CN210972981U

CN210972981U - Stacking robot

Info

Publication number: CN210972981U
Application number: CN201921605585.4U
Authority: CN
Inventors: 唐长林
Original assignee: Chengdu Yunji Pharmaceutical Co Ltd
Current assignee: Chengdu Yunji Pharmaceutical Co Ltd
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2020-07-10
Anticipated expiration: 2029-09-25

Abstract

The utility model discloses a palletizing robot, which comprises a driving component, a base, a first joint, a first mechanical arm, a second joint, a second mechanical arm, a third joint, a terminal connecting piece and a sucker component, wherein the base, the first joint, the first mechanical arm, the second joint, the second mechanical arm, the third joint and the terminal connecting piece are connected in sequence through the driving component; the driving assembly comprises a first driving piece, a second driving piece, a third driving piece, a fourth driving piece, a fifth driving piece and a sixth driving piece. The robot palletizer provided by the utility model adopts six driving components to connect the base, the joint, the mechanical arm and the like, so that the robot has six degrees of freedom, has good flexibility and is suitable for the work of almost any track or angle; through connecting the sucking disc subassembly in end connection department, the sucking disc subassembly snatchs the packing box that needs transported and carries out fast loading and unloading, has improved the efficiency of medicine loading and unloading, and then has improved the technical level of medicine commodity circulation transportation storage.

Description

Stacking robot

Technical Field

The utility model relates to a medicine handling device field especially relates to a six pile up neatly machines people.

Background

In the last half of 2017, the accumulated business volume of express service enterprises in China is 173.2 hundred million pieces, and from the second quarter of the year, the normalization of China enters the hundred million pieces express times per day. In this context, the application of the logistics robot is becoming widespread. In the next 5-10 years, the use density of the logistics robot is estimated to reach about 5 persons per ten thousand. Therefore, the reduction of logistics cost is a hot issue of high concern in the whole society and is also the central importance of structural reform on the transportation supply side.

Artificial intelligence is the development trend of the future logistics industry, and in pharmaceutical enterprises, when a whole packing box filled with medicines is loaded and unloaded, more manual operations are needed, the overall efficiency is not high, and the artificial intelligence is a difficult point for improving the technical level of the whole pharmaceutical logistics transportation and storage industry.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model aims at providing a simple structure, compactness, light and handy have six degrees of freedom can load and unload the pile up neatly machine people of whole packing box fast.

In order to realize the above purpose, the utility model discloses a technical scheme:

the utility model provides a palletizing robot, includes drive assembly, loops through base, first joint, first arm, second joint, second arm, third joint and the end-to-end connection spare that drive assembly connects, the sucking disc subassembly that end-to-end connection spare connects.

Further, the driving assembly includes a first driving member, a second driving member, a third driving member, a fourth driving member, a fifth driving member and a sixth driving member.

Further, the first driving piece is respectively and fixedly connected with the base and the first joint and is used for driving the first joint to rotate around the base;

the second driving piece is fixedly connected with the first joint and the first mechanical arm respectively and used for driving the first mechanical arm to rotate around the first joint, and the direction of the first joint rotating around the base is perpendicular to the direction of the first mechanical arm rotating around the first joint;

the third driving piece is fixedly connected with the first mechanical arm and the second joint respectively and used for driving the second joint to rotate around the first mechanical arm;

the fourth driving part is respectively fixedly connected with the second joint and the second mechanical arm and used for driving the second mechanical arm to rotate around the second joint, and the direction of the second joint rotating around the first mechanical arm is perpendicular to the direction of the second mechanical arm rotating around the second joint;

the fifth driving piece is respectively and fixedly connected with the second mechanical arm and the third joint and is used for driving the third joint to rotate around the second mechanical arm;

the sixth driving piece is respectively fixedly connected with the third joint and the tail end connecting piece and used for driving the tail end connecting piece to rotate around the third joint, and the direction of the third joint rotating around the second mechanical arm is perpendicular to the direction of the tail end connecting piece rotating around the third joint.

Furthermore, the first driving piece, the second driving piece, the third driving piece, the fourth driving piece, the fifth driving piece and the sixth driving piece all comprise a controller, a servo motor and a speed reducer, the controller is connected with the servo motor, and the servo motor is connected with the speed reducer.

Further, the servo motor is a loose servo motor, and the speed reducer is a Hammernace speed reducer.

Further, the sucker assembly comprises a connecting shaft, a sucker clamping plate and a vacuum sucker;

the connecting shaft is arranged at the rear end of the sucker clamping plate and is fixedly connected with the tail end connecting piece; the vacuum chuck is provided with a plurality of and evenly installs on the sucking disc splint, vacuum chuck's suction nozzle orientation sucking disc splint front end.

Further, the second joint and the second mechanical arm are both provided with air pipe through holes.

Further, the bottom end of the base is provided with a bolt hole.

The utility model has the advantages that:

the robot palletizer provided by the utility model adopts six driving components to connect the base, the joint, the mechanical arm and the like, so that the robot has six degrees of freedom, has good flexibility and is suitable for the work of almost any track or angle; through connecting the sucking disc subassembly in end connection department, the sucking disc subassembly snatchs the packing box that needs transported and carries out fast loading and unloading, has improved the efficiency of medicine loading and unloading, and then has improved the technical level of medicine commodity circulation transportation storage.

Drawings

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

FIG. 2 is a front view of the present invention;

FIG. 3 is a schematic structural view of the suction cup assembly of the present invention;

FIG. 4 is a schematic connection diagram of the components of the present invention;

in the figure: 1. a drive assembly; 11. a first driving member; 12. a second driving member; 13. a third driving member; 14. a fourth drive; 15. a fifth driving member; 16. a sixth driving member; 2. a base; 21. bolt holes; 3. a first joint; 4. a first robot arm; 5. a second joint; 51. the air pipe passes through the hole; 6. a second mechanical arm; 61. the air pipe passes through the hole; 7. a third joint; 8. a terminal connector; 9. a sucker component; 91. a connecting shaft; 92. a sucker clamping plate; 93. and (4) vacuum chuck.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further explained with reference to the accompanying drawings. In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "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 simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be 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.

Example 1

A palletizing robot is shown in figures 1 and 2 and comprises a driving component 1, a base 2, a first joint 3, a first mechanical arm 4, a second joint 5, a second mechanical arm 6, a third joint 7, a terminal connecting piece 8 and a sucker component 9 connected with the terminal connecting piece 8 in sequence, wherein the base 2, the first joint 3, the first mechanical arm 4, the second joint 5, the second mechanical arm 6, the third joint 7 and the terminal connecting piece 8 are connected with the driving component 1.

In the embodiment, the base 2, the first joint 3, the first mechanical arm 4, the second joint 5, the second mechanical arm 6, the third joint 7 and the end connecting piece 8 are connected through the driving component 1, so that the robot has six degrees of freedom, has good flexibility and is suitable for working in almost any track or angle; 8 departments of end connection spare connect sucking disc subassembly 9, and sucking disc subassembly 9 snatchs the packing box that needs to transport and loads and unloads, and fast loading and unloading is equipped with the whole packing box of medicine.

Example 2

This embodiment is further improved on the basis of embodiment 1, and as shown in fig. 1, 2 and 4, the driving assembly 1 includes a first driving member 11, a second driving member 12, a third driving member 13, a fourth driving member 14, a fifth driving member 15 and a sixth driving member 16.

The first driving piece 11 is respectively fixedly connected with the base 2 and the first joint 3 and is used for driving the first joint 3 to rotate around the base 2;

the second driving part 12 is fixedly connected with the first joint 3 and the first mechanical arm 4 respectively and is used for driving the first mechanical arm 4 to rotate around the first joint 3, and the direction of the first joint 3 rotating around the base 2 is perpendicular to the direction of the first mechanical arm 4 rotating around the first joint 3;

the third driving piece 13 is fixedly connected with the first mechanical arm 4 and the second joint 5 respectively and is used for driving the second joint 5 to rotate around the first mechanical arm 4;

the fourth driving part 14 is fixedly connected with the second joint 5 and the second mechanical arm 6 respectively, and is used for driving the second mechanical arm 6 to rotate around the second joint 5, and the direction of the second joint 5 rotating around the first mechanical arm 4 is perpendicular to the direction of the second mechanical arm 6 rotating around the second joint 5;

the fifth driving piece 15 is respectively and fixedly connected with the second mechanical arm 6 and the third joint 7 and is used for driving the third joint 7 to rotate around the second mechanical arm 6;

the sixth driving member 16 is fixedly connected to the third joint 7 and the end connecting member 8, respectively, and is configured to drive the end connecting member 8 to rotate around the third joint 7, and a direction of rotation of the third joint 7 around the second mechanical arm 6 is perpendicular to a direction of rotation of the end connecting member 8 around the third joint 7.

In the embodiment, the robot only comprises two mechanical arms, each joint can be rotatably connected with the previous part and the next part, and the two rotation modes at the joints are perpendicular to each other, so that the robot can have six degrees of freedom through three joints. Compared with the existing huge and heavy robot with four mechanical arms and five joints required by six degrees of freedom, the robot in the embodiment has a simpler, more compact and lighter structure.

Example 3

In this embodiment, a further improvement is made on the basis of embodiment 2, and each of the first driving element 11, the second driving element 12, the third driving element 13, the fourth driving element 14, the fifth driving element 15 and the sixth driving element 16 includes a controller, a servo motor and a speed reducer, the controller is connected to the servo motor, and the servo motor is connected to the speed reducer. The servo motor adopts a loose servo motor, and the speed reducer adopts a Hammernace speed reducer.

In this embodiment, the servo motor of the first driving member 11 is a loose servo motor with a model of MDME202, and a controller thereof is used as a controller of the first driving member 11; the reduction gear of the first drive member 11 is a Hammernace series reduction gear of type 65A-BADB.

The servo motor of the second driving piece 12 adopts a loose servo motor with the model number of MDME152, and a controller of the servo motor is used as a controller of the second driving piece 12; the reduction gear of the second drive member 12 is a Hammernace series reduction gear of type 50A-AABB.

The servo motor of the third driving part 13 adopts a loose servo motor with the model number of MSME084, and a controller of the servo motor is used as a controller of the third driving part 13; the reducer of the third driving member 13 is a Hammernace series reducer of a model number of 20A-FFP.

The servo motor of the fourth driving part 14 adopts a loose servo motor with the model number of MSME084, and a controller of the servo motor is taken as a controller of the fourth driving part 14; the reduction gear of the fourth drive 14 is a Hammernace series reduction gear of type 20A-FFP.

The servo motor of the fifth driving element 15 adopts a loosening servo motor with the model number of MHMD041, a controller of the servo motor is used as a controller of the fifth driving element 15, and the speed reducer of the fifth driving element 15 adopts a Hammernace series speed reducer with the model number of 32A-NE L A.

The servo motor of the sixth driving element 16 is a loose servo motor with the model number of MHMD021, and a controller of the servo motor is used as a controller of the sixth driving element 16; the reduction gear of the sixth drive member 16 is a Hammernace series reduction gear of type 20A-GDI.

The upper computer can be a P L C or a single chip microcomputer, a conventional control program is implanted to control the work of each controller, an output point controlled by I/O is arranged in the upper computer, and signals are transmitted to the robot controller only through a proper communication mode (such as 485) for example, such as a P L C controller of DVP-PM series.

Example 4

The present embodiment is further improved on the basis of any of embodiments 1 to 3, and as shown in fig. 3, the suction cup assembly 9 includes a connecting shaft 91, a suction cup clamping plate 92 and a vacuum suction cup 93; the connecting shaft 91 is arranged at the rear end of the sucker clamping plate 92 and is fixedly connected with the tail end connecting piece 8; the vacuum chuck 93 is provided with a plurality of suction nozzles which are uniformly arranged on the chuck clamping plate 92, and the suction nozzle of the vacuum chuck 93 faces the front end of the chuck clamping plate 92.

In this embodiment, the suction cup assembly 9 is a gripping part of a robot. The vacuum sucker 93 is adopted to suck the whole packing box filled with the medicine, so that the packing box is easy to use, pollution-free and free of damage to grabbing. The vacuum chucks 93 of the present embodiment are provided in two rows, four in each row, and the vacuum chucks 93 are selected from vacuum chucks of the type ZP2_ TF80HUJB50 manufactured by the japan SMC corporation, and at the same time, a generator corresponding to the vacuum chucks of the type manufactured by the japan SMC corporation is selected, and the generator controls the operation of the vacuum chucks 93.

Example 5

In this embodiment, a further improvement is made on the basis of any of embodiments 1 to 4, as shown in fig. 1 and 2, the second joint 5 and the second mechanical arm 6 are both provided with an air pipe through hole 51 and an air pipe through hole 61 for air pipe arrangement to drive the vacuum chuck 93 to work. The base 2 is provided with bolt holes 21 at its bottom end for fixing the palletizing robot, for example by mounting the palletizing robot by means of bolts on a moving carriage chassis for loading and unloading packages.

For better understanding of the present invention, the following description is made in conjunction with the above embodiments to describe the working principle of the present invention completely:

when the robot is placed beside a medicine packing box and a carrying vehicle which need to be loaded and unloaded, the P L C controls the controller of each driving assembly 1 to work, the controller controls the servo motor to operate, the speed reducer changes the high-speed rotation of the servo motor into low-speed rotation to drive each mechanical arm, joint and the like to rotate, the vacuum chuck 93 of the tail end sucker assembly 9 of the robot is moved to a position where the packing box needs to be grabbed, after the robot is moved to the grabbing position, the vacuum chuck 93 works to grab the packing box which needs to be transported, then each controller controls each mechanical arm, joint and the like to rotate, the vacuum chuck 93 at the tail end of the robot is moved to the carrying vehicle, and the packing box is put down.

When unloading, the moving direction is opposite, and the above procedures are repeated to complete the loading and unloading of the medicine packing box.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A palletizing robot is characterized in that: the mechanical arm comprises a driving component (1), a base (2), a first joint (3), a first mechanical arm (4), a second joint (5), a second mechanical arm (6), a third joint (7) and a terminal connecting piece (8) which are connected in sequence through the driving component (1), and a sucker component (9) connected with the terminal connecting piece (8).

2. Palletizing robot according to claim 1, characterized in that: the driving assembly (1) comprises a first driving piece (11), a second driving piece (12), a third driving piece (13), a fourth driving piece (14), a fifth driving piece (15) and a sixth driving piece (16).

3. Palletizing robot according to claim 2, characterized in that: the first driving piece (11) is respectively fixedly connected with the base (2) and the first joint (3) and is used for driving the first joint (3) to rotate around the base (2);

the second driving piece (12) is fixedly connected with the first joint (3) and the first mechanical arm (4) respectively and used for driving the first mechanical arm (4) to rotate around the first joint (3), and the rotating direction of the first joint (3) around the base (2) is perpendicular to the rotating direction of the first mechanical arm (4) around the first joint (3);

the third driving piece (13) is fixedly connected with the first mechanical arm (4) and the second joint (5) respectively and used for driving the second joint (5) to rotate around the first mechanical arm (4);

the fourth driving part (14) is fixedly connected with the second joint (5) and the second mechanical arm (6) respectively and used for driving the second mechanical arm (6) to rotate around the second joint (5), and the direction of the second joint (5) rotating around the first mechanical arm (4) is perpendicular to the direction of the second mechanical arm (6) rotating around the second joint (5);

the fifth driving piece (15) is respectively and fixedly connected with the second mechanical arm (6) and the third joint (7) and is used for driving the third joint (7) to rotate around the second mechanical arm (6);

the sixth driving piece (16) is fixedly connected with the third joint (7) and the tail end connecting piece (8) respectively and used for driving the tail end connecting piece (8) to rotate around the third joint (7), and the direction of the third joint (7) rotating around the second mechanical arm (6) is perpendicular to the direction of the tail end connecting piece (8) rotating around the third joint (7).

4. Palletizing robot according to claim 2, characterized in that: the first driving piece (11), the second driving piece (12), the third driving piece (13), the fourth driving piece (14), the fifth driving piece (15) and the sixth driving piece (16) all comprise controllers, servo motors and speed reducers, the controllers are connected with the servo motors, and the servo motors are connected with the speed reducers.

5. Palletizing robot according to claim 4, characterized in that: the servo motor adopts a loose servo motor, and the speed reducer adopts a Hammernace speed reducer.

6. Palletizing robot according to claim 1, characterized in that: the sucker assembly (9) comprises a connecting shaft (91), a sucker clamping plate (92) and a vacuum sucker (93);

the connecting shaft (91) is arranged at the rear end of the sucker clamping plate (92) and is fixedly connected with the tail end connecting piece (8); vacuum chuck (93) are provided with a plurality ofly and evenly install on sucking disc splint (92), the suction nozzle orientation of vacuum chuck (93) sucking disc splint (92) front end.

7. Palletizing robot according to claim 1, characterized in that: and air pipe through holes (51, 61) are formed in the second joint (5) and the second mechanical arm (6).

8. Palletizing robot according to claim 1, characterized in that: the bottom end of the base (2) is provided with a bolt hole (21).