CN212497830U

CN212497830U - Robot stacking manipulator capable of rotating flexibly

Info

Publication number: CN212497830U
Application number: CN202021213881.2U
Authority: CN
Inventors: 马文静
Original assignee: Nantong Textile Vocational Technology College
Current assignee: Nantong Textile Vocational Technology College
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2021-02-09
Anticipated expiration: 2030-06-28

Abstract

The utility model relates to a robot stacking manipulator flexible in rotation, which comprises a base, wherein a motor A is fixedly arranged on one side in the base, the output end of the motor A is fixedly connected with the input end of a rotating shaft, the top end of the rotating shaft is fixedly connected with a gear A, a gear B is meshed on the outer side of the gear A, a stacking seat is in clearance connection with the upper part of the gear B, a motor B is fixedly connected on one side of the stacking seat, the output end of the motor B is fixedly connected with the input end of a screw rod, the outer side of the screw rod is connected with a threaded sleeve in a matching way, a bearing sleeve is fixedly connected on the outer side of the threaded sleeve, a support rod is in interference connection with one side of the bearing sleeve, one end of the support rod is fixedly connected with a fixed seat, and the robot stacking manipulator can fix, prevent that the material of accepting the claw top from producing and sliding, the condition that influences the pile up neatly effect takes place.

Description

Robot stacking manipulator capable of rotating flexibly

Technical Field

The utility model belongs to the technical field of the pile up neatly machinery hand, in particular to rotate nimble robot pile up neatly machinery hand.

Background

The stacking manipulator can neatly and automatically stack (or disassemble) the packaged goods with different external dimensions on the tray (or on a production line, etc.). In order to fully utilize the area of the tray and the stability of the stacked materials, the robot is provided with a material stacking sequence and arrangement setter. Can meet the requirements from low speed to high speed, from packaging bags to cartons, from stacking one product to stacking a plurality of different products. The device is applied to product transportation, stacking and the like, and is widely applied to different fields of automobiles, logistics, household appliances, medicines, food and beverage and the like.

Patent number CN206717865U discloses a stacking manipulator, which includes a base and a frame rotatably disposed on the base, wherein the frame is sequentially connected with a first arm, a second arm, a third arm and a gripping device from bottom to top, the first arm is rotatably connected to the frame through a first rotating shaft, one end of the second arm is rotatably connected to the first arm through a second rotating shaft, and the other end is rotatably connected to the third arm through a third rotating shaft; a driving motor I is arranged on the rack; the device also comprises a connecting rod mechanism and a rotating frame; the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod which are hinged in parallel in sequence; the gripping device is connected to the rotating frame; the utility model discloses be favorable to reducing its whole weight, promote the motion flexibility, improve the efficiency of pile up neatly.

The palletizing manipulator has the following disadvantages when in use: 1. when the stacking manipulator is used, the stacking manipulator can only move and rotate in a single direction, so that the manipulator moves only singly and rotates not flexibly.

2. Above-mentioned pile up neatly manipulator can not get up firmly the material when using for the result of use of manipulator is relatively poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a rotate nimble robot pile up neatly manipulator in order to solve above-mentioned problem, through the fixing base of installation, can fix the material that accepts the claw and snatch on the surface of accepting the seat, prevent that the material of accepting the claw top from producing and sliding, the condition that influences the pile up neatly effect takes place.

The utility model discloses a following technical scheme realizes above-mentioned purpose:

a robot stacking manipulator flexible in rotation comprises a base, wherein a motor A is fixedly mounted on one side inside the base, the output end of the motor A is fixedly connected with the input end of a rotating shaft, a gear A is fixedly connected to the top end of the rotating shaft, a gear B is meshed with the outer side of the gear A, a stacking seat is connected to the upper portion of the gear B in a clearance mode, a motor B is fixedly connected to one side of the stacking seat, the output end of the motor B is fixedly connected with the input end of a screw rod, the outer side of the screw rod is connected with a threaded sleeve in a matched mode, the outer side of the threaded sleeve is fixedly connected with a bearing sleeve, a support rod is in interference connection with one side of the bearing sleeve, a fixing seat is fixedly connected to one end of the support rod, a bearing claw is inserted into one side of the fixing seat, one side of the inner cavity is connected with a pressing plate in a sliding mode, one end of the pressing plate is fixedly connected with a clamping plate, and the clamping plate is triangular.

As a further optimization scheme of the utility model, the inside of inner chamber is inlayed and is connected with the spring, the quantity of spring is a plurality of.

As a further optimization scheme of the utility model, one side of splint is inlayed and is connected with the rubber pad, the material of rubber pad is vulcanized rubber.

As the utility model discloses a further optimization scheme, gear B's bottom gap junction has the bearing.

As the utility model discloses a further optimization scheme, motor A's input and external power source electric connection, motor B's input and external power source electric connection.

The beneficial effects of the utility model reside in that:

1) the utility model is characterized in that a base is fixedly connected to one side of a robot through an installed motor B when in use, then an external power supply is switched on, then an external switch is switched on, the motor B runs, the screw rod is rotated through the rotation of an internal motor, at the moment, a threaded sleeve outside the screw rod is matched with the thread of the outer wall of the screw rod through the thread on the inner wall, the threaded sleeve is driven to rotate and move up and down on the outer wall of the screw rod, simultaneously, a bearing sleeve is driven to move up and down in a pile up seat, a bearing claw at one end of the bearing rod can move up and down, then, when in rotation, the switch is switched on, the motor A rotates, the motor A drives a rotating shaft to rotate through the rotation of the internal motor, the gear A at the top end of the rotating shaft drives the gear B meshed with the outer side to, the stacking base can rotate 360 degrees, so that the stacking base can rotate while lifting, the stacking efficiency of the robot is higher, and the using effect is improved;

the utility model discloses a fixing base of installation, when using, the material that will pile up neatly is placed on the top of accepting the claw, control motor B then drives the branch and upwards moves, make the material can joint in the inside of the fixing base of accepting claw one side, because the splint shape of fixing base inside is triangle-shaped, make the material can butt in the both sides of splint when the joint, drive splint to both sides extrusion clamp plate, make the spring of clamp plate compression inner chamber inside, make the spring produce certain elastic contraction, and then make the inner space of inner chamber grow, thereby drive splint to move to one side of inner chamber, simultaneously the spring can produce certain elasticity because of the compression, make splint can be with the material centre gripping of fixing base inside, prevent that the material of fixing base inside from producing the slip during pile up neatly, the condition that influences the pile up neatly effect takes place, the rubber pad of installation simultaneously, the coefficient of friction on surface is great, can increase the frictional force between splint and the material, prevents to slide between splint and the material to improve the result of use.

Drawings

Fig. 1 is a schematic sectional structure of the present invention;

fig. 2 is a schematic view of the fixing base structure of the present invention.

In the figure: the automatic stacking machine comprises a base 1, a motor A2, a rotating shaft 3, a gear A4, a bearing 5, a gear B6, a stacking base 7, a motor B8, a screw rod 9, a threaded sleeve 10, a bearing sleeve 11, a supporting rod 12, a connecting rod 13, a bearing claw 14, a side plate 15, an inner cavity 16, a spring 17, a pressing plate 18, a clamping plate 19 and a rubber pad 20.

Detailed Description

The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.

Example 1

As shown in fig. 1-2, a robot stacking manipulator flexible in rotation comprises a base 1, a motor a2 is fixedly installed on one side inside the base 1, an output end of a motor a2 is fixedly connected with an input end of a rotating shaft 3, a top end of the rotating shaft 3 is fixedly connected with a gear a4, a gear B6 is meshed on the outer side of the gear a4, a stacking base 7 is connected to the upper portion of the gear B6 in a clearance manner, a motor B8 is fixedly connected to one side of the stacking base 7, an output end of the motor B8 is fixedly connected with an input end of a screw 9, a threaded sleeve 10 is connected to the outer side of the screw 9 in a matching manner, a bearing sleeve 11 is fixedly connected to the outer side of the threaded sleeve 10, a supporting rod 12 is connected to one side of the bearing sleeve 11 in an interference manner, a fixing base 13 is fixedly connected to one end of the supporting rod, the utility model discloses a pile up neatly, including fixing base 13, curb plate 15, inner chamber 16, one side sliding connection of inner chamber 16 has a clamp plate 18, the one end fixedly connected with splint 19 of clamp plate 18, splint 19's shape is triangle-shaped, and through the fixing base of installation, the material that accepts the claw and snatch is fixed on the surface of accepting the seat, prevents that the material of accepting the claw top from producing and sliding, influences the condition of pile up neatly effect and takes place.

As shown in fig. 1-2, springs 17 are embedded and connected inside the inner cavity 16, the number of the springs 17 is multiple, and the pressing plate can be ejected out of the inner cavity through the installed springs.

As shown in fig. 1-2, a rubber pad 20 is embedded and connected to one side of the clamping plate 19, the rubber pad 20 is made of vulcanized rubber, and friction between the clamping plate and materials can be increased through the installed rubber pad.

As shown in fig. 1-2, a bearing 5 is connected to the bottom end of the gear B6 in a clearance manner, and friction between the pallet base and the base can be reduced by the mounted bearing.

As shown in fig. 1-2, the input terminal of the motor a2 is electrically connected to an external power source, and the input terminal of the motor B8 is electrically connected to the external power source.

It should be noted that, when in use, the base 1 is fixedly connected to one side of the robot, then an external power supply is connected, then an external switch is turned on, so that the motor B8 operates, the motor B8 rotates through the rotation of the internal motor, so that the screw 9 rotates, at this time, the threaded sleeve 10 outside the screw 9 is matched with the thread on the outer wall of the screw 9 through the thread on the inner wall, the threaded sleeve 10 is driven to rotate up and down on the outer wall of the screw 9, and simultaneously the bearing sleeve 11 is driven to drive the supporting rod 12 to move up and down inside the pallet base 7, so that the receiving claw 14 at one end of the supporting rod 12 can move up and down, then when in rotation, the switch is turned on, so that the motor a2 rotates, the motor a2 drives the rotating shaft 3 to rotate through the rotation of the internal motor, so that the gear a4 at the top end of the rotating shaft 3 drives the gear B6 meshed outside, the stacking base 7 is enabled to rotate 360 degrees, so that the stacking base 7 can rotate while lifting, the stacking efficiency of the robot is higher, the using effect is further improved, then, materials to be stacked are placed at the top end of the receiving claw 14, then the motor B8 is controlled to drive the supporting rod 12 to move upwards, the materials can be clamped in the fixing base 13 on one side of the receiving claw 14, the clamping plates 19 in the fixing base 13 are triangular, the materials can be abutted against two sides of the clamping plates 19 when clamped, the clamping plates 19 are driven to extrude the clamping plates 18 towards two sides, the clamping plates 18 compress the springs in the inner cavity 16, the springs 17 generate certain elastic contraction, the inner space of the inner cavity 16 is enlarged, the clamping plates 19 are driven to move towards one side of the inner cavity 16, meanwhile, the springs 17 can generate certain elastic force due to compression, the clamping plates 19 can clamp the materials in the fixing base 13, prevent that the inside material of fixing base 13 from producing when the pile up neatly and sliding, the condition that influences the pile up neatly effect takes place, and the rubber pad 20 of installation simultaneously, the coefficient of friction on surface is great, can increase the frictional force between splint 19 and the material, prevents to slide between splint 19 and the material to improve the result of use.

The motor A2 and the motor B8 are commercially available models CC-3/3 WZ.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims

1. The utility model provides a rotate nimble robot pile up neatly machinery hand, includes base (1), its characterized in that: the automatic stacking machine is characterized in that a motor A (2) is fixedly mounted on one side inside the base (1), an output end of the motor A (2) is fixedly connected with an input end of a rotating shaft (3), a gear A (4) is fixedly connected to the top end of the rotating shaft (3), a gear B (6) is meshed with the outer side of the gear A (4), a stacking seat (7) is in clearance connection with the upper portion of the gear B (6), a motor B (8) is fixedly connected to one side of the stacking seat (7), an output end of the motor B (8) is fixedly connected with an input end of a screw rod (9), a threaded sleeve (10) is connected to the outer side of the screw rod (9) in a matched mode, a bearing sleeve (11) is fixedly connected to the outer side of the threaded sleeve (10), a supporting rod (12) is in interference connection with one side of the bearing sleeve (, one side of the fixing seat (13) is spliced with a bearing claw (14), side plates (15) are fixedly mounted on two sides of the fixing seat (13), an inner cavity (16) is formed in the side plates (15), a pressing plate (18) is slidably connected to one side of the inner cavity (16), a clamping plate (19) is fixedly connected to one end of the pressing plate (18), and the clamping plate (19) is triangular.

2. A rotationally flexible robotic stacking manipulator as claimed in claim 1, wherein: the inner part of the inner cavity (16) is embedded and connected with springs (17), and the number of the springs (17) is multiple.

3. A rotationally flexible robotic stacking manipulator as claimed in claim 1, wherein: one side of the clamping plate (19) is connected with a rubber pad (20) in an embedded mode, and the rubber pad (20) is made of vulcanized rubber.

4. A rotationally flexible robotic stacking manipulator as claimed in claim 1, wherein: and a bearing (5) is connected to the bottom end of the gear B (6) in a clearance manner.

5. A rotationally flexible robotic stacking manipulator as claimed in claim 1, wherein: the input end of the motor A (2) is electrically connected with an external power supply, and the input end of the motor B (8) is electrically connected with the external power supply.