CN210682386U

CN210682386U - Automatic stacking and loading robot

Info

Publication number: CN210682386U
Application number: CN201921025225.7U
Authority: CN
Inventors: 张宁; 张伟; 左亚洲; 史腾飞; 周苗
Original assignee: Nanjing Muniuliuma Robot Technology Co Ltd
Current assignee: Nanjing Muniuliuma Robot Technology Co Ltd
Priority date: 2019-07-03
Filing date: 2019-07-03
Publication date: 2020-06-05
Anticipated expiration: 2029-07-03

Abstract

The utility model discloses an automatic pile up neatly loading robot, including adjusting device, strutting arrangement, robotic arm and conveyor, the PLC controller is installed at the center at half top on the left side of adjusting device, the top of PLC controller is equipped with the regulating plate, dig on the regulating plate and establish four equal fixed welding in the adjustment tank of group and have the adjusting bearing frame, the inner circle of adjusting bearing frame is equipped with strutting arrangement, the swivelling joint bearing frame is installed at the center at regulating plate top, and the inner circle and the robotic arm fixed welding of swivelling joint bearing frame, robotic arm passes the drive end of regulating plate and passes through the fixed welding of shaft coupling and rotating electrical machines's output, conveyor is installed at the top of half right side of adjusting device, four universal wheels of group are all installed to half bottom on the left side of adjusting device and half right. This automatic pile up neatly loading robot can adjust as required, has stability at the in-process of pile up neatly loading simultaneously, and very suitable carries out the pile up neatly loading to the goods.

Description

Automatic stacking and loading robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to automatic pile up neatly loading robot.

Background

A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Its task is to assist or replace the work of human work, such as the production industry, the construction industry and some dangerous works. The concept of a robot has gradually approached to the same world, that is, the robot is a machine which realizes various functions by means of self power and control capability. The united nations standardization organization adopted the definition given by the american society for robotics to be: "a programmable and multifunctional manipulator; or a specialized system with computer-alterable and programmable acts for performing different tasks. At present, a factory uses a robot to stack and load cargos, and the existing automatic stacking and loading robot cannot be well adjusted as required and is easy to shake in the stacking and loading process.

Therefore, aiming at the current situation, an automatic stacking and loading robot is urgently needed to be designed and produced so as to meet the requirement of actual use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic pile up neatly loading robot to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an automatic stacking and loading robot comprises an adjusting device, a supporting device, a mechanical arm and a conveying device, wherein a PLC (programmable logic controller) is installed at the center of the top of the left half part of the adjusting device, an adjusting plate is arranged above the PLC, four groups of adjusting grooves distributed in a rectangular array are dug on the adjusting plate, adjusting bearing seats are fixedly welded in the adjusting grooves, inner rings of the adjusting bearing seats are provided with the supporting device connected with the top of the left half part of the adjusting device, rotating bearing seats are installed at the center of the top of the adjusting plate, inner rings of the rotating bearing seats are fixedly welded with the mechanical arm, the mechanical arm penetrates through the driving end of the adjusting plate and is fixedly welded with the output end of a rotating motor through a coupler, the side face of the rotating motor is fixedly welded with the bottom of the adjusting plate, the conveying device is installed at the top of the right, four groups of universal wheels which are distributed in a rectangular array and have a braking function are mounted at the bottoms of the left half part and the right half part of the adjusting device.

Preferably, adjusting device includes limiting plate, backup pad, connecting rod and sleeve pipe, the top of limiting plate and backup pad is equipped with strutting arrangement and conveyer respectively, be equipped with the connecting rod between limiting plate and the backup pad, the fixed welding of periphery of connecting rod has the rotatory nut of being convenient for, the periphery of half one on the left side of connecting rod and half one on the right side is equipped with opposite direction's screw thread, the both ends of connecting rod all with sheathed tube cavity part threaded connection, two sets of the both ends that the connecting rod was kept away from to the sleeve pipe are respectively with the fixed welding in side of limiting plate and backup pad, four universal wheels of group are all installed to the bottom of limiting plate.

Preferably, strutting arrangement is including adjusting pole, well cavity post and compression spring, the top fixed welding who adjusts the pole has the governing valve, adjust the periphery of first one of pole and the inner circle fixed weld who adjusts the bearing frame, the lower half of adjusting the pole and the cavity part of well cavity post all are equipped with the screw thread, the lower half of adjusting the pole and the cavity part threaded connection of well cavity post, install compression spring between the bottom of adjusting the pole and the inside of well cavity post, the bottom of well cavity post and the top fixed weld of adjusting device's limiting plate.

Preferably, conveyor includes conveying board, transfer roller, bracing piece and cavity seat, conveying board is equipped with two sets ofly, and is two sets ofly be equipped with the transfer roller that the multiunit equidistance was arranged between the conveying board, the transfer roller center digs the rotation inslot fixed weld of establishing and has the pivot, the both ends of pivot all with the inner circle fixed weld of conveying bearing, one side and the conveying board fixed weld of pivot are kept away from to conveying bearing, the fixed weld in bottom of conveying board has the multiunit bracing piece, the lower half of bracing piece is connected with the cavity part of cavity seat, install the elasticity ball between the bottom of bracing piece and the inside bottom of cavity seat, the bottom of cavity seat and the top fixed weld of adjusting device's backup pad.

Preferably, the both sides of adjusting device's limiting plate all are equipped with the stack pallet, the multiunit interval between conveyor's the transfer roller and robotic arm's centre gripping looks adaptation, the top of conveyor's conveying board bonds through the viscose has the cross-section to be trapezoidal rubber slab, robotic arm and rotating electrical machines all with PLC controller electric connection.

The utility model discloses a technological effect and advantage: according to the automatic stacking and loading robot, the adjusting rod is driven to rotate through the rotary adjusting valve, the distance between the hollow column and the adjusting rod is adjusted, so that the working height of the mechanical arm is adjusted and fixed according to needs, and the shaking of the mechanical arm in the vertical direction in the stacking and loading process is effectively reduced through the telescopic action of the compression spring, so that the mechanical arm is protected in a vibration damping mode; the connecting rod is driven to rotate by rotating the nut, and the distance between the limiting plate and the supporting plate is adjusted by the arranged threads in opposite directions, so that the distance between the mechanical arm and the conveying piece is adjusted and fixed as required; through the elastic force effect of the elastic ball that sets up, the in-process that makes the transport carry to carry out the transmission through the transfer roller and carry has stability, and this automatic pile up neatly loading robot can adjust as required, has stability at the in-process of pile up neatly loading simultaneously, and very suitable pile up neatly loading is carried out the goods.

Drawings

Fig. 1 is a front view of the utility model with the feeding carriage removed;

FIG. 2 is a schematic structural view of the left half of the adjusting device of the present invention;

fig. 3 is a top view of the demolition robot of the present invention;

fig. 4 is a cross-sectional view of the support device of the present invention;

fig. 5 is a cross-sectional view of the hollow seat of the present invention;

fig. 6 is a circuit block diagram of the present invention.

In the figure: the device comprises a 1 adjusting device, a 2 supporting device, a 3 mechanical arm, a 4 conveying device, a 5PLC (programmable logic controller), a 6 adjusting plate, a 7 rotating motor, an 8 conveying piece, a 9 universal wheel, a 10 limiting plate, a 11 supporting plate, a 12 connecting rod, a 13 sleeve, a 14 adjusting rod, a 15 hollow column, a 16 compression spring, a 17 conveying plate, an 18 conveying roller, a 19 supporting rod, a 20 hollow seat, a 21 elastic ball and a 22 feeding car.

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.

Unless defined otherwise, all references to up, down, left, right, front, back, inner and outer directions herein are to be interpreted as referring to up, down, left, right, front, back, inner and outer directions in the drawings to which the invention is applied, and all references are hereby incorporated herein by reference.

The utility model provides an automatic pile up neatly loading robot as shown in fig. 1-6, including adjusting device 1, strutting arrangement 2, robotic arm 3 and conveyor 4, PLC controller 5 is installed at the center at the top of half one on the left side of adjusting device 1, and PLC controller 5 can select to be Siemens S7-200 type PLC controller, PLC controller 5 'S top is equipped with regulating plate 6, dig on regulating plate 6 and establish four groups and be the equal fixed welding in the adjustment tank of rectangle array distribution and have an adjusting bearing frame, the inner circle of adjusting bearing frame is equipped with strutting arrangement 2 of being connected with the top of half one on the left side of adjusting device 1, swivel bearing frame is installed at the center at regulating plate 6 top, and swivel bearing frame' S inner circle and robotic arm 3 fixed welding, and robotic arm 3 can select the KY010 type robotic arm of being produced for near Kayi profit automation equipment limited company, robotic arm 3 passes through the drive end of regulating plate 6 and the output end of rotating electrical machines 7 solid fixed The welding surely, rotating electrical machines 7 can select for the toshiba rotating electrical machines of Qingdao jia electromechanical device limited production, the side of rotating electrical machines 7 and the fixed welding in bottom of regulating plate 6, conveyor 4 is installed at the top of regulating device 1 right half, conveyor 4's top is equipped with transport 8, four groups of universal wheels 9 that have a brake function that are the rectangular array and distribute are all installed to the bottom of regulating device 1 left half and right half, remove and fix through universal wheel 9.

Specifically, the adjusting device 1 includes a limiting plate 10, a supporting plate 11, a connecting rod 12 and a sleeve 13, the top of the limiting plate 10 and the top of the supporting plate 11 are respectively provided with a supporting device 2 and a conveying device, the connecting rod 12 is arranged between the limiting plate 10 and the supporting plate 11, the periphery of the connecting rod 12 is fixedly welded with a nut convenient to rotate, the peripheries of the left half part and the right half part of the connecting rod 12 are provided with threads in opposite directions, two ends of the connecting rod 12 are both in threaded connection with the cavity part of the sleeve 13, two ends of the sleeve 13 far away from the connecting rod 12 are respectively fixedly welded with the side surfaces of the limiting plate 10 and the supporting plate 11, the nut is rotated to drive the connecting rod 12 to rotate, and the distance between the limiting plate 10 and the supporting plate 11 is adjusted through the threads in opposite directions, so as to adjust and fix, four groups of universal wheels 9 are mounted at the bottoms of the limiting plate 10 and the supporting plate 11.

Specifically, the supporting device 2 comprises an adjusting rod 14, a hollow column 15 and a compression spring 16, the adjusting valve is fixedly welded at the top end of the adjusting rod 14, the periphery of the upper half of the adjusting rod 14 is fixedly welded with the inner ring of the adjusting bearing seat, the lower half of the adjusting rod 14 and the cavity of the hollow column 15 are both provided with threads, the lower half of the adjusting rod 14 is in threaded connection with the cavity of the hollow column 15, the compression spring 16 is installed between the bottom end of the adjusting rod 14 and the inside of the hollow column 15, the bottom of the hollow column 15 is fixedly welded with the top of the limiting plate 10 of the adjusting device 1, the adjusting rod 14 is driven to rotate by rotating the adjusting valve, the distance between the hollow column 15 and the adjusting rod 14 is adjusted, so that the working height of the mechanical arm 3 is adjusted and fixed as required, and the shaking generated in the vertical direction of the mechanical arm 3 in the stacking process is effectively, thereby performing vibration damping protection on the robot arm 3.

Specifically, the conveying device 4 comprises a conveying plate 17, conveying rollers 18, supporting rods 19 and a hollow seat 20, wherein two groups of conveying plates 17 are arranged, a baffle for blocking transmission of the conveying part 8 is arranged between one ends, close to the mechanical arm 3, of the two groups of conveying plates 17, the other ends of the two groups of conveying plates 17 are connected with external feeding equipment, a plurality of groups of conveying rollers 18 which are arranged at equal intervals are arranged between the two groups of conveying plates 17, a rotating shaft is fixedly welded in a rotating groove dug in the center of each conveying roller 18, two ends of the rotating shaft are fixedly welded with an inner ring of each conveying bearing seat, one side, far away from the rotating shaft, of each conveying bearing seat is fixedly welded with the conveying plate 17, the conveying part 8 is conveyed through the conveying rollers 18 by the external feeding equipment, a plurality of groups of supporting rods 19 are fixedly welded at the bottom of each conveying plate 17, an elastic ball 21 is arranged between the bottom end of the supporting rod 19 and the bottom of the interior of the hollow seat 20, the conveying piece 8 is enabled to have stability in the transmission conveying process through the conveying roller 18 under the action of elastic force of the arranged elastic ball 21, and the bottom of the hollow seat 20 is fixedly welded with the top of the supporting plate 11 of the adjusting device 1.

Specifically, the both sides of adjusting device 1's limiting plate 10 all are equipped with stack pallet 22, and stack pallet 22 collects and transports robotic arm 3 pile up neatly loaded delivery member 8, the multiunit interval between conveyor 4's the transfer roller 18 and robotic arm 3's centre gripping looks adaptation, the top of conveyor 4's conveying board 17 bonds through the viscose has the cross-section to be trapezoidal rubber slab, blocks carrying 8 through the rubber slab that sets up to prevent carrying 8 and dropping, protect carrying 8 simultaneously, robotic arm 3 and rotating electrical machines 7 all with PLC controller 5 electric connection.

Specifically, the automatic stacking and loading robot rotates the regulating valve to drive the regulating rod 14 to rotate, and regulates the distance between the hollow column 15 and the regulating rod 14, so as to regulate the working height of the mechanical arm 3 as required and fix the working height, and effectively reduce the shaking generated in the vertical direction of the mechanical arm 3 in the stacking and loading process through the telescopic action of the compression spring 16, so as to carry out vibration damping protection on the mechanical arm 3, after the regulation is finished, the nut is rotated to drive the connecting rod 12 to rotate, and the distance between the limiting plate 10 and the supporting plate 11 is regulated through the threads in opposite directions, so as to regulate the distance between the mechanical arm 3 and the conveying piece 8 as required and fix the conveying piece 8, after the fixing is finished, the conveying piece 8 is transmitted through the conveying roller 18 by external feeding equipment, the PLC controller 5 is opened at the same time, and the work of the mechanical arm 3 is regulated through the PLC controller 5, the transport piece 8 clamp that robotic arm 3's exposed core will transfer on the roller 18 is got to open rotating electrical machines 7 through PLC controller 5, through rotating electrical machines 7's drive, drive robotic arm 3 and rotate, and place the transport piece 8 of getting with the clamp in the stack pallet 22, thereby carry out the pile up neatly loading to transport piece 8, the elastic force effect through the elastic ball 21 that sets up makes transport piece 8 carry out the in-process that the transmission was carried through transfer roller 18 and has stability.

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 an automatic pile up neatly loading robot, includes adjusting device (1), strutting arrangement (2), robotic arm (3) and conveyor (4), its characterized in that: PLC controller (5) is installed at the center at the top of half one on the left side of adjusting device (1), the top of PLC controller (5) is equipped with regulating plate (6), it has the regulation bearing frame to dig on regulating plate (6) and establishes four groups and be equal fixed welding in the adjustment tank of rectangle array distribution, and the inner circle of regulation bearing frame is equipped with strutting arrangement (2) of being connected with half one on the left side of adjusting device (1), swivel bearing frame is installed at the center at regulating plate (6) top, and swivel bearing frame's inner circle and robotic arm (3) fixed welding, robotic arm (3) pass the drive end of regulating plate (6) and pass through the output fixed welding of shaft coupling and rotating electrical machines (7), the side of rotating electrical machines (7) and the bottom fixed welding of regulating plate (6), conveyor (4) are installed at the top of half one on the right side of adjusting device (1), conveying member (8) are equipped with at the top of conveyor (4), four groups of universal wheels (9) that are the distribution of rectangle array and have the brake function are all installed to the bottom of adjusting device (1) left half and right half.

2. An automatic pallet truck robot according to claim 1, characterized in that: adjusting device (1) includes limiting plate (10), backup pad (11), connecting rod (12) and sleeve pipe (13), the top of limiting plate (10) and backup pad (11) is equipped with strutting arrangement (2) and conveyer respectively, be equipped with connecting rod (12) between limiting plate (10) and backup pad (11), the fixed welding of periphery of connecting rod (12) has the nut of being convenient for to rotate, the periphery of connecting rod (12) half one on the left side and half one on the right side is equipped with opposite direction's screw thread, the both ends of connecting rod (12) all with the cavity part threaded connection of sleeve pipe (13), two sets of the both ends that connecting rod (12) were kept away from to sleeve pipe (13) are respectively with the fixed welding in side of limiting plate (10) and backup pad (11), four sets of universal wheel (9) of group are all installed to the bottom of limiting plate (10) and backup pad.

3. An automatic pallet truck robot according to claim 1, characterized in that: strutting arrangement (2) are including adjusting pole (14), well cavity post (15) and compression spring (16), the top fixed weld of adjusting pole (14) has the governing valve, adjust the periphery of first one of pole (14) and the inner circle fixed weld of adjusting the bearing frame, the lower half of adjusting pole (14) and the cavity part of cavity post (15) all are equipped with the screw thread, adjust the lower half of pole (14) and the cavity part threaded connection of well cavity post (15), install compression spring (16) between the bottom of adjusting pole (14) and the inside of well cavity post (15), the bottom of well cavity post (15) and the top fixed weld of limiting plate (10) of adjusting device (1).

4. An automatic pallet truck robot according to claim 1, characterized in that: the conveying device (4) comprises a conveying plate (17), a conveying roller (18), a supporting rod (19) and a hollow seat (20), the conveying plates (17) are provided with two groups, a plurality of groups of conveying rollers (18) which are arranged at equal intervals are arranged between the two groups of conveying plates (17), a rotating shaft is fixedly welded in a rotating groove dug in the center of the conveying roller (18), both ends of the rotating shaft are fixedly welded with the inner ring of the conveying bearing seat, one side of the conveying bearing seat far away from the rotating shaft is fixedly welded with the conveying plate (17), a plurality of groups of support rods (19) are fixedly welded at the bottom of the conveying plate (17), the lower half part of the supporting rod (19) is connected with the cavity part of the hollow seat (20), an elastic ball (21) is arranged between the bottom end of the supporting rod (19) and the bottom inside the hollow seat (20), the bottom of the hollow seat (20) is fixedly welded with the top of the supporting plate (11) of the adjusting device (1).

5. An automatic pallet truck robot according to claim 1, characterized in that: the both sides of limiting plate (10) of adjusting device (1) all are equipped with stack pallet (22), the multiunit interval between transfer roller (18) of conveyor (4) and the centre gripping looks adaptation of robotic arm (3), the top of conveying board (17) of conveyor (4) has the cross-section to be trapezoidal rubber slab through the viscose bonding, robotic arm (3) and rotating electrical machines (7) all with PLC controller (5) electric connection.