CN215942915U

CN215942915U - Omnidirectional movement formula pile up neatly machinery hand of helping hand

Info

Publication number: CN215942915U
Application number: CN202122144822.5U
Authority: CN
Inventors: 殷培根
Original assignee: Suzhou Zhongfan Mechanical Equipment Co ltd
Current assignee: Suzhou Zhongfan Mechanical Equipment Co ltd
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2022-03-04
Anticipated expiration: 2031-09-07

Abstract

The utility model discloses an omnidirectional moving type stacking power-assisted manipulator, which relates to the field of stacking machines and comprises a base, wherein an auxiliary rotating cylinder is fixedly connected in the middle of the upper surface of the base, a support column is fixedly connected at the output end of the auxiliary rotating cylinder, a vertical transferring cylinder is fixedly connected in the middle of the front surface of the support column, a moving plate is slidably connected on the front surface of the vertical transferring cylinder, a first rotating arm is fixedly connected in the middle of the front surface of the moving plate, a main rotating cylinder is fixedly connected on the lower surface of the front end of the first rotating arm, a second rotating arm is fixedly connected at the output end of the main rotating cylinder, a rotary calibration cylinder is fixedly connected on the lower surface of the right end of the second rotating arm, a stacking mechanism is fixedly connected at the output end of the rotary calibration cylinder, the stacking mechanism comprises a top plate, and a displacement cylinder is fixedly connected in the middle of the lower surface of the top plate. The utility model has the advantages that the auxiliary rotary cylinder, the vertical moving electric cylinder, the main rotary cylinder and the rotary calibration cylinder are arranged, so that the movement is flexible, the movement position is not limited, and the coverage area is large.

Description

Omnidirectional movement formula pile up neatly machinery hand of helping hand

Technical Field

The utility model relates to the field of stacking machines, in particular to an omnidirectional moving type stacking power-assisted manipulator.

Background

Stacking means to stack articles neatly. Specifically, the cartons filled into the containers are stacked on trays and pallets (wood and plastic) according to a certain arrangement, automatically stacked, stacked in multiple layers and pushed out, so that the cartons can be conveniently transported to a warehouse for storage by a forklift. The pile up neatly usually can adopt pile up neatly machinery hand to assist, and pile up neatly machinery hand adopts PLC + touch-sensitive screen control, realizes intelligent operation management, and is simple and convenient, easily master, can reduce labour widely and reduce intensity of labour. The stacking manipulator can be integrated in any production line, provides intellectualization, robotization and networking for production sites, can realize stacking logistics of various operations in the beer, beverage and food industries, and is widely applied to cartons, plastic boxes, bottles, bags, tubings, film-wrapped products, filled products and the like.

However, the existing stacking manipulator is limited in position movement and not flexible enough, and meanwhile, although the existing stacking manipulator can move in all directions, the moving coverage range is small. In order to solve the above problems, it is necessary to provide an omnidirectional moving type stacking power-assisted manipulator.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the omnidirectional moving type stacking power-assisted manipulator is provided, and the technical scheme solves the problems that the existing stacking manipulator provided in the background art is limited in position movement, not flexible enough and small in movement coverage range although the existing stacking manipulator can move in all directions.

In order to achieve the above purposes, the technical scheme adopted by the utility model is as follows:

an omnidirectional movable type stacking power-assisted manipulator comprises a base, wherein an auxiliary rotary cylinder is fixedly connected to the middle of the upper surface of the base, the output end of the auxiliary rotary cylinder is fixedly connected with a support column, a vertical shifting electric cylinder is fixedly connected to the middle of the front surface of the support column, a movable plate is slidably connected to the front surface of the vertical shifting electric cylinder, a first rotary arm is fixedly connected to the middle of the front surface of the movable plate, a main rotary cylinder is fixedly connected to the lower surface of the front end of the first rotary arm, a second rotary arm is fixedly connected to the output end of the main rotary cylinder, a rotary calibration cylinder is fixedly connected to the lower surface of the right end of the second rotary arm, a stacking mechanism is fixedly connected to the output end of the rotary calibration cylinder, the stacking mechanism comprises a top plate, a displacement cylinder is fixedly connected to the middle of the lower surface of the top plate, a gas rod is slidably connected to the left end of the displacement cylinder, a sliding plate is fixedly connected to the left end of the gas rod, and T-shaped sliding rails are fixedly connected to the front and back sides of the lower surface of the top plate, a plurality of T-shaped grooves are formed in the upper portion of the sliding plate, and the sliding plate is connected to the T-shaped sliding rails in a sliding mode through the T-shaped grooves.

Preferably, the sliding grooves are formed in the left side and the right side of the vertical moving electric cylinder, the back of the moving plate is fixedly connected with a plurality of sliding feet, and the sliding feet are connected in the sliding grooves in a sliding mode.

Preferably, the sliding legs are symmetrically distributed by taking the central axis of the moving plate as a symmetry axis.

Preferably, four corners of the top of the base are provided with through holes in a penetrating manner.

Preferably, a servo motor is fixedly connected above the front face of the vertical electric moving cylinder.

Preferably, the upper surface of the top plate is fixedly connected with the output end of the rotary calibration cylinder.

Preferably, the lower surface of the right end of the top plate is fixedly connected with a fixed plate, and the inner side surfaces of the fixed plate and the sliding plate are fixedly connected with a layer of rubber pad.

Compared with the prior art, the utility model provides an omnidirectional moving type stacking power-assisted manipulator which has the following beneficial effects:

1. by arranging the auxiliary rotary cylinder, the vertical shifting electric cylinder, the main rotary cylinder and the rotary calibration cylinder, the auxiliary rotary cylinder, the vertical shifting electric cylinder, the main rotary cylinder and the rotary calibration cylinder work cooperatively, all objects in a range defined by taking the auxiliary rotary cylinder as a circle center, the lengths of the first rotating arm and the second rotating arm and a radius circle can be grabbed, the moving position is not limited, the coverage area is large, the occupied space is small, the objects can be lifted, carried and placed flexibly, and meanwhile, the rotary calibration cylinder can calibrate the stacking mechanism, so that the angle of the stacking mechanism is matched with the objects, and the objects are more convenient to grab;

2. through setting up pile up neatly mechanism, displacement cylinder control slide can be very convenient snatch the object, and slide and fixed plate surface set up the rubber pad for it is more firm to snatch fixedly.

Drawings

FIG. 1 is a schematic front perspective view of the present invention;

FIG. 2 is a left side view of the present invention;

FIG. 3 is a schematic illustration of a semi-disassembled configuration of the palletizing mechanism of the present invention;

fig. 4 is a schematic diagram of a structure of a movable plate according to the present invention.

The reference numbers in the figures are:

101. vertically moving the electric cylinder; 102. moving the plate; 103. a main rotary cylinder; 104. a second rotating arm; 105. a through hole; 106. a base; 107. a chute; 108. a support pillar; 109. a first rotation arm; 110. rotating the calibration cylinder; 111. a secondary rotary cylinder; 112. a sliding foot; 113. a servo motor;

200. a stacking mechanism; 201. a T-shaped slot; 202. a T-shaped slide rail; 203. a top plate; 204. a slide plate; 205. a gas lever; 206. a displacement cylinder; 207. and (7) fixing the plate.

Detailed Description

The following description is presented to disclose the utility model so as to enable any person skilled in the art to practice the utility model. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

Referring to fig. 1-4, an omnidirectional moving type palletizing power-assisted manipulator comprises a base 106, wherein an auxiliary rotary cylinder 111 is fixedly connected to the middle of the upper surface of the base 106, an output end of the auxiliary rotary cylinder 111 is fixedly connected with a support column 108, a vertical moving cylinder 101 is fixedly connected to the middle of the front surface of the support column 108, a moving plate 102 is slidably connected to the front surface of the vertical moving cylinder 101, a first rotary arm 109 is fixedly connected to the middle of the front surface of the moving plate 102, a main rotary cylinder 103 is fixedly connected to the lower surface of the front end of the first rotary arm 109, a second rotary arm 104 is fixedly connected to the output end of the main rotary cylinder 103, a rotary calibration cylinder 110 is fixedly connected to the lower surface of the right end of the second rotary arm 104, an output end of the rotary calibration cylinder 110 is fixedly connected with a palletizing mechanism 200, the palletizing mechanism 200 comprises a top plate 203, a displacement cylinder 206 is fixedly connected to the middle of the lower surface of the top plate 203, and an air rod 205 is slidably connected to the left end of the displacement cylinder 206, the left end of the air rod 205 is fixedly connected with a sliding plate 204, the front side and the rear side of the lower surface of the top plate 203 are fixedly connected with T-shaped sliding rails 202, a plurality of T-shaped grooves 201 are formed in the upper portion of the sliding plate 204, and the sliding plate 204 is connected to the T-shaped sliding rails 202 in a sliding mode through the T-shaped grooves 201;

referring to fig. 1 and 2, when an object is grabbed, firstly, the main rotary cylinder 103 drives the second rotary arm 104 to rotate, so that the distance from the tail end of the second rotary arm 104 to the support column 108 is equal to the distance from the object to the support column 108, then, the auxiliary rotary cylinder 111 drives the support column 108 to rotate, so that the stacking mechanism 200 moves right above the object, the rotary calibration cylinder 110 adjusts the angle of the stacking mechanism 200, so that the stacking mechanism 200 is matched with the object, the vertical moving electric cylinder 101 drives the moving plate 102 to move downwards, the stacking mechanism 200 grabs the object, and then the vertical moving electric cylinder 101 drives the moving plate 102 to move upwards;

when an object is placed, firstly, the main rotating cylinder 103 drives the second rotating arm 104 to rotate, so that the distance from the tail end of the second rotating arm 104 to the supporting column 108 is equal to the distance from the placing position to the supporting column 108, then, the auxiliary rotating cylinder 111 drives the supporting column 108 to rotate, so that the stacking mechanism 200 moves to a position right above the placing position, the rotary calibration cylinder 110 adjusts the angle of the stacking mechanism 200, so that the stacking mechanism 200 aligns the object, the vertical moving electric cylinder 101 drives the moving plate 102 to move downwards, the stacking mechanism 200 places the object at a specified position, and then the vertical moving electric cylinder 101 drives the moving plate 102 to move upwards, so that the object is grabbed and placed;

referring to fig. 3, the palletizing mechanism 200 performs grabbing and placing operations on an object, in the grabbing process, a displacement air cylinder 206 drives an air rod 205 to move rightwards, and then a sliding plate 204 moves rightwards along a T-shaped sliding rail 202, so that the sliding plate 204 pushes the object, and the fixed plate 207 and the sliding plate 204 clamp the object;

during placement, the displacement cylinder 206 drives the air rod 205 to move left, and the sliding plate 204 moves left along the T-shaped sliding rail 202, so that the sliding plate 204 and the fixing plate 207 release the object.

Specifically, the left side and the right side of the vertical moving electric cylinder 101 are both provided with sliding grooves 107, the back of the moving plate 102 is fixedly connected with a plurality of sliding pins 112, and the sliding pins 112 are slidably connected in the sliding grooves 107.

The sliding legs 112 are symmetrically arranged about the central axis of the moving plate 102.

Through holes 105 are formed at four corners of the top of the base 106.

A servo motor 113 is fixedly connected to the upper front side of the vertical electric moving cylinder 101.

The upper surface of the top plate 203 is fixedly connected with the output end of the rotary calibration cylinder 110.

The lower surface of the right end of the top plate 203 is fixedly connected with a fixing plate 207, and the inner side surfaces of the fixing plate 207 and the sliding plate 204 are fixedly connected with a layer of rubber pad.

The working principle and the using process of the utility model are as follows: by arranging the auxiliary rotary cylinder 111, the vertical moving electric cylinder 101, the main rotary cylinder 103 and the rotary calibration cylinder 110, and cooperatively operating the auxiliary rotary cylinder 111, the vertical moving electric cylinder 101, the main rotary cylinder 103 and the rotary calibration cylinder 110, all objects in a range defined by taking the auxiliary rotary cylinder 111 as a circle center, the lengths of the first rotary arm 109 and the second rotary arm 104 and a radius circle can be grabbed, the moving position is not limited, the coverage area is large, the occupied space is small, the objects can be flexibly lifted, carried and placed, and meanwhile, the rotary calibration cylinder 110 can calibrate the stacking mechanism 200, so that the angle of the stacking mechanism 200 is matched with the objects, and the grabbing is more convenient; through setting up pile up neatly mechanism 200, displacement cylinder 206 control slide 204 can be very convenient snatchs the object, and slide 204 and fixed plate 207 surface set up the rubber pad for it is more firm to snatch fixedly.

The foregoing shows and describes the general principles, essential features, and advantages of the utility model. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the utility model, but that various changes and modifications may be made without departing from the spirit and scope of the utility model, which fall within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. An omnidirectional moving type stacking power-assisted manipulator is characterized by comprising a base (106), wherein an auxiliary rotating cylinder (111) is fixedly connected to the middle of the upper surface of the base (106), an output end of the auxiliary rotating cylinder (111) is fixedly connected with a supporting column (108), a vertical transferring cylinder (101) is fixedly connected to the middle of the front surface of the supporting column (108), a moving plate (102) is connected to the front surface of the vertical transferring cylinder (101) in a sliding manner, a first rotating arm (109) is fixedly connected to the middle of the front surface of the moving plate (102), a main rotating cylinder (103) is fixedly connected to the lower surface of the front end of the first rotating arm (109), a second rotating arm (104) is fixedly connected to the output end of the main rotating cylinder (103), a rotary calibrating cylinder (110) is fixedly connected to the lower surface of the right end of the second rotating arm (104), and a stacking mechanism (200) is fixedly connected to the output end of the rotary calibrating cylinder (110), pile up neatly mechanism (200) is including roof (203), fixed connection has displacement cylinder (206) in the middle of roof (203) lower surface, displacement cylinder (206) left end sliding connection has gas pole (205), gas pole (205) left end fixed connection has slide (204), equal fixedly connected with T shape slide rail (202) in both sides around roof (203) lower surface, a plurality of T-shaped groove (201) has been seted up to slide (204) top, slide (204) are through T shape groove (201) sliding connection on T shape slide rail (202).

2. The omni-directional mobile palletizing assistance manipulator according to claim 1, wherein: the left side and the right side of the vertical moving electric cylinder (101) are both provided with sliding grooves (107), the back of the moving plate (102) is fixedly connected with a plurality of sliding pins (112), and the sliding pins (112) are connected in the sliding grooves (107) in a sliding mode.

3. The omni-directional mobile palletizing assistance manipulator according to claim 2, wherein: the sliding feet (112) are symmetrically distributed by taking the central axis of the moving plate (102) as a symmetry axis.

4. The omni-directional mobile palletizing assistance manipulator according to claim 1, wherein: four corners of the top of the base (106) are provided with through holes (105) in a penetrating way.

5. The omni-directional mobile palletizing assistance manipulator according to claim 1, wherein: the servo motor (113) is fixedly connected to the upper portion of the front face of the vertical electric moving cylinder (101).

6. The omni-directional mobile palletizing assistance manipulator according to claim 1, wherein: the upper surface of the top plate (203) is fixedly connected with the output end of the rotary calibration cylinder (110).

7. The omni-directional mobile palletizing assistance manipulator according to claim 1, wherein: the lower surface of the right end of the top plate (203) is fixedly connected with a fixing plate (207), and the inner side surfaces of the fixing plate (207) and the sliding plate (204) are fixedly connected with a layer of rubber pad.