CN212314941U - Five-axis linkage automatic marshalling device - Google Patents

Abstract

The utility model discloses an automatic marshalling device of five-axis linkage relates to hacking machine technical field, and its technical scheme main points are: all be equipped with the driving piece that drive X axle frame removed between two second frames on the second frame, be equipped with the moving member that drive Y axle frame removed on X axle frame on the X axle frame, the horizontal plate rotates towards one side on ground and is connected with the clamping jaw spare of pressing from both sides the material package clamp, one side that the horizontal plate was pressed from both sides the clamping jaw spare dorsad is equipped with the first servo motor of drive clamping jaw spare pivoted, be equipped with the slider that the first slider of drive removed in first slip track on the first slider, through driving piece, moving member and slider, realize the XYZ triaxial removal of clamping jaw, simultaneously, through first servo motor, the clamping jaw can remove on the horizontal plate for the clamping jaw position can be adjusted, with the accuracy snatchs different material packages, improves work efficiency.

Description

Five-axis linkage automatic marshalling device

Technical Field

The utility model relates to a hacking machine technical field, more specifically say, it relates to an automatic marshalling device of five-axis linkage.

Background

The prior pre-grouping device before stacking is mainly a mechanical pre-grouping device and a robot pre-grouping device: the mechanical pre-grouping firstly leads the materials to be turned or not to be turned according to the preset pattern through the air cylinder device, then the materials enter the subsequent box pushing device to be arranged in rows, and then the materials are integrated into layers on the buffer table, so the efficiency is lower; the robot pre-grouping moves or turns materials through the robot, and a whole layer is directly formed on a subsequent buffer platform, but the robot needs a large installation space, a working space is a sphere, the actual utilization rate is low, and the cost is high.

Chinese patent with publication number CN204624711U discloses a stacker crane, the technical scheme of which is as follows: the stacking device comprises a base and a rack, wherein two stacking mechanisms are arranged on the rack, one stacking mechanism is suitable for objects with the weight less than 50kg and is a light stacking mechanism, and the other stacking mechanism is suitable for objects with the weight more than 50kg and is a heavy stacking mechanism; the light stacking mechanism comprises a base arranged on the stacking rack, a rotating motor is arranged on the base, a mechanical arm is arranged on the rotating motor, the end part of the mechanical arm is connected with a connecting disc, and a clamp is arranged on the connecting disc; heavy pile up neatly mechanism is provided with the crossbeam including installing the base in the pile up neatly frame on the base, and hoisting motor is installed to the one end of crossbeam, and hoisting motor is connected with the lifter, and the lower extreme of lifter is connected with anchor clamps.

However, in the above scheme, the sizes of the material bags are different, so that the actual gripping positions of the gripping jaws are different, and the positions of the materials cannot be accurately positioned.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an automatic marshalling device of five-axis linkage for the clamping jaw position can be adjusted, with the accuracy snatchs different material package, improves work efficiency.

The above technical purpose of the present invention can be achieved by the following technical solutions: an automatic grouping device with five-axis linkage comprises a square frame, wherein the square frame comprises a square upper frame and a square lower frame, four corners of the upper frame and the lower frame are respectively provided with stand columns which are arranged on the ground through mounting plates, the upper frame comprises two outer frame groups, the two outer frame groups respectively comprise two first outer frames which are parallel to each other and two second outer frames which are parallel to each other, an X-axis outer frame is arranged between the two second outer frames, driving pieces for driving the X-axis outer frame to move between the two second outer frames are arranged on the second outer frames, a Y-axis outer frame is arranged on the X-axis outer frame, the X-axis outer frame is provided with the driving pieces for driving the Y-axis outer frame to move on the X-axis outer frame, the Y-axis outer frame is provided with first sliding rails which are distributed along the length, first slide rail says that sliding connection has first slider, the fixed horizontal plate that is equipped with on the first slider, the horizontal plate rotates towards one side on ground and is connected with the clamping jaw spare of getting the material package clamp, one side that the horizontal plate pressed from both sides the clamping jaw spare dorsad is equipped with the first servo motor of drive clamping jaw spare pivoted, be equipped with the slider that the first slider of drive removed in first slip track on the first slider.

Through adopting above-mentioned technical scheme, through driving piece, moving member and slider, realize the XYZ triaxial removal of clamping jaw, simultaneously, through a servo motor, the clamping jaw can remove on the horizontal plate for the clamping jaw position can be adjusted, with the accuracy snatch different material packages, improves work efficiency.

Preferably, the driving member includes two rotating shafts, the two rotating shafts are respectively rotatably connected to the inner wall of the first outer frame along the length direction of the first outer frame, two first belt pulleys and two second belt pulleys near the second outer frame are respectively fixedly sleeved at two ends of the two rotating shafts, a first synchronous belt located in the second outer frame is respectively arranged between the two first belt pulleys and the two second belt pulleys, a second slide rail located in the first synchronous belt is respectively arranged in the two second outer frames, a second slider is respectively connected in the two second slide rails in a sliding manner, the two second sliders are respectively connected to the moving frames through the first sliders, toothed press plates are respectively arranged on one sides of the two first synchronous belts, the two toothed press plates are respectively connected to the two moving frames, two ends of the X-axis outer frame respectively penetrate through the moving frames, and two ends of the X-axis outer frame are respectively arranged on the second outer frame, and a second servo motor fixed on the second outer frame is arranged on the rotating shaft.

By adopting the technical scheme, the second servo motor is started, the rotating shaft drives the first synchronous belt to move, and the toothed pressing plate on the first synchronous belt drives the second sliding block, the movable frame and the X-axis outer frame to move on the second sliding rail way, so that the X-axis movement of the X-axis outer frame and the clamping jaw is realized.

Preferably, the moving member includes a third slider, a third sliding rail distributed along the length direction of the X-axis outer frame is arranged on the X-axis outer frame, the third slider is slidably connected in the third sliding rail, one side of the Y-axis outer frame is fixedly connected to the third slider, a screw rod is threaded in the third slider, one end of the screw rod is rotatably connected to the inner wall of the third sliding rail, and one end of the other end of the screw rod, which penetrates through the X-axis outer frame and penetrates through the X-axis outer frame, is connected to a third servo motor fixed on the second outer frame.

By adopting the technical scheme, the third servo motor is started, the screw rod rotates, and the third sliding block moves in the third sliding rail, so that the Y-axis outer frame moves along the third sliding rail way, and the Y-axis movement of the Y-axis outer frame and the clamping jaw is realized.

Preferably, the sliding part comprises a screw rod, the screw rod is arranged in the first sliding block in a threaded manner, one end of the screw rod is rotatably connected to the bottom wall of the Y-axis outer frame, and the other end of the screw rod is provided with a fourth servo motor fixedly arranged on the Y-axis outer frame.

Through adopting above-mentioned technical scheme, start fourth servo motor, the screw rod rotates, and first slider removes in first slide rail way to horizontal plate and clamping jaw move along first slide rail way, realize that the Z axle of clamping jaw removes.

Preferably, the clamping jaw piece includes two fixed axles that use first servo motor as central symmetry, two the fixed axle rotates to be connected on the horizontal plate, two the one end of fixed axle rotates respectively to be connected with the third belt pulley, two be equipped with the second hold-in range between the third belt pulley, the both sides of second hold-in range are equipped with first clamp plate and second clamp plate respectively, all be connected with L type connecting plate on first clamp plate and the second clamp plate, two L type connecting plate is equipped with one respectively and gets group of clamp, it includes two connecting strips, two to get group of clamp the connecting strip all connects on L type connecting plate, two the connecting strip is sliding connection respectively on the horizontal plate lateral wall, two be equipped with the clamp plate between the connecting strip, one the one end of fixed axle dorsad third belt pulley is equipped with the speed reducer of fixing on the horizontal plate.

Through adopting above-mentioned technical scheme, start the speed reducer, the speed reducer drives the fixed axle and rotates, and two third belt pulleys drive the second hold-in range and remove, and first clamp plate and second clamp plate that are located on the second hold-in range both sides are opposite direction and remove to it removes to drive two clamp group's that press from both sides to be opposite direction on the horizontal plate lateral wall, realizes opening and shutting of two clamp plates.

Preferably, one side of each of the two clamping plates opposite to each other is provided with a rubber non-slip mat.

Through adopting above-mentioned technical scheme, reduce the clearance between material package and the pinch-off blades, reduce the damage to the material.

Preferably, four of the upright posts are provided with a foot margin plate adsorbed on the ground.

Through adopting above-mentioned technical scheme, fixed stand prevents that the device from rocking.

Preferably, a safety door parallel to the third sliding rail is arranged between the two upright posts.

Through adopting above-mentioned technical scheme, prevent that the operation in-process people from entering, improve device security.

To sum up, the utility model discloses the beneficial effect who reaches is: first, through driving piece, moving member and slider, realize the XYZ triaxial removal of clamping jaw, simultaneously, through a servo motor, the clamping jaw can remove on the horizontal plate for the clamping jaw position can be adjusted, in order to accurately snatch different material packages, improves work efficiency.

Secondly, this device compact structure occupies that space is littleer, and workspace can utilize first frame and the whole section of second frame to carry moreover, and space utilization is high.

Thirdly, two or three devices can be used in series as a group, and the material processing efficiency is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present embodiment;

FIG. 2 is a schematic diagram of a first slide rail structure according to the present embodiment;

FIG. 3 is a schematic structural diagram of a moving frame and a second slider according to the present embodiment;

FIG. 4 is an enlarged schematic view of the embodiment for embodying the structure A in FIG. 3;

FIG. 5 is a schematic structural diagram of the second timing belt and the fixed shaft according to the present embodiment;

fig. 6 is a schematic structural diagram of the present embodiment for embodying the first and second presser plates.

In the figure: 1. an upper frame; 2. a safety door; 3. a column; 4. a first outer frame; 5. a second outer frame; 6. an X-axis outer frame; 7. a Y-axis outer frame; 8. a first slide rail; 9. a first slider; 10. a horizontal plate; 11. a rotating shaft; 12. a first pulley; 13. a second pulley; 14. a first synchronization belt; 15. a second slide rail; 16. a second slider; 17. moving the frame; 18. a tooth pressing plate; 19. a second servo motor; 20. a third slider; 21. a third slide rail; 22. a first servo motor; 23. a third servo motor; 24. a ground foot plate; 25. a fourth servo motor; 26. a fixed shaft; 27. a third belt pulley; 28. a second synchronous belt; 29. a first platen; 30. a second platen; 31. an L-shaped connecting plate; 32. a connecting strip; 33. a clamping plate; 34. a speed reducer; 35. a rubber non-slip mat.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Examples

The utility model provides an automatic marshalling device of five-axis linkage, includes square frame, and square frame includes square last frame 1 and underframe, goes up four angles of frame 1 and underframe and is equipped with respectively through the mounting panel and places stand 3 subaerial, and four stands 3 all are equipped with the footing dish 24 that adsorbs subaerial, and fixed stand 3 prevents that the device from rocking.

The upper frame 1 comprises two outer frame groups, the two outer frame groups respectively comprise two first outer frames 4 which are parallel to each other and two second outer frames 5 which are parallel to each other, an X-axis outer frame 6 is arranged between the two second outer frames 5 respectively, driving pieces for driving the X-axis outer frame 6 to move between the two second outer frames 5 are arranged on the second outer frames 5 respectively, a Y-axis outer frame 7 is arranged on the X-axis outer frame 6, a moving piece for driving the Y-axis outer frame 7 to move on the X-axis outer frame 6 is arranged on the X-axis outer frame 6, a first sliding rail 8 which is distributed along the length direction of the Y-axis outer frame 7 is arranged on the Y-axis outer frame 7, a first sliding block 9 is connected in the first sliding rail 8 in a sliding manner, a horizontal plate 10 is fixedly arranged on the first sliding block 9, a clamping jaw piece for clamping a material bag is rotationally connected to one side of the horizontal plate 10 which faces the ground, a first servo, be equipped with the slider that the first slider 9 of drive moved in first slip track 8 on first slider 9, through driving piece, moving member and slider, realize the XYZ triaxial removal of clamping jaw, simultaneously, through first servo motor 22, the clamping jaw can move on horizontal plate 10 for the clamping jaw position can be adjusted, in order to accurately snatch different material packages, improves work efficiency.

The driving part comprises two rotating shafts 11, the two rotating shafts 11 are respectively rotatably connected to the inner wall of the first outer frame 4 along the length direction of the first outer frame 4, two ends of the two rotating shafts 11 are respectively fixedly sleeved with two first belt pulleys 12 and two second belt pulleys 13 which are close to the second outer frame 5, a first synchronous belt 14 which is positioned in the second outer frame 5 is arranged between the two first belt pulleys 12 and the two second belt pulleys 13, second sliding rails 15 which are positioned in the first synchronous belt 14 are arranged in the two second outer frames 5, second sliding blocks 16 are respectively connected in the two second sliding rails 15 in a sliding manner, the two second sliding blocks 16 are respectively connected with a moving frame 17 through first sliding blocks 9, toothed pressing plates 18 are respectively arranged on one sides of the two first synchronous belts 14, the two toothed pressing plates 18 are respectively connected to the two moving frames 17, two ends of the X-axis outer frame 6 respectively penetrate through the moving frames 17, and two ends of the X-axis 6 penetrating through the moving frame 17 are both arranged on the second outer frame 5, the second servo motor 19 fixed on the second outer frame 5 is arranged on the rotating shaft 11, the second servo motor 19 is started, the rotating shaft 11 drives the first synchronous belt 14 to move, and then the toothed press plate 18 on the first synchronous belt 14 drives the second slide block 16, the moving frame 17 and the X-axis outer frame 6 to move on the second slide rail 15, so that the X-axis movement of the X-axis outer frame 6 and the clamping jaw is realized.

The moving member includes third slider 20, be equipped with on the X axle frame 6 along the third slip track 21 that 6 length direction of X axle frame distributes, third slider 20 sliding connection is in third slip track 21, Y axle frame 7 one side fixed connection is on third slider 20, the screw rod is worn to be equipped with by the screw thread in the third slider 20, screw rod one end is rotated and is connected on the inner wall of third slip track 21, the other end is worn out X axle frame 6 and is worn out the one end of X axle frame 6 and be connected with third servo motor 23 of fixing on second frame 5, start third servo motor 23, the screw rod rotates, third slider 20 removes in third slip track 21, thereby Y axle frame 7 removes along third slip track 21, realize that Y axle frame 7 and clamping jaw Z axle rotate.

The slider includes the lead screw, and the lead screw thread is worn to establish in first slider 9, and lead screw one end is rotated and is connected on the diapire of Y axle frame 7, and the other end is equipped with the fixed fourth servo motor 25 that sets up on Y axle frame 7, starts fourth servo motor 25, and the screw rod rotates, and first slider 9 removes in first slip track 8 to horizontal plate 10 and clamping jaw remove along first slip track 8, realize the Z axle rotation of clamping jaw.

The clamping jaw piece comprises two fixed shafts 26 which are symmetrical by taking a first servo motor 22 as a center, the two fixed shafts 26 are rotatably connected to the horizontal plate 10, one ends of the two fixed shafts 26 are respectively rotatably connected with third belt pulleys 27, a second synchronous belt 28 is arranged between the two third belt pulleys 27, two sides of the second synchronous belt 28 are respectively provided with a first pressing plate 29 and a second pressing plate 30, the first pressing plate 29 and the second pressing plate 30 are respectively connected with an L-shaped connecting plate 31, the two L-shaped connecting plates 31 are respectively provided with a clamping plate group, the clamping plate group comprises two connecting strips 32, the two connecting strips 32 are respectively connected to the L-shaped connecting plate 31, the two connecting strips 32 are respectively and slidably connected to the side wall of the horizontal plate 10, a clamping plate 33 is arranged between the two connecting strips 32, one end of one fixed shaft 26, which faces away from the third belt pulley 27, is provided with a speed reducer, the speed reducer 34 drives the fixed shaft 26 to rotate, the two third belt pulleys 27 drive the second synchronous belt 28 to move, and the first pressing plate 29 and the second pressing plate 30 located on the two sides of the second synchronous belt 28 move in opposite directions, so that the two clamping plate groups are driven to move in opposite directions on the side wall of the horizontal plate 10, and the opening and closing of the two clamping plates 33 are realized.

In order to reduce the clearance between material package and clamping plate 33, the relative one side of two clamping plate 33 all is equipped with rubber slipmat 35, reduces the damage to the material.

The working principle is as follows: carry the conveyer belt of material package to be located the underframe, the position of wrapping into of conveyer belt is equipped with the counter, material package arrangement is the procedure that has set up in advance, for example, the package needs the translation for a few, the package needs turn to for a few, start simultaneously first, the second, the third, fourth servo motor 25 and speed reducer 34, servo motor and speed reducer 34 can judge the distance and the position that the package was walked accurately, realize the XYZ triaxial removal of clamping jaw, and simultaneously, through first servo motor 22 and speed reducer 34, the clamping jaw can rotate on horizontal plate 10, clamping plate 33 can move on horizontal plate 10, make the clamping jaw position can be adjusted, with the accurate different material packages of snatching, whole device realizes five-axis linkage, this device can use as a set of series connections by two or three, improve material treatment efficiency.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (8)

1. The automatic grouping device with five-axis linkage is characterized by comprising a square frame, wherein the square frame comprises a square upper frame (1) and a square lower frame, four corners of the upper frame (1) and the lower frame are respectively provided with a stand column (3) placed on the ground through mounting plates, the upper frame (1) comprises two outer frame groups, the two outer frame groups respectively comprise two first outer frames (4) which are parallel to each other and two second outer frames (5) which are parallel to each other, an X-axis outer frame (6) is arranged between the two second outer frames (5), driving pieces for driving the X-axis outer frame (6) to move between the two second outer frames (5) are arranged on the X-axis outer frame (6), and a Y-axis outer frame (7) is arranged on the X-axis outer frame (6), be equipped with the moving member that drive Y off-axial frame (7) moved on X off-axial frame (6), be equipped with on Y off-axial frame (7) along first slip track (8) that Y off-axial frame (7) length direction distributes, sliding connection has first slider (9) in first slip track (8), fixed horizontal plate (10) of being equipped with on first slider (9), horizontal plate (10) are rotated towards one side on ground and are connected with the claw piece of pressing from both sides the material package clamp, one side that horizontal plate (10) pressed from both sides claw piece dorsad is equipped with drive claw piece pivoted servo motor (22), be equipped with the slider that drives first slider (9) and remove in first slip track (8) on first slider (9).

2. The automatic grouping device with five-axis linkage as claimed in claim 1, wherein: the driving piece comprises two rotating shafts (11), the two rotating shafts (11) are respectively and rotatably connected to the inner wall of the first outer frame (4) along the length direction of the first outer frame (4), two first belt pulleys (12) and two second belt pulleys (13) which are close to the second outer frame (5) are respectively and fixedly sleeved at the two ends of the two rotating shafts (11), a first synchronous belt (14) which is positioned in the second outer frame (5) is respectively arranged between the two first belt pulleys (12) and the two second belt pulleys (13), a second sliding rail (15) which is positioned in the first synchronous belt (14) is respectively arranged in the two second outer frames (5), a second sliding block (16) is respectively and slidably connected in the two second sliding rails (15), the two second sliding blocks (16) are respectively connected with a moving frame (17) through first sliding blocks (9), a toothed press plate (18) is respectively arranged on one side of the two first synchronous belts (14), two tooth clamp plate (18) are connected respectively on two removal frames (17), removal frame (17) are worn out respectively at the both ends of X axle frame (6), just X axle frame (6) are worn out the both ends of removing frame (17) and are all set up on second frame (5), be equipped with second servo motor (19) of fixing on second frame (5) on pivot (11).

3. The automatic grouping device with five-axis linkage as claimed in claim 1, wherein: the moving member includes third slider (20), be equipped with on X axle frame (6) along third slide rail (21) that X axle frame (6) length direction distributes, third slider (20) sliding connection is in third slide rail (21), Y axle frame (7) one side fixed connection is on third slider (20), the screw rod is worn to be equipped with by the screw thread in third slider (20), screw rod one end is rotated and is connected on the inner wall of third slide rail (21), and the one end that X axle frame (6) just was worn out to the other end is connected with third servo motor (23) of fixing on second frame (5).

4. The automatic grouping device with five-axis linkage as claimed in claim 1, wherein: the sliding part comprises a screw rod, the screw rod is arranged in the first sliding block (9) in a penetrating mode through threads, one end of the screw rod is rotatably connected to the bottom wall of the Y-axis outer frame (7), and the other end of the screw rod is provided with a fourth servo motor (25) fixedly arranged on the Y-axis outer frame (7).

5. The automatic grouping device with five-axis linkage as claimed in claim 1, wherein: the clamping jaw piece comprises two fixing shafts (26) which are in central symmetry and take a first servo motor (22), the two fixing shafts (26) are rotatably connected to a horizontal plate (10), one ends of the two fixing shafts (26) are respectively rotatably connected with third belt pulleys (27), a second synchronous belt (28) is arranged between the two third belt pulleys (27), two sides of the second synchronous belt (28) are respectively provided with a first pressing plate (29) and a second pressing plate (30), the first pressing plate (29) and the second pressing plate (30) are respectively connected with an L-shaped connecting plate (31), the two L-shaped connecting plates (31) are respectively provided with a clamping plate group, the clamping plate group comprises two connecting strips (32), the two connecting strips (32) are respectively connected to the L-shaped connecting plate (31), and the two connecting strips (32) are respectively connected to the side wall of the horizontal plate (10) in a sliding manner, a clamping plate (33) is arranged between the two connecting strips (32), and a speed reducer (34) fixed on the horizontal plate (10) is arranged at one end of the fixed shaft (26) back to the third belt pulley (27).

6. The automatic grouping device with five-axis linkage as claimed in claim 5, wherein: and rubber anti-skid pads (35) are arranged on the opposite sides of the two clamping plates (33).

7. The automatic grouping device with five-axis linkage as claimed in claim 1, wherein: four upright posts (3) are all provided with a foot plate (24) adsorbed on the ground.

8. The automatic grouping device with five-axis linkage as claimed in claim 3, wherein: a safety door (2) parallel to the third sliding rail (21) is arranged between the two upright posts (3).

Images