CN211225537U - Intelligent stacking robot - Google Patents
Intelligent stacking robot Download PDFInfo
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- CN211225537U CN211225537U CN201922464053.XU CN201922464053U CN211225537U CN 211225537 U CN211225537 U CN 211225537U CN 201922464053 U CN201922464053 U CN 201922464053U CN 211225537 U CN211225537 U CN 211225537U
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- positioning mechanism
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Abstract
The utility model provides an intelligence pile up neatly machine people belongs to intelligent machine technical field, and this intelligence pile up neatly machine people includes the roof, the bottom of roof is provided with first positioning mechanism, and first positioning mechanism's bottom is provided with second positioning mechanism, and one side outer wall of second positioning mechanism is provided with jack, and jack's outer wall is provided with and snatchs the seat, and the bottom of snatching the seat is provided with and snatchs the mechanism, and first positioning mechanism includes first motor, first screw rod and first slider, and the top outer wall of first motor passes through the bolt fastening on the bottom outer wall of roof, and the output of first motor passes through coupling joint on one side outer wall of first screw rod. The utility model discloses first positioning mechanism, second positioning mechanism and jack are simple motor-screw drive, have saved the setting of a lot of electrical components to snatch the mechanism and be the design of mechanical type many connecting rods, can make the cost reduce by a wide margin.
Description
Technical Field
The utility model belongs to the technical field of intelligent machine, concretely relates to intelligence pile up neatly machine people.
Background
In prior art, along with the human cost rises, the producer is accomplished by the manpower to product package and is caused intensity of labour big, operating time is long, the operation is boring, easily produce fatigue, manufacturing cost has been improved, enterprise's competitiveness has been reduced, palletizing robot utilizes machinery, electric isotructure, realize snatching, transport and pile up neatly to big batch work piece, palletizing robot on the market at present mostly uses the arm, but inside a lot of electrical components and the mechanical component of containing of this kind of arm-type palletizing robot of machinery, though guaranteed very high precision, but make the cost of robot with high costs, and later maintenance difficulty.
Through search and discovery, an intelligent palletizing robot is disclosed in the Chinese patent with the publication number of CN204528685U, and comprises a base, a rotary base transmission motor, a cross arm transmission motor, a balance block, a vertical arm transmission motor, a first connecting rod, a second connecting rod, a third connecting rod, an energy storage balancer, a wrist base, a gripper transmission motor reducer and a gripper connecting flange.
However, the technical scheme also has the problem of high manufacturing cost due to the arrangement of a plurality of transmission motors such as a rotary machine base transmission motor, a cross arm transmission motor, a vertical arm transmission motor and the like and corresponding control elements.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an intelligence pile up neatly machine people aims at solving the problem that the cost among the prior art is with high costs.
In order to achieve the above object, the utility model provides a following technical scheme: the automatic picking and placing device comprises a top plate, wherein a first positioning mechanism is arranged at the bottom of the top plate, a second positioning mechanism is arranged at the bottom of the first positioning mechanism, a picking and placing mechanism is arranged on the outer wall of one side of the second positioning mechanism, a picking seat is arranged on the outer wall of the picking and placing mechanism, and a picking mechanism is arranged at the bottom of the picking seat.
In order to make first slider can slide along the roof, as the utility model relates to an it is preferred, first positioning mechanism includes first motor, first screw rod and first slider, and on the bottom outer wall of roof was fixed in through the bolt to the top outer wall of first motor, the output of first motor passed through the coupling joint on one side outer wall of first screw rod, and the circumference outer wall of first screw rod passes through threaded connection on the inner wall of first slider, and the equal sliding connection of top outer wall of two first sliders is on the bottom outer wall of roof.
In order to make first connecting plate can slide along the guide rail, as the utility model relates to an it is preferred, second positioning mechanism includes guide rail, second motor and second screw rod, and on the top outer wall of two guide rails all was fixed in the bottom outer wall of two first sliders through the bolt, the spout had all been opened to the inner wall of two guide rails, the equal sliding connection pulley of inner wall of spout, and the connecting axle has all been welded to the inner wall of two pulleys, and the bottom outer wall of two connecting axles all has same first connecting plate through the bolt fastening.
In order to make first connecting plate have the power source, conduct the utility model relates to an it is preferred, two the bottom outer wall of guide rail has the first fixed block of two parallels through the bolt fastening, and the equal joint of inner wall of two first fixed blocks has the bearing, and the inner wall joint of two bearings is on the outer wall of same second screw rod, and the second motor passes through the bolt fastening with relative one side outer wall of first fixed block, and the output of second motor passes through the coupling joint on one side outer wall of second screw rod.
In order to make the first grabbing bar move up and down, as a preferable mode of the present invention, the retraction and release mechanism includes a third motor, a third screw rod, receive and release the cylinder and receive and release the hank rope, the top outer wall of third motor passes through the bolt fastening on the bottom outer wall of first connecting plate, the output and the third screw rod of third motor pass through the coupling joint, one side outer wall of third screw rod welds on one side outer wall of receiving and releasing the cylinder, the inner wall lock joint of receiving and releasing the cylinder is in the one end of receiving and releasing the hank rope, the other end lock joint of receiving and releasing the hank rope has first grab bar, the top circumference outer wall of first grab bar has the balancing weight through the bolt fastening, the circumference outer wall sliding connection of first grab bar has the second slider, one side outer wall sliding connection of second slider has the second fixed block, the top outer wall of second fixed block passes through the bolt fastening on the bottom outer wall of first connecting plate, the bottom circumference outer wall of.
In order to enable the grabbing mechanism to grab workpieces, as a preferred embodiment of the present invention, the grabbing mechanism comprises a first grabbing hand and a second grabbing hand, one side inner wall of two symmetrical first grabbing hands is hinged with a same third grabbing rod, the circumference outer wall of the third grabbing rod is welded with two parallel second connecting plates, the circumference outer wall of the other third grabbing rod is also welded with two parallel second connecting plates, the top outer walls of the four second connecting plates are welded with the bottom outer wall of the grabbing seat, one side inner walls of the two first grabbing hands are hinged with a first hinged plate, the inner walls of the two first hinged plates are hinged with a same second grabbing rod, the two side circumference outer walls of the other second grabbing rod are hinged with second hinged plates, the outer walls of the two second hinged plates are hinged with the inner walls of the two second grabbing hands, the outer walls of the two second grabbing rods are welded with a same third fixing block, the top outer wall of the third fixed block is connected to the bottom outer wall of the first grabbing rod through a bolt.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses in, first positioning mechanism, second positioning mechanism and jack are simple motor-screw drive, have saved the setting of a lot of electrical components to snatch the mechanism and be the design of mechanical type many connecting rods, can make the cost reduce by a wide margin.
2. The utility model discloses in, snatch the mechanism and only pass through the bolt fastening for positioning mechanism, can guarantee to snatch the mechanism and dismantle conveniently on the accurate basis in location, and later maintenance maintains simply.
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 structural view of a first positioning mechanism in the present invention;
fig. 3 is a schematic structural view of a second positioning mechanism in the present invention;
fig. 4 is a schematic structural view of the grabbing mechanism of the present invention;
fig. 5 is an enlarged schematic structural diagram of a in the present invention.
In the figure: 1-a top plate; 2-a first electric machine; 3-a first screw; 4-a first slider; 5-a guide rail; 6-a second motor; 7-a second screw; 8-a bearing; 9-a first fixed block; 10-a third motor; 11-a third screw; 12-a second slide; 13-a first grab bar; 14-a counterweight block; 15-reeling and unreeling the twisted rope; 16-a winding and unwinding roller; 17-a second fixed block; 18-a first connection plate; 19-a second grab bar; 20-a first hinge plate; 21-a first gripper; 22-a second gripper; 23-a second hinge plate; 24-a third grab bar; 25-a second connecting plate; 26-a gripping seat; 27-a third fixed block; 28-connecting shaft.
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 the following technical solutions: the automatic picking and placing device comprises a top plate 1, wherein a first positioning mechanism is arranged at the bottom of the top plate 1, a second positioning mechanism is arranged at the bottom of the first positioning mechanism, a picking and placing mechanism is arranged on the outer wall of one side of the second positioning mechanism, a picking seat 26 is arranged on the outer wall of the picking and placing mechanism, and a picking mechanism is arranged at the bottom of the picking seat 26.
In the embodiment of the present invention, the first positioning mechanism, the second positioning mechanism and the retracting mechanism are simple motor-screw transmissions, which saves the setting of many electrical components, and the grasping mechanism is a mechanical multi-link design, so that the cost can be greatly reduced.
Specifically, first positioning mechanism includes first motor 2, first screw rod 3 and first slider 4, and on the top outer wall of roof 1 was fixed in through the bolt to the top outer wall of first motor 2, the output of first motor 2 passed through the coupling joint on one side outer wall of first screw rod 3, and threaded connection is passed through on the inner wall of first slider 4 to the circumference outer wall of first screw rod 3, and the equal sliding connection of top outer wall of two first sliders 4 is on the bottom outer wall of roof 1.
In this embodiment: the first motor 2 can drive the first screw rod 3 to rotate in the first sliding block 4 through the coupler, and the first sliding block 4 is in sliding connection with the top plate 1, so that the first sliding block 4 can slide along the top plate 1.
Specifically, the second positioning mechanism comprises a guide rail 5, second motor 6 and second screw rod 7, the top outer wall of two guide rails 5 all is fixed in on the bottom outer wall of two first sliders 4 through the bolt, the spout has all been opened to the inner wall of two guide rails 5, the equal sliding connection pulley of inner wall of spout, connecting axle 28 has all been welded to the inner wall of two pulleys, the bottom outer wall of two connecting axle 28 all has same first connecting plate 18 through the bolt fastening, the bottom outer wall of two guide rails 5 has two parallel first fixed blocks 9 through the bolt fastening, the equal joint of inner wall of two first fixed blocks 9 has bearing 8, the inner wall joint of two bearing 8 is on the outer wall of same second screw rod 7, second motor 6 passes through the bolt fastening with the relative one side outer wall of first fixed block 9, the output of second motor 6 passes through coupling joint on one side outer wall of second screw rod 7.
In this embodiment: the first connecting plate 18 is connected with the guide rail 5 in a sliding mode through a connecting shaft 28 and a pulley, the circumferential outer wall of the second screw 7 is connected to the inner wall of the first connecting plate 18 through threads, and the second motor 6 can drive the second screw 7 to rotate on the inner wall of the first connecting plate 18 through a coupler, so that the first connecting plate 18 can slide along the guide rail 5.
Specifically, the retraction mechanism comprises a third motor 10 and a third screw rod 11, receive and release cylinder 16 and receive and release stranded rope 15, the top outer wall of third motor 10 passes through the bolt fastening on the bottom outer wall of first connecting plate 18, the output of third motor 10 passes through the coupling joint with third screw rod 11, one side outer wall of third screw rod 11 welds on the one side outer wall of receiving and releasing cylinder 16, the inner wall lock joint that receives and releases cylinder 16 receives and releases the one end of stranded rope 15, the other end lock joint that receives and releases stranded rope 15 has first grab bar 13, the top circumference outer wall of first grab bar 13 has balancing weight 14 through the bolt fastening, the circumference outer wall sliding connection of first grab bar 13 has second slider 12, one side outer wall sliding connection of second slider 12 has second fixed block 17, the top outer wall of second fixed block 17 passes through the bolt fastening on the bottom outer wall of first connecting plate 18, the bottom circumference outer wall of first grab bar 13 is provided with the stopper.
In this embodiment: the third motor 10 can drive the retracting roller 16 to rotate through the third screw rod 11, retracting and releasing of the retracting rope 15 can be achieved when the retracting roller 16 rotates, the retracting and releasing rope 15 drives the first grabbing rod 13 to move up and down, the first grabbing rod 13 is connected with the second slider 12 in a sliding mode, the outer wall of the circumference of the bottom of the first grabbing rod 13 is provided with a limiting block, the retracting and releasing rope 15 drives the first grabbing rod 13 to move upwards, and when the limiting block abuts against the outer wall of the bottom of the second slider 12, the second slider 12 can slide along the second fixing block 17.
Specifically, the grabbing mechanism comprises a first grabbing hand 21 and a second grabbing hand 22, one side inner wall of the two symmetrical first grabbing hands 21 is hinged with the same third grabbing rod 24, the two parallel second connecting plates 25 are welded on the outer wall of the circumference of the third grabbing rod 24, the two parallel second connecting plates 25 are also welded on the outer wall of the circumference of the other third grabbing rod 24, the outer walls of the tops of the four second connecting plates 25 are all welded on the outer wall of the bottom of the grabbing seat 26, one side inner walls of the two first grabbing hands 21 are all hinged with the first hinged plate 20, the inner walls of the two first hinged plates 20 are hinged with the same second grabbing rod 19, the outer walls of the two sides of the other second grabbing rod 19 are all hinged with the second hinged plates 23, the outer walls of the two second hinged plates 23 are all hinged on the inner walls of the two second grabbing hands 22, the outer walls of the two second grabbing rods 19 are all welded with the same third fixing block 27, and the outer wall of the top of the third fixing block 27 is connected on the.
In this embodiment: because the two second grabbing rods 19 and the first grabbing hand 21 and the second grabbing hand 22 are movably linked through the first hinged plate 20 and the second hinged plate 23 respectively, and the first grabbing hand 21, the second grabbing hand 22 and the third grabbing hand 24 are hinged, before the grabbing mechanism grabs a workpiece, the counterweight block 14 drives the first grabbing rod 13 to move downwards, the first grabbing rod 13 drives the two second grabbing rods 19 to move downwards through the third fixed block 27, so that the first grabbing hand 21 and the second grabbing hand 22 are separated in relative positions through the first hinged plate 20 and the second hinged plate 23, the workpiece to be grabbed is taken out, when the workpiece needs to be grabbed, the first grabbing rod 13 drives the two second grabbing rods 19 to move upwards through the third fixed block 27, so that the first grabbing hand 21 and the second grabbing hand 22 are closed through the first hinged plate 20 and the second hinged plate 23, and the workpiece is in a grabbing and transporting state.
The utility model discloses a theory of operation and use flow: since the two second gripping bars 19 and the first and second grippers 21 and 22 are movably linked by the first and second hinge plates 20 and 23, respectively, and the first and second grippers 21 and 22 and the third gripping bar 24 are hinged, therefore, before the grabbing mechanism grabs the workpiece, the counterweight block 14 will drive the first grabbing rod 13 to move downwards, the first grabbing rod 13 will drive the two second grabbing rods 19 to move downwards through the third fixing block 27, so that the first and second hand grips 21, 22 are relatively positioned apart by the first and second hinge plates 20, 23, the grip to be gripped is released, when a workpiece needs to be grabbed, the first grabbing rod 13 drives the two second grabbing rods 19 to move upwards through the third fixing block 27, so that the first and second grippers 21 and 22 are closed in relative position by the first and second hinge plates 20 and 23, in a gripping and transporting state, when the gripping mechanism is gripping a workpiece; the third motor 10 can drive the retracting and releasing roller 16 to rotate through the third screw rod 11, the retracting and releasing of the retracting and releasing twisted rope 15 can be realized when the retracting and releasing roller 16 rotates, thereby leading the retractable stranded rope 15 to drive the first grabbing rod 13 to move up and down, leading the first grabbing rod 13 to be connected with the second sliding block 12 in a sliding way, arranging a limit block on the outer wall of the circumference of the bottom of the first grabbing rod 13, leading the retractable stranded rope 15 to drive the first grabbing rod 13 to move upwards, leading the second sliding block 12 to slide along the second fixed block 17 when the limit block is abutted against the outer wall of the bottom of the second sliding block 12, thereby driving the grabbing mechanism to rise to a required height, the first connecting plate 18 is connected with the guide rail 5 in a sliding mode through the connecting shaft 28 and the pulley, the circumferential outer wall of the second screw 7 is connected to the inner wall of the first connecting plate 18 through threads, the second motor 6 can drive the second screw 7 to rotate on the inner wall of the first connecting plate 18 through the coupler, and the first connecting plate 18 can drive the grabbing mechanism to slide along the guide rail 5; first motor 2 accessible shaft coupling drives first screw rod 3 and rotates in first slider 4, first slider 4 and roof 1 sliding connection to make first slider 4 can slide along roof 1, first slider 4 is fixed relative second positioning mechanism, to sum up, first positioning mechanism and second positioning mechanism can make and snatch the mechanism displacement to the planar position of needs, and the mechanism can be controlled to snatch to the jack and shift from top to bottom, in order to reach the effect of automatic pile up neatly.
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 may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an intelligence pile up neatly machine people, includes roof (1), its characterized in that: the bottom of the top plate (1) is provided with a first positioning mechanism, the bottom of the first positioning mechanism is provided with a second positioning mechanism, the outer wall of one side of the second positioning mechanism is provided with a retracting mechanism, the outer wall of the retracting mechanism is provided with a grabbing seat (26), and the bottom of the grabbing seat (26) is provided with a grabbing mechanism.
2. The intelligent palletizing robot as claimed in claim 1, wherein: the first positioning mechanism comprises a first motor (2), a first screw rod (3) and first sliding blocks (4), the top outer wall of the first motor (2) is fixed on the bottom outer wall of the top plate (1) through bolts, the output end of the first motor (2) is connected onto one side outer wall of the first screw rod (3) through a coupler, the circumference outer wall of the first screw rod (3) is connected onto the inner wall of the first sliding blocks (4) through threads, and the top outer walls of the two first sliding blocks (4) are connected onto the bottom outer wall of the top plate (1) in a sliding mode.
3. The intelligent palletizing robot as claimed in claim 1, wherein: the second positioning mechanism comprises guide rails (5), a second motor (6) and a second screw (7), the top outer walls of the two guide rails (5) are fixed on the bottom outer walls of the two first sliding blocks (4) through bolts, sliding grooves are formed in the inner walls of the two guide rails (5), the inner walls of the sliding grooves are connected with pulleys in a sliding mode, connecting shafts (28) are welded on the inner walls of the two pulleys, and the bottom outer walls of the two connecting shafts (28) are fixed with the same first connecting plate (18) through bolts.
4. The intelligent palletizing robot as claimed in claim 3, wherein: two the bottom outer wall of guide rail (5) is fixed with first fixed block (9) of two parallels through the bolt, and the equal joint of inner wall of two first fixed blocks (9) has bearing (8), and the inner wall joint of two bearings (8) is on the outer wall of same second screw rod (7), and second motor (6) passes through the bolt fastening with the relative one side outer wall of first fixed block (9), and the output of second motor (6) passes through the coupling joint on one side outer wall of second screw rod (7).
5. The intelligent palletizing robot as claimed in claim 1, wherein: the winding and unwinding mechanism comprises a third motor (10), a third screw (11), a winding and unwinding roller (16) and a winding and unwinding rope (15), the top outer wall of the third motor (10) is fixed on the bottom outer wall of the first connecting plate (18) through a bolt, the output end of the third motor (10) is connected with the third screw (11) through a coupler, one side outer wall of the third screw (11) is welded on the side outer wall of the winding and unwinding roller (16), the inner wall of the winding and unwinding roller (16) is buckled at one end of the winding and unwinding rope (15), the other end of the winding and unwinding rope (15) is buckled with a first grabbing rod (13), the top circumference outer wall of the first grabbing rod (13) is fixed with a balancing weight (14) through a bolt, the circumference outer wall of the first grabbing rod (13) is connected with a second sliding block (12), one side outer wall of the second sliding block (12) is connected with a second fixing block (17), the top outer wall of the second fixing block (17) is fixed on the bottom outer wall of And the outer wall of the circumference of the bottom of the first grabbing rod (13) is provided with a limiting block.
6. The intelligent palletizing robot as claimed in claim 1, wherein: the grabbing mechanism comprises a first grabbing hand (21) and a second grabbing hand (22), one side inner wall of the two symmetrical first grabbing hands (21) is hinged with one third grabbing rod (24), the outer wall of the circumference of the third grabbing rod (24) is welded with two parallel second connecting plates (25), the outer wall of the circumference of the other third grabbing rod (24) is also welded with two parallel second connecting plates (25), the outer walls of the tops of the four second connecting plates (25) are welded with the outer wall of the bottom of a grabbing seat (26), the inner walls of one sides of the two first grabbing hands (21) are hinged with first hinged plates (20), the inner walls of the two first hinged plates (20) are hinged with one second grabbing rod (19), the outer walls of the two sides of the other second grabbing rod (19) are hinged with second hinged plates (23), and the outer walls of the two second hinged plates (23) are hinged with the inner walls of the two second grabbing hands (22), the outer walls of the two second grabbing rods (19) are welded with the same third fixing block (27), and the outer wall of the top of the third fixing block (27) is connected to the outer wall of the bottom of the first grabbing rod (13) through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922464053.XU CN211225537U (en) | 2019-12-31 | 2019-12-31 | Intelligent stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922464053.XU CN211225537U (en) | 2019-12-31 | 2019-12-31 | Intelligent stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211225537U true CN211225537U (en) | 2020-08-11 |
Family
ID=71914760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922464053.XU Expired - Fee Related CN211225537U (en) | 2019-12-31 | 2019-12-31 | Intelligent stacking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211225537U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113120629A (en) * | 2021-04-09 | 2021-07-16 | 佛山市鑫亿合辉金属科技有限公司 | Zinc alloy integrated ingot placing bracket |
| CN114772275A (en) * | 2022-06-27 | 2022-07-22 | 沈阳工业大学 | Gripper assembly and control method thereof |
| CN115092675A (en) * | 2022-07-13 | 2022-09-23 | 李姝仪 | Intelligent discharging system for building brick arrangement and construction method |
-
2019
- 2019-12-31 CN CN201922464053.XU patent/CN211225537U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113120629A (en) * | 2021-04-09 | 2021-07-16 | 佛山市鑫亿合辉金属科技有限公司 | Zinc alloy integrated ingot placing bracket |
| CN114772275A (en) * | 2022-06-27 | 2022-07-22 | 沈阳工业大学 | Gripper assembly and control method thereof |
| CN115092675A (en) * | 2022-07-13 | 2022-09-23 | 李姝仪 | Intelligent discharging system for building brick arrangement and construction method |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200811 Termination date: 20201231 |
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| CF01 | Termination of patent right due to non-payment of annual fee |