CN210650759U

CN210650759U - Material stacking height control device for stacking robot

Info

Publication number: CN210650759U
Application number: CN201921754968.8U
Authority: CN
Inventors: 杨帅; 邹智慧
Original assignee: College Of Humanities & Information Changchun University Of Technology
Current assignee: College Of Humanities & Information Changchun University Of Technology
Priority date: 2019-10-18
Filing date: 2019-10-18
Publication date: 2020-06-02
Anticipated expiration: 2029-10-18

Abstract

The utility model discloses a sign indicating number material height control device for windrow robot, including base and robot stand, robot stand top installation slewing arm, slewing arm installation robot hand, base and robot stand looks parallel and level, installation fixed plate on the base, the lateral wall of fixed plate is opened there is the spout, spout inner wall installation adjusting screw, the slip joint slider in the spout, the slider cup joints adjusting screw, the outer wall connection bracing piece of slider, the fixed axle is connected to the bracing piece, the rotation cover is cup jointed at the both ends of fixed axle, install the control block between the outer wall of rotation cover, the top installation push rod of control block, the driving lever is cup jointed to the terminal surface of slewing arm. The manipulator snatchs the material and rotates to control block one side through the slewing arm, and the driving lever promotes the push rod for the control block leaves manipulator department, and the manipulator puts down the pile up neatly with the article, and when the slewing arm rotated and got the material next time, the rotating sleeve rotated through the torsional spring and resets, and the control block gyration is reset and is sent indicator signal when touching the article, thereby control sign indicating number material height.

Description

Material stacking height control device for stacking robot

Technical Field

The utility model relates to a windrow robot technical field specifically is a sign indicating number material height control device for windrow robot.

Background

The stacking robot generally comprises an upright post, a rotary arm and a robot hand, wherein the rotary arm is driven by a driving part such as a rotary motor to rotate along the upright post, and the robot hand is driven by a part such as a cylinder to telescopically clamp an object, so that the object is rotated, transported and stacked on a transport vehicle.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a sign indicating number material height control device for windrow robot to solve the problem that provides among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a stacking height control device for a stacking robot comprises a base and a robot stand column, wherein one end of a rotary arm is rotatably installed at the top of the robot stand column, a robot hand is installed at the bottom of the other end of the rotary arm, the base and the robot stand column are parallel and level, a fixed plate is fixedly installed on the base, a sliding groove is formed in the side wall of the fixed plate, an adjusting screw rod is rotatably installed on the inner wall of the sliding groove, a hand wheel is rotatably sleeved on the outer wall of the fixed plate at the bottom of the sliding groove, a meshed bevel gear group is installed between the bottom of the hand wheel and the bottom of the adjusting screw rod, a sliding and clamping slide block is slidably connected in the sliding groove, the slide block is sleeved with the adjusting screw rod through a threaded structure, one end of a support rod is fixedly connected with the outer wall of the slide block, the other end of the support rod, a control block is fixedly installed between the outer walls of the two rotating sleeves, a first push rod is fixedly installed at the top of the control block, and the outer wall of the rotating arm is sleeved with a shifting lever through a threaded structure.

Preferably, a rotating motor is installed between the top of the robot stand column and the rotary arm, a cylinder is installed between the rotary arm and the robot hand, a plurality of rollers are installed at the bottom of the base, and the premise bolts are installed at the four corners of the base.

Preferably, the lateral wall department of fixed plate is equipped with the height scale, the lateral wall installation pointer of slider, and the pointer runs through the fixed plate lateral wall and laminates the height scale.

Preferably, two the interval of rotating the cover equals the diameter of bracing piece, the spacing groove that has the arc structure is opened to the inner wall of rotating the cover, the both ends outer wall fixed mounting stopper of fixed axle, and stopper slip joint is at the spacing inslot.

Preferably, the control block includes the installation piece, the outer wall fixed connection of installation piece rotates the outer wall of cover, it has the installation cavity to open in the installation piece, the both sides inner wall top fixed mounting conducting strip of installation cavity, external power source and pilot lamp are connected to the conducting strip through the wire electricity, the interactive second push rod that cup joints on the installation piece of installation cavity bottom, the top of second push rod stretches into installation cavity and fixed mounting conducting strip, the bottom of second push rod runs through installation piece and fixed mounting bulb, cup joint the pressure spring on the second push rod between bulb and installation piece.

Preferably, the pressure spring is always in a compressed state, the conductive block is in a metal spherical structure, the conductive block is located under the space between the two conductive sheets, and the conducting wires electrically connected with the conductive sheets are in an elastic spiral structure.

Preferably, the control block comprises a shell connected with the rotating sleeve, an inner cavity is formed in the shell, two static contacts electrically connected with each other are fixedly mounted on two sides of the inner cavity, a rotating rod penetrates through the bottom of the shell, a collision ball is mounted at the bottom of the rotating rod, a movable contact is mounted at the top of the collision ball, and the static contacts and the movable contact are electrically connected with an external power supply and an indicator light through wires.

Preferably, the rotating shaft is movably sleeved in the middle of the rotating rod, the rotating shaft is fixedly connected with the side wall of the through hole at the bottom of the shell, and a torsion spring is connected between the rotating rod and the rotating shaft.

Compared with the prior art, the beneficial effects of the utility model are that: when the stacking height is increased to the ball head, and the rotating sleeve is rotated and reset through the torsional spring, the ball head is contacted with the object and slides along the object, so that the ball head pushes the push rod, the conducting strips move upwards to be contacted with the two conducting strips, the circuit is connected through the conducting strips, and the control parts such as an external indicating lamp and the like send signals, an operator can conveniently replace the transfer trolley, the stacking height control effect is achieved, and the phenomenon that the stacking height of the object is too high to influence the transfer is avoided; the adjusting screw rod is driven to rotate by the hand wheel and the bevel gear set, and the sliding block slides along the sliding groove so as to adjust the height of the control block, so that the height of the control block can be conveniently adjusted according to different stacked objects and stacking heights, and the use is convenient; a plurality of gyro wheels of bottom installation of base, and the base four corners department installs the residence bolt, thereby be convenient for remove the base and adjust the control block position, the lateral wall department of fixed plate is equipped with high scale, the lateral wall installation pointer of slider, and the pointer runs through the fixed plate lateral wall and laminates high scale, is convenient for control the slider height through pointer and high scale, is convenient for adjust.

Drawings

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

FIG. 2 is a schematic view of the cross-sectional structure of the fixing plate of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2 according to the present invention;

FIG. 4 is a schematic view of the top-view cross-sectional structure of the rotating sleeve of the present invention;

fig. 5 is a side sectional view of a second structure of the control block according to the present invention.

In the figure: the device comprises a base 1, a fixing plate 2, a sliding chute 3, an adjusting screw rod 4, a sliding block 5, a supporting rod 6, a fixing shaft 7, a rotating sleeve 8, a control block 9, a mounting block 91, a mounting cavity 92, a conducting strip 93, a conducting strip 94, a second push rod 95, a compression spring 96, a ball head 97, a shell 901, an inner cavity 902, a static contact 903, a movable contact 904, a rotating shaft 905, a torsion spring 906, a collision ball 907, a rotating rod 908, a first push rod 10, a robot upright 11, a rotating arm 12, a deflector rod 13, a robot hand 14, a hand wheel 15 and a bevel gear set 16.

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.

Referring to fig. 1-5, the present invention provides a technical solution: a stacking height control device for a stacking robot comprises a base 1 and a robot upright 11, wherein one end of a rotary arm 12 is rotatably installed at the top of the robot upright 11, a robot hand 14 is installed at the bottom of the other end of the rotary arm 12, the base 1 is flush with the robot upright 11, a fixed plate 2 is fixedly installed on the base 1, a sliding groove 3 is formed in the side wall of the fixed plate 2, an adjusting screw rod 4 is rotatably installed on the inner wall of the sliding groove 3, a hand wheel 15 is rotatably sleeved on the outer wall of the fixed plate 2 at the bottom of the sliding groove 3, a meshed bevel gear group 16 is installed between the hand wheel 15 and the bottom of the adjusting screw rod 4, a sliding block 5 is slidably clamped in the sliding groove 3, the sliding block 5 is sleeved on the adjusting screw rod 4 through a threaded structure, the outer wall of the sliding block 5 is fixedly connected with one end of a supporting rod 6, the other end of the supporting rod 6 is fixedly connected, a control block 9 is fixedly arranged between the outer walls of the two rotating sleeves 8, a first push rod 10 is fixedly arranged at the top of the control block 9, and the outer wall of a rotary arm 12 is sleeved with a deflector rod 13 through a threaded structure. The adjusting screw rod 4 is driven to rotate by a hand wheel 15 and a bevel gear set 16, the sliding block 5 slides along the sliding groove 3 so as to adjust the height of the control block 9, when a manipulator 14 (adopting a currently disclosed gripper structure and being controlled by an external controller) grabs a material and rotates to one side of the control block 9 through a rotary arm 12, a poking rod 13 pushes a first push rod 10, so that the control block 9 rotates to leave the manipulator 14 through a rotary sleeve 8 when the manipulator 14 grabs the material and rotates to one side of the control block 9 through the rotary arm 12, the manipulator 14 is convenient to put down and stack the material, when the rotary arm 12 rotates back to take the material next time, the rotary sleeve 8 rotates and resets through a torsional spring, the control block 9 is positioned above the material, so that the height of the material gradually rises after multiple times of material stacking, and when the control block 9 rotates and resets to contact the material, an indicating signal is sent out, thereby controlling the stacking height.

Further, the shift lever 13 is an L-shaped structure, the state shown in fig. 1 is that the rotating arm 12 has not rotated to the position for stacking (the shift lever 13 will contact with the first push rod 10 after rotating, and the actual shift lever 13 will never contact with the control block 9 directly in space in a perspective representation), when the rotating arm 12 rotates to the direction of the fixing plate 2, the shift lever 13 has pushed the control block 9 to rotate through the first push rod 10, so that the control block 9 is moved away, and the robot arm 14 can put down the article conveniently.

A rotating motor is arranged between the top of the robot upright post 11 and the rotary arm 12 to enable the rotary arm 12 to rotate back and forth, a cylinder is arranged between the rotary arm 12 and the robot hand 14 to enable the robot hand 14 to move up and down, a plurality of rollers are arranged at the bottom of the base 1, and the four corners of the base 1 are provided with the resident bolts.

The lateral wall department of fixed plate 2 is equipped with height scale, and slider 5's lateral wall installation pointer, and the pointer runs through 2 lateral walls of fixed plate and the height scale of laminating, is convenient for control slider 5 height through pointer and height scale.

The distance between the two rotating sleeves 8 is equal to the diameter of the support rod 6, the inner wall of the rotating sleeve 8 is provided with a limiting groove with an arc-shaped structure, the outer walls of the two ends of the fixed shaft 7 are fixedly provided with limiting blocks, the limiting blocks are slidably clamped in the limiting grooves, and the rotating sleeves 8 are limited by the limiting blocks and the limiting grooves when being reset through torsional spring rotation, so that the control block 9 is positioned above an object.

The control block 9 comprises a mounting block 91, the outer wall of the mounting block 91 is fixedly connected with the outer wall of the rotating sleeve 8, a mounting cavity 92 is formed in the mounting block 91, conducting strips 93 are fixedly mounted on the tops of the inner walls on two sides of the mounting cavity 92, the conducting strips 93 are electrically connected with an external power supply and an indicator light through conducting wires, a second push rod 95 is interactively sleeved on the mounting block 91 at the bottom of the mounting cavity 92, the top of the second push rod 95 extends into the mounting cavity 92 and is fixedly provided with a conducting strip 94, the bottom of the second push rod 95 penetrates through the mounting block 91 and is fixedly provided with a ball head 97, a pressure spring 96 is sleeved on the second push rod 95 between the ball head 97 and the mounting block 91, the pressure spring 96 is always in a compression state, the conducting strip 94 is of a metal spherical structure, the conducting strip 94 is positioned under the distance between the two conducting strips 93, the conducting wires electrically connected with the conducting strips, the second push rod 95 is always pulled down to the conductive block 94, the conductive block 94 is separated from the conductive sheet 93, at the moment, the conductive sheets 93 are not communicated, the bottom of the control block 9 can still continue to code materials, when the height of the code materials is increased to the ball head 97, the rotating sleeve 8 is rotated and reset through the torsion spring, the ball head 97 is contacted with the object and slides along the object, so that the ball head 97 pushes the second push rod 95, the conductive block 94 is moved up to be contacted with the two conductive sheets 93, the conductive sheets 93 are connected with a circuit, and control pieces such as an external indicator lamp and the like send signals, so that an operator can conveniently replace a transfer vehicle, and the code.

The working principle is as follows: when the utility model is used, the adjusting lead screw 4 is driven to rotate by the hand wheel 15 and the bevel gear set 16, the slide block 5 slides along the chute 3 to adjust the height of the control block 9, the control block 9 is level with the support rod 6 under the action of the torsional spring at ordinary times, when the robot 14 grabs the material and rotates the material to the fixed plate 2 by the revolving arm 12, the deflector rod 13 firstly contacts and pushes the first push rod 10, thereby the control block 9 rotates to the side of the support rod 6 by the rotating sleeve 8, the robot 14 is convenient to lay down and stack the object when rotating to be level with the fixed plate 2, when the revolving arm 12 rotates back to take the material next time, the rotating sleeve 8 resets by the rotation of the torsional spring, the control block 9 is positioned above the object, when the height of the object stacking material is lower, the pressure spring 96 presses the ball head 97 all the time, the second push rod 95 pulls the conductive block 94 all the time down, the conductive, the bottom of the control block 9 can still continue to code the materials, when the height of the code materials is increased to the ball head 97, when the rotating sleeve 8 is reset through the rotation of the torsion spring, the ball head 97 contacts with the object and slides along the object, so that the ball head 97 pushes the second push rod 95, the conductive block 94 moves upwards to contact with the two conductive sheets 93, the conductive sheets 93 are connected with a circuit, and then control pieces such as an external indicator light send signals, an operator can replace a transfer trolley conveniently, and the control effect of the height of the code materials is achieved.

When the increased height of the stacked object is large, the side surface of the ball head 97 and the object cannot move up and down due to collision, and a circuit cannot be triggered, a second structure of the control block 9 is proposed, that is, the control block 9 includes a housing 901 connected with the rotating sleeve 8, an inner cavity 902 is formed in the housing 901, two static contacts 903 electrically connected with each other are fixedly installed at two sides of the inner cavity 902, a rotating rod 908 is arranged at the bottom of the housing 901 in a penetrating manner, a movable contact 904 is installed at the top of a collision ball 907 at the bottom of the rotating rod 908, the static contacts 903 and the movable contact 904 are electrically connected with an external power supply and an indicator lamp through conducting wires, specifically, a rotating shaft 905 is movably sleeved at the middle part of the rotating rod 908, the rotating shaft 905 is fixedly connected with the side wall at the penetrating opening at the bottom of the housing 901, and a torsion spring 906 is connected between the rotating rod 908 and the rotating shaft 905, after deflection, the movable contact 904 is electrically connected with the fixed contact 903 on either side to conduct a circuit (since the length of the transfer rod 908 can be set to be at least higher than the height of one-time stacking of the objects, the situation that the height of the whole control block 9 is exceeded by one-time stacking of the objects is not considered), and then control elements such as an external indicator light and the like send signals, so that an operator can conveniently replace the transfer trolley.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a sign indicating number material height control device for windrow robot, includes base (1) and robot stand (11), installation revolving arm (12) one end is rotated at robot stand (11) top, revolving arm (12) other end bottom installation manipulator (14), its characterized in that: the base (1) and the robot stand (11) are parallel and level mutually, a fixed mounting fixing plate (2) is arranged on the base (1), a sliding groove (3) is formed in the side wall of the fixing plate (2), an inner wall of the sliding groove (3) is rotated to mount a regulating lead screw (4), a hand wheel (15) is sleeved on the outer wall of the fixing plate (2) at the bottom of the sliding groove (3) in a rotating mode, a bevel gear set (16) meshed with the bottom of the regulating lead screw (4) is mounted between the hand wheel (15) and the bottom of the regulating lead screw (4), a sliding clamping sliding block (5) is arranged in the sliding groove (3), the sliding block (5) is sleeved on the regulating lead screw (4) through a threaded structure, one end of a supporting rod (6) fixedly connected with the outer wall of the sliding block (5), the middle part of a fixing shaft (7) fixedly connected with the other end of the supporting rod (6), the two, a control block (9) is fixedly installed between the outer walls of the two rotating sleeves (8), a first push rod (10) is fixedly installed at the top of the control block (9), and the outer wall of the rotating arm (12) is sleeved with a shifting rod (13) through a threaded structure.

2. A stacking height control device for a stacking robot according to claim 1, characterized in that: install the rotation motor between the top of robot stand (11) and gyration arm (12), install the cylinder between gyration arm (12) and robot arm (14), a plurality of gyro wheels of bottom installation of base (1), and base (1) four corners department installs the premise bolt.

3. A stacking height control device for a stacking robot according to claim 1, characterized in that: the lateral wall department of fixed plate (2) is equipped with the height scale, the lateral wall installation pointer of slider (5), and the pointer runs through fixed plate (2) lateral wall and laminating height scale.

4. A stacking height control device for a stacking robot according to claim 1, characterized in that: two the interval of rotating cover (8) equals the diameter of bracing piece (6), the spacing groove that has the arc structure is opened to the inner wall that rotates cover (8), the both ends outer wall fixed mounting stopper of fixed axle (7), and stopper slip joint is at the spacing inslot.

5. A stacking height control device for a stacking robot according to claim 1, characterized in that: control block (9) are including installation piece (91), the outer wall fixed connection of installation piece (91) rotates the outer wall of cover (8), installation cavity (92) have been seted up in installation piece (91), both sides inner wall top fixed mounting conducting strip (93) of installation cavity (92), external power source and pilot lamp are connected through the wire electricity to conducting strip (93), second push rod (95) are cup jointed in the activity on installation piece (91) of installation cavity (92) bottom, the top of second push rod (95) stretches into in installation cavity (92) and fixed mounting conducting strip (94), installation piece (91) and fixed mounting bulb (97) are run through to the bottom of second push rod (95), cup joint pressure spring (96) on second push rod (95) between bulb (97) and installation piece (91).

6. A stacking height control device for a stacking robot according to claim 5, characterized in that: the compression spring (96) is always in a compressed state, the conductive block (94) is of a metal spherical structure, the conductive block (94) is located right below the distance between the two conductive sheets (93), and a lead electrically connected with the conductive sheets (93) is of an elastic spiral structure.

7. A stacking height control device for a stacking robot according to claim 1, characterized in that: the control block (9) comprises a shell (901) connected with the rotating sleeve (8), an inner cavity (902) is formed in the shell (901), two static contacts (903) which are electrically connected are fixedly mounted on two sides of the inner cavity (902), a rotating rod (908) penetrates through the bottom of the shell (901), a movable contact (904) is mounted at the top of a collision ball (907) mounted at the bottom of the rotating rod (908), and the static contacts (903) and the movable contact (904) are electrically connected with an external power supply and an indicator light through wires.

8. A stacking height control device for a stacking robot according to claim 7, characterized in that: the rotating shaft (905) is movably sleeved in the middle of the rotating rod (908), the rotating shaft (905) is fixedly connected with the side wall of the bottom penetrating port of the shell (901), and a torsion spring (906) is connected between the rotating rod (908) and the rotating shaft (905).