CN212100927U - Multi-degree-of-freedom controllable mechanism type stacking robot - Google Patents

Abstract

The utility model discloses a multi freedom controllable mechanism formula pile up neatly machine people, which comprises a mounting bracket, four foot positions all install and are equipped with synchronous machine under the mounting bracket, the last sliding surface of mounting bracket installs the slide, the last sliding surface of slide installs and removes the slide, a side surface of mounting bracket, the upper surface of slide with the inside equal fixed mounting who removes the slide has servo motor, the front surface slidable mounting who removes the slide has flexible draw runner, the lower extreme fixed mounting of flexible draw runner has mechanical tongs. A multi freedom controllable mechanism formula pile up neatly machine people, the higher goods of pile up neatly is applicable to the demand of multiple pile up neatly to can be when snatching longer goods, can not lead to the loss that frictional force is not enough and the landing is broken and is brought because of the area undersize, thereby play good adaptability, be applicable to the goods use of multiple size.

Description

Multi-degree-of-freedom controllable mechanism type stacking robot

Technical Field

The utility model relates to a pile up neatly machine people field, in particular to multi freedom controllable mechanism formula pile up neatly machine people.

Background

The stacking robot is a novel machine type developed, the quality is stable, the cost performance is high, only two points are needed to be positioned in the program of the stacking manipulator, one is a grabbing point and the other is a placing point, the tracks except the two points are all controlled by a computer, and the computer can search the most reasonable track of the two points to move, so the teaching method is very simple, the manipulator belongs to linear motion in principle, the equipment is suitable for automatic production enterprises of chemical industry, beverages, foods, beer, plastics and the like, is suitable for packaging of various shapes such as various cartons, bags, cans, beer boxes and the like, has higher degree of freedom and controllability, has better practical effect and lower power consumption, and is widely applied to various fields; however, the existing palletizing robot has certain disadvantages when in use, and when the robot clamps some higher boxes due to the fact that the clamping surface is smaller, the robot easily slides and drops due to the fact that the friction contact area is smaller, and the robot cannot lift the height of palletizing to meet the requirements of various palletizing.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a multi freedom controllable mechanism formula pile up neatly machine people can effectively solve the problem in the background art.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a multi freedom controllable mechanism formula pile up neatly machine people, includes the mounting bracket, all install and be equipped with synchronous machine in the four feet position of mounting bracket lower surface, the last slidable mounting of mounting bracket has the shifting board, the last slidable mounting of shifting board has the removal slide, a side surface of mounting bracket, the upper surface of shifting board and the equal fixed mounting in inside of removing the slide has servo motor, the front surface slidable mounting who removes the slide has flexible draw runner, the lower extreme fixed mounting of flexible draw runner has mechanical tongs.

Preferably, the lower surface of mounting bracket is close to the equal fixed mounting in four corners position and has the support column, the spiral hole has been seted up to the lower extreme of support column, the upper surface of mounting bracket is close to the equal fixed mounting in both sides border position and has the front and back slide, synchronous machine's upper end fixed connection installs the lead screw, synchronous machine's lower fixed surface installs the mount pad.

Preferably, the upper surface fixed mounting of shifting board has left and right sides slide, the mounting bracket is through front and back slide and shifting board swing joint, shift the slide through left and right sides slide and shifting board swing joint.

Preferably, servo motor's output fixed mounting has the action wheel, the surface cover of action wheel is established and is installed the removal track, the other pot head that removes the track is equipped with from the driving wheel, from the driving wheel pass through the installing support respectively with mounting bracket and removal slide fixed connection.

Preferably, the last fixed surface of machinery tongs installs the air pump, the one end movable mounting of air pump has the telescopic link, the other end fixed mounting of telescopic link has the tongs of exerting pressure, the tongs of exerting pressure with the equal movable mounting in inboard of machinery tongs has the extension plate, the fixed surface of extension plate installs the rotation axis, the tongs of exerting pressure with the inboard below that is located the rotation axis of machinery tongs all fixed mounting have the gag lever post, the fixed surface of gag lever post installs neodymium magnet, the tongs of exerting pressure with set screw is installed to the equal spiral in the outside surface of machinery tongs.

Preferably, the extension plate is movably connected with the pressure applying gripper and the mechanical gripper through a rotating shaft respectively, the extension plate is fixed with the limiting rod through adsorption of neodymium magnets, and the extension plate is fixed on the inner sides of the pressure applying gripper and the mechanical gripper through fixing screws respectively.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model discloses in, synchronous machine through the setting, the synchronous machine that in use was equipped with starts to make the lead screw slowly rotate, thereby make four synchronous machines of group make the ascending lifting of mounting bracket in step, and then can pile up neatly higher goods, be applicable to the demand of multiple pile up neatly, mechanical tongs through the setting, mechanical tongs is in the high longer term of goods, the user can loosen set screw, will add the rotatory surface that adsorbs at the gag lever post through neodymium magnet of extension plate, when snatching longer goods like this, just can not lead to the frictional force not enough and the loss that the landing was broken and is brought because of the area undersize, thereby play good adaptability, the goods that is applicable to multiple size are used.

Drawings

Fig. 1 is a schematic view of the overall structure of a multi-degree-of-freedom controllable mechanism type palletizing robot of the present invention;

fig. 2 is a partial view of a mechanical gripper of the multi-degree-of-freedom controllable mechanism type palletizing robot of the utility model;

fig. 3 is a partial cross-sectional view of a mechanical gripper of the multi-degree-of-freedom controllable mechanism type palletizing robot of the present invention;

fig. 4 is a partial sectional view of a synchronous motor of the multi-degree-of-freedom controllable mechanism type palletizing robot.

In the figure: 1. a mounting frame; 101. a support pillar; 102. a helical bore; 103. a front and rear slide way; 2. a synchronous motor; 201. a mounting seat; 202. a screw rod; 3. moving the sliding plate; 301. a left slideway and a right slideway; 4. moving the slide; 5. a servo motor; 501. moving the caterpillar; 502. a driven wheel; 503. a driving wheel; 6. a telescopic slide bar; 7. a mechanical gripper; 701. an air pump; 702. a telescopic rod; 703. pressing the gripper; 704. a lengthening plate; 705. a rotating shaft; 706. a limiting rod; 707. a neodymium magnet; 708. and fixing the screw.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" 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 simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or 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.

As shown in fig. 1-4, a multi-degree-of-freedom controllable mechanism type palletizing robot comprises an installation frame 1, wherein synchronous motors 2 are respectively installed at four foot positions on the lower surface of the installation frame 1, a movable sliding plate 3 is installed on the upper surface of the installation frame 1 in a sliding manner, a movable sliding seat 4 is installed on the upper surface of the movable sliding plate 3 in a sliding manner, servo motors 5 are respectively and fixedly installed on the surface of one side of the installation frame 1, the upper surface of the movable sliding plate 3 and the inside of the movable sliding seat 4, a telescopic sliding strip 6 is installed on the front surface of the movable sliding seat 4 in a sliding manner, and a mechanical gripper 7 is;

the lower surface of the mounting rack 1 is fixedly provided with support columns 101 at positions close to four corners, the lower ends of the support columns 101 are provided with spiral holes 102, the upper surface of the mounting rack 1 is fixedly provided with front and rear slideways 103 at positions close to edges of two sides, the upper end of the synchronous motor 2 is fixedly connected with a screw rod 202, and the lower surface of the synchronous motor 2 is fixedly provided with a mounting seat 201; the upper surface of the movable sliding plate 3 is fixedly provided with a left slideway 301 and a right slideway 301, the mounting frame 1 is movably connected with the movable sliding plate 3 through the front slideway 103 and the rear slideway 103, and the movable sliding seat 4 is movably connected with the movable sliding plate 3 through the left slideway 301 and the right slideway 301; the output end of the servo motor 5 is fixedly provided with a driving wheel 503, the surface of the driving wheel 503 is sleeved with a movable crawler 501, the other end of the movable crawler 501 is sleeved with a driven wheel 502, and the driven wheel 502 is respectively and fixedly connected with the mounting frame 1 and the movable sliding plate 3 through mounting brackets; an air pump 701 is fixedly installed on the upper surface of the mechanical gripper 7, an expansion rod 702 is movably installed at one end of the air pump 701, a pressing gripper 703 is fixedly installed at the other end of the expansion rod 702, an extension plate 704 is movably installed on the inner sides of the pressing gripper 703 and the mechanical gripper 7, a rotating shaft 705 is fixedly installed on the surface of the extension plate 704, limiting rods 706 are fixedly installed below the rotating shaft 705 on the inner sides of the pressing gripper 703 and the mechanical gripper 7, neodymium magnets 707 are fixedly installed on the surface of the limiting rods 706, and fixing screws 708 are spirally installed on the outer side surfaces of the pressing gripper 703 and the mechanical gripper 7; the extension plate 704 is movably connected with the pressing hand grip 703 and the mechanical hand grip 7 through a rotating shaft 705 respectively, the extension plate 704 is fixed with a limiting rod 706 through an adsorption neodymium magnet 707, and the extension plate 704 is fixed on the inner sides of the pressing hand grip 703 and the mechanical hand grip 7 through fixing screws 708 respectively.

It should be noted that, the utility model relates to a multi-degree-of-freedom controllable mechanism type palletizing robot, when in use, the movable slide plate 3 and the movable slide seat 4 both drive the movable caterpillar 501 to move through the correspondingly arranged servo motor 5, so that the movable slide plate 3 and the movable slide seat 4 respectively move in the front and back and left and right directions, thus the mechanical gripper 7 of the palletizing robot can be moved to the designated horizontal position coordinate, then the servo motor 5 on the movable slide seat 4 is controlled to drive the telescopic slide bar 6 to move up and down, thus the mechanical gripper 7 can be moved in the vertical direction, thus after the machine moves to the point of gripping goods according to the programming, the telescopic rod 702 is contracted through the air pump 701 to make the pressure gripper 703 and the mechanical gripper 7 pick up the goods, then the machine moves to the goods shelf according to the programming coordinate, and the palletizing can be completed, wherein during the palletizing, if the goods, the user can loosen set screw 708, will lengthen board 704 and rotatory and adsorb on the surface of gag lever post 706 through neodymium magnet 707, like this when snatching longer goods, just can not lead to the loss that frictional force is not enough and the landing breaks and brings because of the area undersize, thereby play good adaptability, the goods that is applicable to multiple size are used, synchronous machine 2 that in addition was equipped with starts and makes lead screw 202 slowly rotate, thereby make four synchronous machine 2 of group upwards uplift with mounting bracket 1 in step, and then can pile up neatly higher goods, be applicable to the demand of multiple pile up neatly.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. 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 (6)

1. The utility model provides a multi freedom controllable mechanism formula pile up neatly machine people which characterized in that: including mounting bracket (1), four foot positions of mounting bracket (1) lower surface are all installed and are equipped with synchronous motor (2), the upper surface slidable mounting of mounting bracket (1) has movable slide (3), the upper surface slidable mounting of movable slide (3) has movable slide (4), a side surface of mounting bracket (1), the upper surface of movable slide (3) and the equal fixed mounting in inside of movable slide (4) has servo motor (5), the front surface slidable mounting of movable slide (4) has flexible draw runner (6), the lower extreme fixed mounting of flexible draw runner (6) has mechanical tongs (7).

2. The multiple degree of freedom controllable mechanism palletizing robot as claimed in claim 1, wherein: the lower surface of mounting bracket (1) is close to the equal fixed mounting in four corners position and has support column (101), spiral hole (102) have been seted up to the lower extreme of support column (101), the upper surface of mounting bracket (1) is close to the equal fixed mounting in both sides border position and has front and back slide (103), the upper end fixed connection of synchronous machine (2) installs lead screw (202), the lower fixed surface of synchronous machine (2) installs mount pad (201).

3. The robot palletizer with a multiple degree of freedom controllable mechanism as claimed in claim 2, wherein: slide (301) about the last fixed surface of moving slide (3) installs, mounting bracket (1) are through slide (103) and moving slide (3) swing joint around, move slide (4) through controlling slide (301) and moving slide (3) swing joint.

4. The multiple degree of freedom controllable mechanism palletizing robot as claimed in claim 1, wherein: the output fixed mounting of servo motor (5) has action wheel (503), the surface cover of action wheel (503) is established and is installed removal track (501), the other pot head that removes track (501) is equipped with from driving wheel (502), from driving wheel (502) through installing support respectively with mounting bracket (1) and moving slide (3) fixed connection.

5. The multiple degree of freedom controllable mechanism palletizing robot as claimed in claim 1, wherein: the last fixed surface of machinery tongs (7) installs air pump (701), the one end movable mounting of air pump (701) has telescopic link (702), the other end fixed mounting of telescopic link (702) has tongs (703) of exerting pressure, exert pressure tongs (703) with the equal movable mounting in inboard of machinery tongs (7) has lengthened board (704), the fixed surface of lengthening board (704) installs rotation axis (705), exert pressure tongs (703) with the inboard of machinery tongs (7) is located the equal fixed mounting in below of rotation axis (705) has gag lever post (706), the fixed surface of gag lever post (706) installs neodymium magnet (707), exert pressure tongs (703) with the equal spiral mounting in outside surface of machinery tongs (7) has set screw (708).

6. The multi-degree-of-freedom controllable mechanism palletizing robot as claimed in claim 5, wherein: the lengthening plate (704) is movably connected with the pressing gripper (703) and the mechanical gripper (7) through a rotating shaft (705), the lengthening plate (704) is fixed with the limiting rod (706) through an adsorption neodymium magnet (707), and the lengthening plate (704) is fixed on the inner sides of the pressing gripper (703) and the mechanical gripper (7) through fixing screws (708).

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