CN210763208U

CN210763208U - Stacking manipulator

Info

Publication number: CN210763208U
Application number: CN201921700911.XU
Authority: CN
Inventors: 钱鑫; 郑燕萍; 虞杨
Original assignee: Nanjing Forestry University
Current assignee: Nanjing Forestry University
Priority date: 2019-10-10
Filing date: 2019-10-10
Publication date: 2020-06-16
Anticipated expiration: 2029-10-10

Abstract

The utility model relates to the technical field of stacking machinery, and discloses a stacking manipulator, which solves the problems that the existing stacking manipulator has a complex structure, is easy to break down and has higher maintenance cost, and comprises a convex seat, a shell is embedded at the upper end of the convex seat, and the lower end of the shell is fixedly connected with a big gear; through each novel structure setting, the structure is constituteed simply, and the fault rate is low, easy maintenance and maintenance, and mainly constitutes the part few, and the accessory is few, so the maintenance cost is very low.

Description

Stacking manipulator

Technical Field

The utility model belongs to the technical field of the pile up neatly machinery, specifically be a pile up neatly machinery hand.

Background

The stacking manipulator can neatly and automatically stack (or disassemble) the packaged goods with different external dimensions on the tray (or on a production line, etc.).

Pile up neatly manipulator among the prior art is because the component structure is more, and essential element and accessory are comparatively complicated, easily breaks down, and long-term operation, and is comparatively troublesome to maintenance and maintenance, if change spare part, and the maintenance cost is higher.

Disclosure of Invention

To the above situation, for overcoming prior art's defect, the utility model provides a stacking manipulator, the effectual present stacking manipulator structure of having solved is complicated, easily breaks down to and the higher problem of maintenance cost.

In order to achieve the above object, the utility model provides a following technical scheme: a stacking manipulator comprises a convex seat, a shell is embedded at the upper end of the convex seat, a large gear is fixedly connected at the lower end of the shell and rotatably connected with the convex seat through a support shaft, one end of the large gear is connected with a small gear in a meshed manner, the upper end of the small gear is connected with a first motor, the first motor is positioned at one side of the upper end of the convex seat opposite to the shell, a second motor is arranged in the shell, the output end of the second motor is connected with a first lead screw, a fixed seat is sleeved at the upper end of the first lead screw, slide bars are respectively arranged at two sides of the lower end of the fixed seat, the lower end of each slide bar is connected with the upper end of the shell, one end of each fixed seat is connected with a first L-shaped plate, one end of each first L-shaped plate is provided with a first slide rail, the upper end, the third motor is installed for locating piece one side to second lead screw one end, and the fourth motor is installed to second L template upper end, and the fourth motor lower extreme is connected with T type seat, and the second slide rail is installed to T type seat lower extreme, and the cylinder that has all been installed to T type seat upper end both sides, cylinder one end are connected with the mounting bracket, mounting bracket and second slide rail sliding connection, mounting bracket lower extreme fixedly connected with tongs.

Preferably, the lower end of the inside of the convex seat is circumferentially provided with a universal ball, the universal ball is in rolling connection with the lower end of the large gear, and the lower end of the large gear is provided with an annular groove corresponding to the connecting end of the universal ball.

Preferably, the top ends of the first screw rod and the slide rod are provided with limit blocks.

Preferably, the first L-shaped plate is connected with the first slide rail in a sliding mode through a first slide block, and the mounting frame is connected with the second slide rail in a sliding mode through a second slide block.

Preferably, the first L-shaped plate is fixedly connected with the fixed seat through a fastening bolt.

Preferably, the upper part of the convex seat is hollow, and a through hole is arranged at the embedded part of the upper end of the convex seat relative to the shell.

Compared with the prior art, the beneficial effects of the utility model are that:

1) the utility model drives the pinion to be meshed with the gearwheel through the first motor, so that the shell rotates circumferentially, then the second motor drives the first lead screw to drive the fixed seat to move up and down, the third motor drives the connecting block to drive the first L-shaped plate to move transversely left and right, the fourth motor drives the T-shaped seat to rotate slightly to adjust the angle, and the two cylinders stretch synchronously to grab articles, and the articles are stacked through the common cooperation of the actions;

2) through the novel structural arrangement, the structure is simple, the failure rate is low, the maintenance and the repair are easy, the number of main component parts is small, the number of accessories is small, and the maintenance cost is low.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.

In the drawings:

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

FIG. 2 is a schematic view of the installation structure of the bull gear of the present invention;

fig. 3 is an enlarged schematic view of a in fig. 1 according to the present invention;

fig. 4 is an enlarged schematic structural view of B of fig. 1 according to the present invention;

in the figure: 1. a convex base; 2. a housing; 3. a bull gear; 4. a support shaft; 5. a pinion gear; 6. a first motor; 7. a second motor; 8. a first lead screw; 9. a fixed seat; 10. a slide bar; 11. a first L-shaped plate; 12. a first slide rail; 13. a second L-shaped plate; 14. connecting blocks; 15. a second lead screw; 16. positioning blocks; 17. a third motor; 18. a fourth motor; 19. a T-shaped seat; 20. a second slide rail; 21. a cylinder; 22. a mounting frame; 23. a gripper; 24. a ball transfer unit; 25. a limiting block; 26. a first slider; 27. and a second slider.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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 first embodiment, as shown in fig. 1, 2, 3 and 4, the utility model comprises a convex base 1, a housing 2 is embedded at the upper end of the convex base 1, a gear wheel 3 is fixedly connected to the lower end of the housing 2, the gear wheel 3 is rotatably connected to the convex base 1 through a support shaft 4, a pinion 5 is engaged with one end of the gear wheel 3, a first motor 6 is connected to the upper end of the pinion 5, the pinion 5 is driven by the first motor 6 to be engaged with the gear wheel 3 for driving the housing 2 to rotate, thereby driving a gripper 23 to rotate circumferentially, the first motor 6 is arranged at one side of the upper end of the convex base 1 opposite to the housing 2, a second motor 7 is arranged inside the housing 2, the output end of the second motor 7 is connected to a first lead screw 8, a fixed base 9 is sleeved on the upper end of the first lead screw 8, slide bars 10 are respectively arranged at both sides of the lower end of the fixed base 9, the lower end of, the fixed seat 9 drives the first L-shaped plate 11 to move up and down, meanwhile, the verticality of movement can be ensured through the arrangement of the sliding rod 10, so that the gripper 23 is driven to move up and down, one end of the fixed seat 9 is connected with the first L-shaped plate 11, one end of the first L-shaped plate 11 is provided with the first sliding rail 12, the upper end of the first sliding rail 12 is connected with the second L-shaped plate 13 in a sliding manner, one end of the second L-shaped plate 13 is connected with the connecting block 14, one end of the connecting block 14 penetrates through the second lead screw 15, the second lead screw 15 is connected with the first L-shaped plate 11 through the positioning block 16, one end of the second lead screw 15 is provided with the third motor 17 relative to one side of the positioning block 16, the second lead screw 15 is driven to rotate through the third motor 17, so that the connecting block 14 drives the second L-shaped plate 13 to move transversely along the first sliding rail 12, so that the gripper 23 can move transversely left and, the lower extreme of fourth motor 18 is connected with T type seat 19, and second slide rail 20 is installed to T type seat 19 lower extreme, and the cylinder 21 that has all installed in 19 upper end both sides of T type seat, cylinder 21 one end are connected with mounting bracket 22, and mounting bracket 22 and second slide rail 20 sliding connection, mounting bracket 22 lower extreme fixedly connected with tongs 23 through two synchronous outside concertina movement of cylinder 21, drive mounting bracket 22 and follow the motion of second slide rail 20 and get article and put.

In the second embodiment, on the basis of the first embodiment, the universal ball 24 is circumferentially installed at the lower end inside the convex seat 1, the universal ball 24 is in rolling connection with the lower end of the large gear 3, an annular groove is formed in the lower end of the large gear 3 corresponding to the connecting end of the universal ball 24, and through the arrangement of the universal ball 24, the bearing force of the shell 2 for loading is increased on the one hand, and the friction force generated when the large gear 3 rotates is conveniently reduced on the other hand.

Third embodiment, on the basis of first embodiment, stopper 25 is all installed on first lead screw 8 and slide bar 10 top, prevents that fixing base 9 from upwards moving and breaking away from first lead screw 8, plays limiting displacement.

Fourth, on the basis of the first embodiment, the first L-shaped plate 11 is slidably connected to the first slide rail 12 through the first slider 26, and the mounting bracket 22 is slidably connected to the second slide rail 20 through the second slider 27, so that the first L-shaped plate 11 and the mounting bracket 22 can slide on the first slide rail 12 and the second slide rail 20, respectively.

Fifth, on the basis of the first embodiment, the first L-shaped plate 11 is fixedly connected with the fixing seat 9 through a fastening bolt, so that the first L-shaped plate 11 is fixed conveniently.

Sixth embodiment, on the basis of the first embodiment, the upper portion of the convex base 1 is hollow, and a through hole is formed at the embedded position of the upper end of the convex base 1 relative to the housing 2, so that the housing 2 can rotate in the convex base 1.

In this embodiment, the first motor 6 is a motor of type Y2, the second motor 7 is a motor of type 57HB76-401A, the third motor 17 is a motor of type 21K6RGN-C, and the fourth motor 18 is a motor of type 28BYG 30-7A.

The working principle is as follows: when the device is used, the device is arranged at a proper position, firstly, the first screw rod 8 is driven to rotate by the second motor 7, the fixed seat 9 drives the first L-shaped plate 11 to move up and down, meanwhile, the verticality of movement can be ensured by the arrangement of the slide rod 10, so that the gripper 23 is driven to move up and down, the gripper 23 is driven to move to a position exceeding the height of an object, then the first motor 6 drives the pinion 5 to be meshed with the bull gear 3 for transmission, the shell 2 is driven to rotate, the gripper 23 is driven to rotate circumferentially to a horizontal position above the object, then the third motor 17 drives the second screw rod 15 to rotate, the connecting block 14 drives the second L-shaped plate 13 to move transversely along the first slide rail 12, the gripper 23 can move transversely left and right, the gripper 23 is moved to a position right above the object, the angle of the gripper 23 is slightly adjusted by the fourth motor 18, the two cylinders 21 synchronously extend outwards to drive the mounting rack 22 to move along the second slide rail 20 to grab the articles, and the articles are matched to turn, lift and transfer and stack.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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 pile up neatly machinery hand, includes convex type seat (1), its characterized in that: the upper end of the convex seat (1) is embedded with a shell (2), the lower end of the shell (2) is fixedly connected with a large gear (3), the large gear (3) is rotatably connected with the convex seat (1) through a support shaft (4), one end of the large gear (3) is meshed with a small gear (5), the upper end of the small gear (5) is connected with a first motor (6), the first motor (6) is positioned at one side of the upper end of the convex seat (1) opposite to the shell (2), a second motor (7) is installed inside the shell (2), the output end of the second motor (7) is connected with a first lead screw (8), a fixing seat (9) is sleeved at the upper end of the first lead screw (8), slide bars (10) are installed at two sides of the lower end of the fixing seat (9), the lower end of each slide bar (10) is connected with the upper end of the shell (2), one end of each fixing seat (9) is, first slide rail (12) upper end sliding connection has second L template (13), second L template (13) one end is connected with connecting block (14), connecting block (14) one end is run through there is second lead screw (15), second lead screw (15) are connected with first L template (11) through locating piece (16), third motor (17) are installed for locating piece (16) one side to second lead screw (15) one end, fourth motor (18) are installed to second L template (13) upper end, fourth motor (18) lower extreme is connected with T type seat (19), second slide rail (20) are installed to T type seat (19) lower extreme, cylinder (21) that have all been installed to T type seat (19) upper end both sides, cylinder (21) one end is connected with mounting bracket (22), mounting bracket (22) and second slide rail (20) sliding connection, mounting bracket (22) lower extreme fixedly connected with tongs (23).

2. A stacking manipulator according to claim 1, characterised in that: universal ball (24) are installed to the inside lower extreme circumference of convex seat (1), and universal ball (24) and gear wheel (3) lower extreme roll connection, and the ring channel has been seted up to gear wheel (3) lower extreme corresponding universal ball (24) link.

3. A stacking manipulator according to claim 1, characterised in that: and limiting blocks (25) are arranged at the top ends of the first screw rod (8) and the sliding rod (10).

4. A stacking manipulator according to claim 1, characterised in that: the first L-shaped plate (11) is connected with the first sliding rail (12) in a sliding mode through a first sliding block (26), and the mounting rack (22) is connected with the second sliding rail (20) in a sliding mode through a second sliding block (27).

5. A stacking manipulator according to claim 1, characterised in that: the first L-shaped plate (11) is fixedly connected with the fixed seat (9) through a fastening bolt.

6. A stacking manipulator according to claim 1, characterised in that: the upper part of the convex seat (1) is hollow, and a through hole is arranged at the embedding position of the upper end of the convex seat (1) relative to the shell (2).