connecting piece 13 is rotatably connected with the V-shaped gripper 14, the number of the V-shaped grippers 14 is two, and the two V-shaped grippers 14 are arranged in a crossed mode and are connected with the driving shaft 15 through rotating shafts. The driving shaft 15 is fixedly connected with a second servo motor, and the driving shaft 15 drives the second servo motor.
The lifting base comprises an upper base 3, a cylinder 2 and a lower base 1, wherein the base of the cylinder 2 is fixedly connected in the lower base 1, and a piston rod of the cylinder 2 is fixedly connected with the upper base 3.
The carousel includes carousel 5 and lower fixed disk, lower fixed disk one end fixed connection goes up base 3, and the other end connects carousel 5 through the pivot, go up 5 fixed connection manipulator fixing bases 7 of carousel. The turntable is connected with a servo motor III.
The first servo motor, the second servo motor, the third servo motor and the cylinder 2 are all connected with a PLC controller, and the type of the PLC controller is four-door S7-200.

Claims (7)

1. A bag pile up neatly machine people which characterized in that: including lifting pedestal, carousel, manipulator fixing base (7), first movable quadrilateral robotic arm (8), second movable quadrilateral robotic arm and tongs mechanism, the carousel is connected on lifting pedestal's top, manipulator fixing base (7) is connected to the carousel, it is provided with rack (6) to slide on manipulator fixing base (7), rack (6) are connected with first movable robotic arm through gear (11), first movable robotic arm one end fixed connection is on manipulator fixing base (7), and the other end is connected with second movable quadrilateral robotic arm (9), second movable quadrilateral robotic arm (9) fixed connection tongs mechanism.
2. A bag palletizing robot as claimed in claim 1, wherein: first movable quadrilateral robotic arm (8) and second movable quadrilateral robotic arm (9) pass through connecting strip (10) fixed connection, and connect through gear (11) simultaneously, the contained angle between first movable quadrilateral robotic arm (8) and second movable quadrilateral robotic arm (9) is 0-180 degrees.
3. A bag palletizing robot as claimed in claim 1, wherein: first movable quadrilateral robotic arm (8) two arbitrary opposite side length the same, and the less limit fixed connection of length on manipulator fixing base (7), the less limit of another length and second movable quadrilateral robotic arm (9) fixed connection, first movable quadrilateral robotic arm (8) both sides are all through round pin hub connection wantonly.
4. A bag palletizing robot as claimed in claim 3, wherein: the length of any two opposite sides of the second movable quadrilateral mechanical arm (9) is the same, the side with the shorter length is fixedly connected with the gripper mechanism, the other side with the shorter length is fixedly connected with the first movable quadrilateral mechanical arm (8), and any two sides of the second movable quadrilateral mechanical arm are connected through a pin shaft.
5. A bag palletizing robot as claimed in claim 1, wherein: the gripper mechanism comprises a fixed seat (12), a U-shaped connecting piece (13), a driving shaft (15) and a V-shaped gripper (14), one end of the fixed seat (12) is fixedly connected with the second movable quadrilateral mechanical arm (9), the other end of the fixed seat is fixedly connected with the U-shaped connecting piece (13), the U-shaped connecting piece (13) is rotatably connected with the V-shaped gripper (14), the V-shaped gripper (14) is provided with two V-shaped grippers (14), and the two V-shaped grippers (14) are arranged in a crossed mode and are connected with the driving shaft (15) through a rotating shaft.
6. A bag palletizing robot as claimed in claim 1, wherein: the lifting base comprises an upper base (3), an air cylinder (2) and a lower base (1), the base of the air cylinder (2) is fixedly connected in the lower base (1), and a piston rod of the air cylinder (2) is fixedly connected with the upper base (3).
7. A bag palletizing robot as claimed in claim 1, wherein: the carousel includes carousel (5) and lower fixed disk, lower fixed disk one end fixed connection goes up base (3), and carousel (5) are connected through the pivot to the other end, go up carousel (5) fixed connection manipulator fixing base (7).
CN201921072012.XU 2019-07-10 2019-07-10 Bag stacking robot Active CN210456638U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921072012.XU CN210456638U (en) 2019-07-10 2019-07-10 Bag stacking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921072012.XU CN210456638U (en) 2019-07-10 2019-07-10 Bag stacking robot

Publications (1)

Publication Number Publication Date
CN210456638U true CN210456638U (en) 2020-05-05

Family

ID=70444682

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201921072012.XU Active CN210456638U (en) 2019-07-10 2019-07-10 Bag stacking robot

Country Status (1)

Country Link
CN (1) CN210456638U (en)

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