CN214398963U

CN214398963U - Depalletizing goods pile up neatly machinery hand

Info

Publication number: CN214398963U
Application number: CN202120351488.8U
Authority: CN
Inventors: 程光远; 胡海平; 张勇军; 张磊; 冯健; 刘志强; 叶阳; 陶芳泽; 宋仲明; 刘涛; 冯宝林; 高磊; 潘兵; 李立群
Original assignee: CRRC Yangtze Tongling Co Ltd
Current assignee: CRRC Yangtze Tongling Co Ltd
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2021-10-15
Anticipated expiration: 2031-02-05

Abstract

The utility model relates to a manipulator technical field just discloses a collection dress goods unstacking and stacking manipulator, which comprises a bracket, the top of support is provided with first displacement mechanism, the front side of first displacement mechanism is provided with second displacement mechanism, the front side of second displacement mechanism is provided with third displacement mechanism, third displacement mechanism's top is provided with the rotation motor, the rotation motor is connected with the commentaries on classics board through the fixed plate. Through the support, first displacement mechanism, the second displacement mechanism, the third displacement mechanism, the rotation motor, the fixed plate, mutually support between commentaries on classics board and the electro-magnet, can control the position of commentaries on classics board through the displacement direction and the distance of adjusting first displacement mechanism, second displacement mechanism and third displacement mechanism, thereby make the commentaries on classics board can absorb and move the object in a plurality of degrees of freedom, reached and reduced the pile up neatly cost of tearing open, improve work efficiency's effect, the lower and higher problem of manufacturing cost of traditional work efficiency of breaking a jam has been solved.

Description

Depalletizing goods pile up neatly machinery hand

Technical Field

The utility model relates to a manipulator technical field specifically is a collection dress goods unstacking and stacking manipulator.

Background

The pile up neatly is torn open to tradition many and is gone on through artifical or use six robots that the price is expensive, nevertheless no matter artifical pile up neatly or six robots tear the pile up neatly open and all have certain limitation, when using artifical pile up neatly open, not only can reduce efficiency, extension operating time, operating personnel still has injured risk, and use six robots to tear the pile up neatly open, though improved work efficiency and reduced the operational risk, but manufacturing cost can rise by a wide margin, so need develop a simple structure, low cost and tear the pile up neatly manipulator of tearing open that pile up neatly is efficient, in order to supply the operator to use.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The not enough to prior art, the utility model provides a pile up neatly machinery hand is torn open to containerized goods possesses and reduces the pile up neatly cost of tearing open, improves work efficiency's advantage, has solved the lower and higher problem of manufacturing cost of traditional work efficiency that tears open the pile up neatly.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a pile up neatly machinery hand is torn open to containerized goods, includes the support, the top of support is provided with first displacement mechanism, the front side of first displacement mechanism is provided with second displacement mechanism, the front side of second displacement mechanism is provided with third displacement mechanism, the top of third displacement mechanism is provided with the rotation motor, the rotation motor is connected with the commentaries on classics board through the fixed plate, the inside fixedly connected with electro-magnet of commentaries on classics board, first logical groove has been seted up to the inside of commentaries on classics board, first logical groove is connected with first lead screw through first bearing, the right side fixedly connected with fixed motor of commentaries on classics board, the left end of fixed motor axis of rotation and the right-hand member fixed connection of first lead screw, the side surface threaded connection of first lead screw has first fixture block.

The improved structure of the rotary plate comprises a rotary plate, a first gear, a first lead screw, a first gear, a first fixed block, a second lead screw, a second clamping block, a first gear, a second gear, a first fixed block, a second gear, a first gear and a second gear, wherein the first gear is fixedly sleeved on the side surface of the second lead screw, the left side of the rotary plate is fixedly connected with a double-shaft motor, the side surface of the double-shaft motor is fixedly sleeved with the second gear, the first gear is meshed with the second gear, the left side of the rotary plate is fixedly connected with a protection box, the first fixed block is fixedly connected with the side surface of the first clamping block, and the second fixed block is fixedly connected with the side surface of the second clamping block.

Preferably, the bottom of the fixed plate is fixedly connected with the top of the rotating plate, and the bottom end of the rotating shaft of the rotating motor is fixedly connected with the inside of the fixed plate.

Preferably, the bottom of the rotating plate is provided with a fixed groove, and the top of the electromagnet is fixedly connected with the inner top wall of the fixed groove.

Preferably, a first bearing groove is formed in the first through groove, a side surface of the first bearing is fixedly connected with an inner wall of the first bearing groove, and a side surface of the first screw rod is fixedly connected with the inside of the first bearing.

Preferably, a second bearing groove is formed in the second through groove, the side surface of the second bearing is fixedly connected with the inner wall of the second bearing groove, and the side surface of the second screw rod is fixedly connected with the inside of the second bearing.

Preferably, a first limiting sliding groove is formed in the rotating plate, and first guide wheels are fixedly connected to the front side and the rear side of the first clamping block.

Preferably, a second limiting sliding groove is formed in the rotating plate, and second guide wheels are fixedly connected to the front side and the rear side of the second clamping block.

Preferably, the inside swing joint of commentaries on classics board has first pulley and second pulley, the side surface of first pulley and the side swing joint of first fixture block, the side surface of second pulley and the side swing joint of second fixture block.

Compared with the prior art, the utility model provides a collection dress goods unstacking and stacking manipulator possesses following beneficial effect:

1. this pile up neatly machinery hand is torn open to containerized goods, through the support, first displacement mechanism, the second displacement mechanism, the third displacement mechanism, the rotation motor, the fixed plate, mutually support between commentaries on classics board and the electro-magnet, can control the position of commentaries on classics board with the distance through adjusting first displacement mechanism, the displacement direction of second displacement mechanism and third displacement mechanism, thereby make the commentaries on classics board can absorb and move the object in a plurality of degrees of freedom, the pile up neatly cost has been reached and has been torn open in the reduction, the effect of improvement work efficiency, the problem that traditional pile up neatly work efficiency is lower and manufacturing cost is higher has been solved.

2. This pile up neatly machinery hand is torn open to containerized goods, through changeing the board, first lead screw, the fixed electrical machine, first fixture block, the second lead screw, the second fixture block, first gear, the double-shaft motor, the second gear, mutually support between first fixed block and the second fixed block, can control the rotation of first lead screw and second lead screw respectively through control fixed electrical machine and double-shaft motor, thereby make all first fixture block and second fixture block relative movement or relative movement, reached and be convenient for carry out the effect that the secondary is fixed to the object, when having solved when object surface unevenness or having the edges and corners, this object is difficult to by the problem of electro-magnet fastening.

3. This pile up neatly machinery hand is torn open to containerized goods, through changeing the board, first lead screw, the fixed electrical machinery, first fixture block, the second lead screw, the second fixture block, first gear, the biax motor, the second gear, mutually support between first fixed block and the second fixed block, can select first fixture block or second fixture block to carry out the secondary fastening to the object of equidimension shape not, the effect of being convenient for carry out the secondary fastening to equidimension object not has been reached, when the object size is different, single fixture block is difficult to carry out effective fixed problem to it.

Drawings

Fig. 1 is a front view of the present invention;

FIG. 2 is a cross-sectional view of the rotary plate of the present invention;

FIG. 3 is a right side view of the rotary plate of the present invention;

FIG. 4 is a left side view of the rotary plate of the present invention;

fig. 5 is a schematic view of the structure of the rotary plate of the present invention.

Wherein: 1. a support; 2. a first displacement mechanism; 3. a second displacement mechanism; 4. a third displacement mechanism; 5. rotating the motor; 6. a fixing plate; 7. rotating the plate; 8. an electromagnet; 9. a first through groove; 10. a first bearing; 11. a first lead screw; 12. fixing a motor; 13. a first clamping block; 14. a second through groove; 15. a second bearing; 16. a second lead screw; 17. a second fixture block; 18. a first gear; 19. a double-shaft motor; 20. a second gear; 21. a protective box; 22. a first limiting chute; 23. a first pulley; 24. a second guide wheel; 25. a second limiting chute; 26. a second pulley; 27. a first fixed block; 28. a second fixed block; 29. a first guide wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, a manipulator for unstacking and stacking containerized cargos comprises a support 1, a first displacement mechanism 2 is arranged at the top of the support 1, the first displacement mechanism 2 can move back and forth along a truss at the top of the support 1, a second displacement mechanism 3 is arranged at the front side of the first displacement mechanism 2, the second displacement mechanism 3 can move left and right along the front side of the first displacement mechanism 2, a third displacement mechanism 4 is arranged at the front side of the second displacement mechanism 3, the third displacement mechanism 4 can move up and down along the front side of the second displacement mechanism 3, the first displacement mechanism 2, the second displacement mechanism 3 and the third displacement mechanism 4 respectively comprise a transmission motor, after the transmission motors operate, each displacement mechanism can move along a specific direction, a rotating motor 5 is arranged at the top of the third displacement mechanism 4, the third displacement mechanism 4 comprises a positioning frame, a transmission motor and a rotating motor 5, the bottom of rotating motor 5 and the inside fixed connection of locating frame, it is connected with commentaries on classics board 7 to rotate motor 5 through fixed plate 6, the bottom of fixed plate 6 and the top fixed connection who changes board 7, the fixed orifices has all been seted up with the inside of fixed plate 6 to change board 7, the inside threaded connection of fixed orifices has set screw, the bottom of rotating motor 5 axis of rotation and the inside fixed connection of fixed plate 6, the inside fixedly connected with electro-magnet 8 of changeing board 7, electro-magnet 8 is current product, it is the device that circular telegram produced the electromagnetism, the electro-magnet is bar or hoof shape usually, so that the iron core magnetizes more easily, in addition, in order to make the electro-magnet outage demagnetization immediately, so the electro-magnet adopts the faster soft iron or silicon steel material of demagnetization to make more.

The bottom of the rotating plate 7 is provided with a fixed groove, the top of the electromagnet 8 is fixedly connected with the inner top wall of the fixed groove, the position of the rotating plate 7 can be controlled by adjusting the displacement directions and distances of the first displacement mechanism 2, the second displacement mechanism 3 and the third displacement mechanism 4 through the mutual matching among the bracket 1, the first displacement mechanism 2, the second displacement mechanism 3, the third displacement mechanism 4, the rotating motor 5, the fixed plate 6, the rotating plate 7 and the electromagnet 8, so that the rotating plate 7 can absorb and move objects in multiple degrees of freedom, the effects of reducing the pile removing cost and improving the working efficiency are achieved, the problems of lower working efficiency and higher production cost of the traditional pile removing stack are solved, the first through groove 9 is arranged in the rotating plate 7, the first through groove 9 is connected with a first lead screw 11 through a first bearing 10, the first bearing groove 9 is arranged in the first through groove 9, the side surface of the first bearing 10 is fixedly connected with the inner wall of the first bearing groove, the side surface of the first screw rod 11 is fixedly connected with the inside of the first bearing 10, the right side of the rotating plate 7 is fixedly connected with a fixed motor 12, the left end of the rotating shaft of the fixed motor 12 is fixedly connected with the right end of the first screw rod 11, and the side surface of the first screw rod 11 is in threaded connection with a first clamping block 13.

A first limiting chute 22 is arranged in the rotating plate 7, the inside of the first limiting chute 22 is communicated with the inside of the first through groove 9, a first limiting groove is arranged on the inner bottom wall of the first limiting chute 22, the side surface of the first fixture block 13 is movably connected with the inside of the first limiting groove, the front side and the rear side of the first fixture block 13 are fixedly connected with first guide wheels 29, each first fixture block 13 is provided with four first guide wheels 29, every two first guide wheels are in a group, one group is positioned at the lower side of the rotating plate 7, the other group is positioned in the first limiting chute 22, a second through groove 14 is arranged in the rotating plate 7, the second through groove 14 is connected with a second lead screw 16 through a second bearing 15, the first lead screw 11 and the second lead screw 16 are both bidirectional lead screws, the directions of threads at the left side and the right side of each bidirectional lead screw are opposite, a second bearing groove is arranged in the second through groove 14, the side surface of the second bearing 15 is fixedly connected with the inner wall of the second bearing groove, the side surface of the second screw rod 16 is fixedly connected with the inside of the second bearing 15, the side surface of the second screw rod 16 is in threaded connection with a second fixture block 17, the inside of the rotating plate 7 is provided with a second limiting sliding groove 25, the inside of the second limiting sliding groove 25 is communicated with the inside of the second through groove 14, the inner bottom wall of the second limiting sliding groove 25 is provided with a second limiting groove, the side surface of the second fixture block 17 is movably connected with the inside of the second limiting groove, the front side and the back side of the second fixture block 17 are fixedly connected with second guide wheels 24, each second fixture block 17 is provided with four second guide wheels 24, every two second fixture blocks are in a group, one group is positioned at the lower side of the rotating plate 7, the other group is positioned inside the second limiting sliding groove 25, the inside of the rotating plate 7 is movably connected with a first pulley 23 and a second pulley 26, the side surface of the first pulley 23 is movably connected with the side surface of the first fixture block 13, the side surface of the second pulley 26 is movably connected with the side surface of the second fixture block 17, a first gear 18 is fixedly sleeved on the side surface of the second screw rod 16, the first gear 18 is positioned on the left side of the rotating plate 7, a double-shaft motor 19 is fixedly connected to the left side of the rotating plate 7, and the double-shaft motor 19 is a double-shaft asynchronous motor.

The side surface of the rotating shaft of the double-shaft motor 19 is fixedly sleeved with a second gear 20, the first gear 18 is meshed with the second gear 20, the containerized cargo unstacking manipulator can select the first fixture block 13 or the second fixture block 17 to carry out secondary fastening on objects with different sizes and shapes through the mutual matching of the rotating plate 7, the first screw rod 11, the fixed motor 12, the first fixture block 13, the second screw rod 16, the second fixture block 17, the first gear 18, the double-shaft motor 19, the second gear 20, the first fixing block 27 and the second fixing block 28, so that the effect of conveniently carrying out secondary fastening on the objects with different sizes is achieved, the problem that when the objects are different in size, the objects are difficult to be effectively fixed by a single fixture block is solved, the protection box 21 is fixedly connected to the left side of the rotating plate 7, the first gear 18 and the second gear 20 are both positioned in the protection box 21, the first fixing block 27 is fixedly connected to the side surface of the first fixture block 13, the side of the second fixture block 17 is fixedly connected with a second fixture block 28, through the mutual matching between the rotating plate 7, the first lead screw 11, the fixed motor 12, the first fixture block 13, the second lead screw 16, the second fixture block 17, the first gear 18, the dual-shaft motor 19, the second gear 20, the first fixture block 27 and the second fixture block 28, the rotation of the first lead screw 11 and the second lead screw 16 can be respectively controlled by controlling the fixed motor 12 and the dual-shaft motor 19, so that all the first fixture blocks 13 and the second fixture blocks 17 can move relatively or relatively, the effect of facilitating the secondary fixing of the object is achieved, and the problem that the object is difficult to be fastened by the electromagnet 8 when the surface of the object is uneven or has edges and corners is solved.

When the device is used, the specific position of a object to be moved is determined, then the position of the rotating plate 7 is adjusted by respectively controlling the moving direction and the distance of the first displacement mechanism 2, the second displacement mechanism 3 and the third displacement mechanism 4 until the rotating plate 7 is moved to the position right above the object, then the switch of the electromagnet 8 is turned on, the object is adsorbed and fixed on the surface of the electromagnet 8 through magnetic force, then the switches of the fixed motor 12 and the double-shaft motor 19 are turned on respectively, the fixed motor 12 drives the first lead screw 11 to rotate, the first clamping blocks 13 on the left side and the right side move relatively until the object is clamped, the double-shaft motor 19 drives the second lead screw 16 to rotate through the transmission effect of the first gear 18 and the second gear 20, and after the second lead screw 16 rotates, the second clamping blocks 17 on the left side and the right side also move relatively so as to fasten the object again.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a pile up neatly machinery hand is torn open to containerized goods, includes support (1), its characterized in that: a first displacement mechanism (2) is arranged at the top of the bracket (1), a second displacement mechanism (3) is arranged at the front side of the first displacement mechanism (2), a third displacement mechanism (4) is arranged at the front side of the second displacement mechanism (3), the top of the third displacement mechanism (4) is provided with a rotating motor (5), the rotating motor (5) is connected with a rotating plate (7) through a fixed plate (6), an electromagnet (8) is fixedly connected inside the rotating plate (7), a first through groove (9) is formed inside the rotating plate (7), the first through groove (9) is connected with a first screw rod (11) through a first bearing (10), the right side of the rotating plate (7) is fixedly connected with a fixed motor (12), the left end of the rotating shaft of the fixed motor (12) is fixedly connected with the right end of the first screw rod (11), a first clamping block (13) is connected to the side surface of the first screw rod (11) in a threaded manner;

the inside of commentaries on classics board (7) has been seted up the second and has been led to groove (14), the second leads to groove (14) and is connected with second lead screw (16) through second bearing (15), the side surface threaded connection of second lead screw (16) has second fixture block (17), first gear (18) have been cup jointed to the side surface of second lead screw (16) is fixed, change left side fixedly connected with double-shaft motor (19) of board (7), second gear (20) have been cup jointed to the side surface of double-shaft motor (19) axis of rotation, first gear (18) and second gear (20) meshing, change left side fixedly connected with guard box (21) of board (7), the side fixedly connected with first fixed block (27) of first fixture block (13), the side fixedly connected with second fixed block (28) of second fixture block (17).

2. An unstacking and stacking manipulator for containerized goods according to claim 1, wherein: the bottom of fixed plate (6) and the top fixed connection who changes board (7), the bottom of rotating motor (5) axis of rotation and the inside fixed connection of fixed plate (6).

3. An unstacking and stacking manipulator for containerized goods according to claim 1, wherein: the bottom of the rotating plate (7) is provided with a fixed groove, and the top of the electromagnet (8) is fixedly connected with the inner top wall of the fixed groove.

4. An unstacking and stacking manipulator for containerized goods according to claim 1, wherein: a first bearing groove is formed in the first through groove (9), the side surface of the first bearing (10) is fixedly connected with the inner wall of the first bearing groove, and the side surface of the first screw rod (11) is fixedly connected with the inside of the first bearing (10).

5. An unstacking and stacking manipulator for containerized goods according to claim 1, wherein: a second bearing groove is formed in the second through groove (14), the side surface of the second bearing (15) is fixedly connected with the inner wall of the second bearing groove, and the side surface of the second screw rod (16) is fixedly connected with the inner part of the second bearing (15).

6. An unstacking and stacking manipulator for containerized goods according to claim 1, wherein: a first limiting sliding groove (22) is formed in the rotating plate (7), and first guide wheels (29) are fixedly connected to the front side and the rear side of the first clamping block (13).

7. An unstacking and stacking manipulator for containerized goods according to claim 1, wherein: a second limiting sliding groove (25) is formed in the rotating plate (7), and second guide wheels (24) are fixedly connected to the front side and the rear side of the second clamping block (17).

8. An unstacking and stacking manipulator for containerized goods according to claim 1, wherein: the inside swing joint of commentaries on classics board (7) has first pulley (23) and second pulley (26), the side surface of first pulley (23) and the side swing joint of first fixture block (13), the side surface of second pulley (26) and the side swing joint of second fixture block (17).