CN214086683U

CN214086683U - Stacking manipulator

Info

Publication number: CN214086683U
Application number: CN202022355599.4U
Authority: CN
Inventors: 杨延竹; 郑慧峰; 朱炜
Original assignee: Suzhou Hongsun Electromechanical Technology Co ltd
Current assignee: Suzhou Hongsun Electromechanical Technology Co ltd
Priority date: 2020-10-21
Filing date: 2020-10-21
Publication date: 2021-08-31
Anticipated expiration: 2030-10-21

Abstract

The utility model discloses a pile up neatly machinery hand, its technical scheme is: including drive arrangement and clamping device, clamping device fixed mounting be in drive arrangement is last, drive arrangement includes a supporting bench, the standing groove has been seted up on the supporting bench, be equipped with the balancing weight in the standing groove, a supporting bench top fixed mounting motor case, motor incasement portion fixed mounting servo motor one, servo motor one output end fixed connection pivot, motor roof portion fixed mounting drive case, the beneficial effects of the utility model are that: the backup pad stretches into the carton bottom, supports the carton for splint need not to be too tight to the carton centre gripping, have avoided pressing from both sides the article of carton and carton inside bad, and splint carry out the centre gripping to the carton, make the carton can not drop at the removal in-process, have increased the security, in certain extent, have realized rotation, translation and the lift of carton, can carry the optional position with the carton, and pile up neatly efficiency improves greatly.

Description

Stacking manipulator

Technical Field

The utility model relates to a manipulator technical field, concretely relates to pile up neatly machinery hand.

Background

The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.

When current pile up neatly machinery hand carries out the pile up neatly to the carton, utilizes two splint to clip the carton and removes the carton again, and the not enough of this kind of mode existence has: when the clamp plate is too tight to the carton clamp, the carton clamp can damage the carton, and articles in the carton can be damaged; when the carton is clamped by the clamping plates not tightly enough, the carton can slide off the inner walls of the clamping plates, and then articles in the carton can be broken.

Therefore, the invention is necessary to invent a stacking manipulator.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model provides a pile up neatly machinery hand has solved above-mentioned current through the setting.

In order to achieve the above object, the present invention provides the following technical solutions:

a stacking manipulator comprises a driving device and a clamping device, wherein the clamping device is fixedly arranged on the driving device;

the driving device comprises a supporting table, a placing groove is formed in the supporting table, a balancing weight is arranged in the placing groove, a motor box is fixedly installed at the top of the supporting table, a first servo motor is fixedly installed in the motor box, one output end of the servo motor is fixedly connected with a rotating shaft, a driving box is fixedly installed at the top of the motor box, the rotating shaft is fixedly connected with the top of the motor box and the bottom of the driving box through a bearing, a rotating disc is fixedly installed at the top of the rotating shaft, a sliding rod is fixedly installed at the top of the rotating disc, a driving block is sleeved on the outer wall of the sliding rod, the top of the driving block is fixedly connected with a first electric telescopic rod, the outer wall of the rotating shaft is fixedly connected with a reinforcing plate through a bearing, a sliding rail is fixedly connected at the right end of the driving block, a sliding groove and a rectangular through hole are formed in the sliding rail, a second servo motor is arranged at the left end in the sliding rail, and a lead screw is fixedly connected at the output end of the second servo motor, the outer wall of the screw rod is in threaded connection with a sliding block, and the bottom of the sliding block is fixedly connected with a second electric telescopic rod;

clamping device includes the rectangle support, the inside electric telescopic handle that is equipped with of rectangle support is three, three bottom fixed connection lifters of electric telescopic handle, lifter bottom fixed connection drive plate, drive plate both ends bottom swing joint pull rod, the pull rod is kept away from the one end swing joint splint of drive plate, splint top swing joint rectangle support bottom, right-hand member splint outer wall fixed mounting support frame, the inside electric telescopic handle that is equipped with of support frame is four, splint bottom fixed connection electric telescopic handle is five, five one end fixed mounting U-shaped supports of electric telescopic handle, U-shaped support inner wall fixed mounting rotates kun, five one end fixed mounting backup pads of electric telescopic handle.

Preferably, a top of the electric telescopic rod is fixedly installed on the connecting rod through a bolt, the top of the connecting rod is fixedly connected with the top of the inner wall of the driving box through a bearing, and two ends of the reinforcing plate are fixedly installed on the inner wall of the driving box.

Preferably, an operation panel is arranged above the balancing weight, and control buttons for controlling the first servo motor, the first electric telescopic rod, the second servo motor, the second electric telescopic rod, the third electric telescopic rod, the fourth electric telescopic rod and the fifth electric telescopic rod are arranged on the operation panel.

Preferably, the bottom of the electric telescopic rod II is fixedly connected with the rectangular support, and the bottom of the support table is fixedly provided with a driving wheel.

Preferably, the driving box is provided with a notch, and the top of the sliding rod is fixedly connected with the connecting rod.

Preferably, the driving device further comprises a rectangular groove, the right end of the driving block is provided with the rectangular groove, the inner wall of the rectangular groove is fixedly connected with the sliding rail, and the right end of the driving block and the left end of the sliding rail are fixed through bolts.

The utility model has the advantages that:

when the device is moved to the position near the stacking position through a driving wheel, when a carton is stacked, a first servo motor drives a rotary disc to rotate through a rotary shaft, the rotary disc drives a slide rod to rotate so as to drive a driving block to rotate, finally the driving block drives a slide rail to rotate until the slide rail is positioned above the carton, a second output end of the servo motor drives a screw rod to rotate, a screw rod drives a slide block to move until a clamping device is positioned right above the carton, a second electric telescopic rod extends to drive the bottom of a clamping plate to be attached to the ground, a fifth electric telescopic rod at the left end extends to a fifth left end support plate to abut against the carton, a fourth electric telescopic rod extends to push the upper part of the carton, under the action of the left end support plate, the right end of the carton is lifted, the fifth electric telescopic rod at the right end extends to insert the right end support plate into the bottom of the right end of the carton, the fifth electric telescopic rod at the left end drives the left end support plate to be conveyed to the bottom of the carton, the third electric telescopic rod retracts electrically, and the driving plate is pulled to move upwards, the driving plate is pulled to pull the pull rod to move, the clamp plate is pulled by the pull rod to clamp the carton, the supporting plate stretches into the bottom of the carton to support the carton, the clamp plate does not need to clamp the carton too tightly, the carton and articles in the carton are prevented from being damaged by clamping, the carton is clamped by the clamp plate, the carton cannot fall off in the moving process, and the safety is improved;

the two electric telescopic rods contract to lift the carton, the servo motor drives the carton to rotate, the servo motor drives the carton to translate, the two electric telescopic rods lift the carton, the carton is transported to a stack, the two groups of electric telescopic rods contract to enable the supporting plate to be separated from the bottom of the carton, the three electric telescopic rods extend to drive the driving plate to move downwards, the top of the pull rod moves downwards to drive the clamping plate to move to release the carton, and the carton is stacked; five drive backup pads at both ends electric telescopic handle break away from the in-process of carton bottom, the carton bottom rolls on the rotation kun on the U-shaped support for the carton bottom can not produce great frictional force, can not produce great wearing and tearing to the carton bottom, in certain extent, has realized the rotation, the translation and the lift of carton, can carry the optional position with the carton, and pile up neatly efficiency improves greatly.

Drawings

Fig. 1 is a schematic structural diagram provided in embodiment 1 of the present invention;

fig. 2 is a schematic structural view of a clamping device provided in embodiment 1 of the present invention;

fig. 3 is a top view of a U-shaped bracket provided in embodiment 1 of the present invention;

fig. 4 is a schematic view of the connection between the driving block and the slide rail provided in embodiment 2 of the present invention.

In the figure: the device comprises a driving device 100, a clamping device 200, a support table 101, a driving wheel 102, a placing groove 103, a balancing weight 104, an operation panel 105, a driving box 106, a motor box 107, a first servo motor 108, a rotating shaft 109, a notch 110, a rotating disc 111, a sliding rod 112, a driving block 113, a sliding rail 114, a sliding groove 115, a second servo motor 116, a rectangular through hole 117, a screw rod 118, a sliding block 119, a second electric telescopic rod 120, a rectangular groove 121, a reinforcing plate 122, a first electric telescopic rod 123, a connecting rod 125, a rectangular support 201, a lifting rod 202, a clamping plate 203, a third electric telescopic rod 204, a driving plate 205, a pull rod 206, a fourth electric telescopic rod 207, a support frame 208, a support plate 209, a fifth electric telescopic rod 210, a rotating roller 211 and a U-shaped support 212.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Example 1:

with reference to fig. 1 to 3 of the specification, a stacking robot of this embodiment comprises a driving device 100 and a gripping device 200;

the driving device 100 comprises a supporting platform 101, a driving wheel 102, a placing groove 103, a balancing weight 104, an operation panel 105, a driving box 106, a motor box 107, a first servo motor 108, a rotating shaft 109, a notch 110, a turntable 111, a sliding rod 112, a driving block 113, a sliding rail 114, a sliding groove 115, a second servo motor 116, a rectangular through hole 117, a screw rod 118, a sliding block 119, a second electric telescopic rod 120, a rectangular groove 121, a reinforcing plate 122, a first electric telescopic rod 123 and a connecting rod 125, specifically, the supporting platform 101 is provided with the placing groove 103, the balancing weight 104 is arranged in the placing groove 103, the top of the supporting platform 101 is fixedly provided with the motor box 107, the inside of the motor box 107 is fixedly provided with the first servo motor 108, the output end of the first servo motor 108 is fixedly connected with the rotating shaft 109, the top of the motor box 107 is fixedly provided with the driving box 106, the rotating shaft 109 is fixedly connected with the top of the motor box 107 and the bottom of the driving box 106 through a bearing, the top of the rotating shaft 109 is fixedly provided with a rotating disc 111, the top of the rotating disc 111 is fixedly provided with a sliding rod 112, the outer wall of the sliding rod 112 is sleeved with a driving block 113, the top of the driving block 113 is fixedly connected with a first electric telescopic rod 123, the outer wall of the rotating shaft 109 is fixedly connected with a reinforcing plate 122 through a bearing, the right end of the driving block 113 is fixedly connected with a sliding rail 114, the sliding rail 114 is provided with a sliding groove 115 and a rectangular through hole 117, the left end inside the sliding rail 114 is provided with a second servo motor 116, the output end of the second servo motor 116 is fixedly connected with a lead screw 118, the outer wall of the lead screw 118 is in threaded connection with a sliding block 119, the bottom of the sliding block 119 is fixedly connected with a second electric telescopic rod 120, the top of the first electric telescopic rod 123 is fixedly arranged on a connecting rod 125 through a bolt, the top of the connecting rod 125 is fixedly connected with the top of the inner wall of the driving box 106 through a bearing, and two ends of the reinforcing plate 122 are fixedly arranged on the inner wall of the driving box 106, an operation panel 105 is arranged above the counterweight block 104, control buttons for controlling a first servo motor 108, a first electric telescopic rod 123, a second servo motor 116, a second electric telescopic rod 120, a third electric telescopic rod 204, a fourth electric telescopic rod 207 and a fifth electric telescopic rod 210 are arranged on the operation panel 105, the bottom of the second electric telescopic rod 120 is fixedly connected with the rectangular support 201, a driving wheel 102 is fixedly arranged at the bottom of the support table 101, a notch 110 is formed in the driving box 106, and the top of the sliding rod 112 is fixedly connected with a connecting rod 125; the driving wheel 102 is used for facilitating movement of the device, the placing groove 103 is used for placing the balancing weight 104 and limiting movement of the balancing weight 104, and is convenient for placing and removing the balancing weight 104, the first servo motor 108 is set to be JSF 57-15-30-BF-1000, the first servo motor 108 is used for driving the rotary disc 111 to rotate to achieve rotation of the driving slide rail 114, the sliding rod 112 is used for enabling the driving block 113 to stably ascend and descend, the sliding groove 115 is used for enabling the sliding block 119 to stably move left and right, the second electric telescopic rod 120 is used for driving the clamping device 200 to ascend and descend, the first electric telescopic rod 123 is used for driving, the driving block 113 ascends and descends, and the first electric telescopic rod 123 and the second electric telescopic rod 120 are both set to be YNT-03.

Further, the clamping device 200 comprises a rectangular support 201, a lifting rod 202, a clamping plate 203, a third electric telescopic rod 204, a driving plate 205, a pull rod 206, a fourth electric telescopic rod 207, a supporting frame 208, a fifth electric telescopic rod 210, a rotating roller 211 and a U-shaped support 212, specifically, the third electric telescopic rod 204 is arranged inside the rectangular support 201, the bottom of the third electric telescopic rod 204 is fixedly connected with the lifting rod 202, the bottom of the lifting rod 202 is fixedly connected with the driving plate 205, the bottoms of two ends of the driving plate 205 are movably connected with the pull rod 206, one end of the pull rod 206 far away from the driving plate 205 is movably connected with the clamping plate 203, the top end of the clamping plate 203 is movably connected with the bottom of the rectangular support 201, the outer wall of the right end of the clamping plate 203 is fixedly provided with the supporting frame 208, the fourth electric telescopic rod 207 is arranged inside the supporting frame 208, the bottom end of the clamping plate 203 is fixedly connected with the fifth electric telescopic rod 210, one end of the fifth electric telescopic rod 210 is fixedly provided with the U-shaped support 212, a rotating roller 211 is fixedly arranged on the inner wall of the U-shaped bracket 212, and a supporting plate 209 is fixedly arranged at one end of the five electric telescopic rods 210; the effect of electric telescopic link three 204 is that drive plate 205 rises and descends, and electric telescopic link four 207 is that push up the carton upper end, and electric telescopic link five's effect is that drive backup pad 209 removes to the carton bottom, and electric telescopic link three 204, electric telescopic link four 207 and electric telescopic link five 210 all set up to YNT-03.

The implementation scenario is specifically as follows: when the utility model is used, the device is moved to the position near the stacking position by the driving wheel 102, when the carton is stacked, the first servo motor 108 drives the rotary disc 111 to rotate through the rotary shaft 109, the rotary disc 111 drives the slide bar 112 to rotate, thereby driving the driving block 113 to rotate, finally the driving block 113 drives the slide rail 114 to rotate until the slide rail 114 is positioned above the carton, the output end of the second servo motor 116 drives the screw rod 118 to rotate, the screw rod 118 drives the slide block 119 to move until the clamping device 200 is positioned right above the carton, the second electric telescopic rod 120 extends to drive the bottom of the clamping plate 203 to be attached to the ground, the fifth left electric telescopic rod 210 extends to the left supporting plate 209 to abut against the carton, the fourth electric telescopic rod 207 extends to push the upper part of the carton, under the action of the left supporting plate 209, the right end of the carton is lifted, the fifth electric telescopic rod 210 extends to insert the right supporting plate 209 into the bottom of the carton, the fifth electric telescopic rod 210 drives the left supporting plate 209 to be transported to the bottom of the carton left end, three 204 contractions of electric telescopic handle, pulling drive plate 205 rebound, pulling drive plate 205 pulling pull rod 206 motion, pull rod 206 pulling splint 203 clip the carton, two 120 contractions of electric telescopic handle lift the carton, it is rotatory to drive the carton through servo motor 108, and two 116 drives the carton translation of servo motor, and two 120 lifts to the carton of electric telescopic handle, transport the carton on the buttress, five 210 contractions of two sets of electric telescopic handle, make backup pad 209 break away from the carton bottom, three 204 elongations of electric telescopic handle drive plate 205 downstream, pull rod 206 top downstream drives splint 203 and moves to release the carton, accomplish the pile up neatly to the carton.

Example 2:

referring to the attached figure 4 of the specification, the difference from the embodiment 1 is that: the driving device 100 further comprises a rectangular groove 121, the right end of the driving block 113 is provided with the rectangular groove 121, the inner wall of the rectangular groove 121 is fixedly connected with the sliding rail 114, and the right end of the driving block 113 and the left end of the sliding rail 114 are fixed through bolts;

the implementation scenario is specifically as follows:

compared with embodiment 1, when the utility model is used, the device is moved to the position near the stacking position by the driving wheel 102, when the carton is stacked, the first servo motor 108 drives the turntable 111 to rotate through the rotating shaft 109, the turntable 111 drives the sliding rod 112 to rotate, thereby driving the driving block 113 to rotate, finally the driving block 113 drives the sliding rail 114 to rotate until the sliding rail 114 is positioned above the carton, the output end of the second servo motor 116 drives the screw rod 118 to rotate, the screw rod 118 drives the sliding block 119 to move until the clamping device 200 is positioned right above the carton, the second electric telescopic rod 120 extends to drive the bottom of the clamping plate 203 to be attached to the ground, the fifth left electric telescopic rod 210 extends to the left end supporting plate 209 to abut against the carton, the fourth electric telescopic rod 207 extends to push the upper part of the carton, under the effect of the left end supporting plate 209, the right end of the carton is lifted, the fifth electric telescopic rod 210 extends to insert the right end supporting plate 209 into the bottom of the carton, the fifth electric telescopic rod 210 at the left end drives the supporting plate 209 at the left end to move to the bottom of the left end of the carton, the third electric telescopic rod 204 contracts, the driving plate 205 is pulled to move upwards, the driving plate 205 is pulled to pull the pull rod 206 to move, the pull rod 206 pulls the clamping plate 203 to clamp the carton, the second electric telescopic rod 120 contracts to lift the carton, the first servo motor 108 drives the paper box to rotate, and the second servo motor 116 drives the paper box to translate, and the second electric telescopic rod 120 lifts the paper boxes to transport the paper boxes to a stack, the five electric telescopic rods 210 shrink to enable the supporting plate 209 to be separated from the bottom of the paper boxes, the third electric telescopic rod 204 extends to drive the driving plate 205 to move downwards, the top of the pull rod 206 moves downwards to drive the clamping plate 203 to move to release the paper boxes to complete stacking of the paper boxes, and the sliding rail 114 is fixedly installed on the inner wall of the rectangular groove 121 on the driving block 113 through bolts, so that the sliding rail 114 and the driving block 113 are convenient to detach and install.

The above description is only a preferred embodiment of the present invention, and any person skilled in the art may modify the present invention or modify it into an equivalent technical solution by using the technical solutions described above. Therefore, any simple modifications or equivalent replacements made according to the technical solution of the present invention belong to the scope of the claimed invention as far as possible.

Claims

1. A stacking manipulator comprising a driving device (100) and a clamping device (200), characterized in that: the clamping device (200) is fixedly arranged on the driving device (100);

the driving device (100) comprises a supporting table (101), a placing groove (103) is formed in the supporting table (101), a balancing weight (104) is arranged in the placing groove (103), a motor box (107) is fixedly installed at the top of the supporting table (101), a first servo motor (108) is fixedly installed in the motor box (107), a rotating shaft (109) is fixedly connected with the output end of the first servo motor (108), a driving box (106) is fixedly installed at the top of the motor box (107), the rotating shaft (109) is fixedly connected with the top of the motor box (107) and the bottom of the driving box (106) through a bearing, a rotating disc (111) is fixedly installed at the top of the rotating shaft (109), a sliding rod (112) is fixedly installed at the top of the rotating disc (111), a driving block (113) is sleeved on the outer wall of the sliding rod (112), and a first electric telescopic rod (123) is fixedly connected with the top of the driving block (113), the outer wall of the rotating shaft (109) is fixedly connected with a reinforcing plate (122) through a bearing, the right end of the driving block (113) is fixedly connected with a sliding rail (114), a sliding groove (115) and a rectangular through hole (117) are formed in the sliding rail (114), a second servo motor (116) is arranged at the left end inside the sliding rail (114), the output end of the second servo motor (116) is fixedly connected with a lead screw (118), the outer wall of the lead screw (118) is in threaded connection with a sliding block (119), and the bottom of the sliding block (119) is fixedly connected with a second electric telescopic rod (120);

the clamping device (200) comprises a rectangular support (201), a third electric telescopic rod (204) is arranged inside the rectangular support (201), a lifting rod (202) is fixedly connected to the bottom of the third electric telescopic rod (204), a driving plate (205) is fixedly connected to the bottom of the lifting rod (202), pull rods (206) are movably connected to the bottoms of the two ends of the driving plate (205), one end of each pull rod (206) is far away from a clamping plate (203) movably connected to one end of the driving plate (205), the top end of each clamping plate (203) is movably connected to the bottom of the rectangular support (201), the right end of each clamping plate (203) is fixedly provided with a supporting frame (208) on the outer wall of the corresponding clamping plate, a fourth electric telescopic rod (207) is arranged inside the supporting frame (208), the bottom end of each clamping plate (203) is fixedly connected to a fifth electric telescopic rod (210), one end of each electric telescopic rod (210) is fixedly provided with a U-shaped support (212), and a rotating roller (211) is fixedly arranged on the inner wall of the U-shaped support (212), and one end of the electric telescopic rod V (210) is fixedly provided with a supporting plate (209).

2. A stacking manipulator according to claim 1, characterised in that: the top of the electric telescopic rod I (123) is fixedly installed on a connecting rod (125) through a bolt, the top of the connecting rod (125) is fixedly connected with the top of the inner wall of the driving box (106) through a bearing, and two ends of the reinforcing plate (122) are fixedly installed on the inner wall of the driving box (106).

3. A stacking manipulator according to claim 1, characterised in that: an operation panel (105) is arranged above the balancing weight (104), and control buttons for controlling the first servo motor (108), the first electric telescopic rod (123), the second servo motor (116), the second electric telescopic rod (120), the third electric telescopic rod (204), the fourth electric telescopic rod (207) and the fifth electric telescopic rod (210) are arranged on the operation panel (105).

4. A stacking manipulator according to claim 1, characterised in that: the bottom of the electric telescopic rod II (120) is fixedly connected with the rectangular support (201), and the bottom of the support table (101) is fixedly provided with a driving wheel (102).

5. A stacking manipulator according to claim 1, characterised in that: a notch (110) is formed in the driving box (106), and the top of the sliding rod (112) is fixedly connected with a connecting rod (125).

6. A stacking manipulator according to claim 1, characterised in that: the driving device (100) further comprises a rectangular groove (121), the rectangular groove (121) is formed in the right end of the driving block (113), the inner wall of the rectangular groove (121) is fixedly connected with the sliding rail (114), and the right end of the driving block (113) and the left end of the sliding rail (114) are fixed through bolts.