CN216128970U - Product stacking manipulator - Google Patents
Product stacking manipulator Download PDFInfo
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- CN216128970U CN216128970U CN202121404606.3U CN202121404606U CN216128970U CN 216128970 U CN216128970 U CN 216128970U CN 202121404606 U CN202121404606 U CN 202121404606U CN 216128970 U CN216128970 U CN 216128970U
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Abstract
The utility model discloses a product stacking manipulator which comprises a rack and an installation rack connected to the rack in a sliding manner along the vertical direction, wherein a lifting device for pushing the installation rack to slide along the vertical direction is also arranged on the rack; the manipulator body for sucking a product and the turnover device for driving the manipulator body to turn are arranged on the mounting frame, the manipulator body is hinged to the mounting frame, the fixed part of the turnover device is mounted on the mounting frame, and the driving part of the turnover device is connected with the manipulator body; the manipulator body is provided with a plurality of suckers, and the suction end faces of the suckers form a product suction face together; the product suction surface has a vertical state and a horizontal downward state in the process of turning over with the manipulator body. The utility model has simple structure, no need of manual participation and high automation degree.
Description
Technical Field
The utility model relates to the technical field of product stacking, in particular to a product stacking manipulator.
Background
After the existing box cover type products are molded, the products are usually taken out of a cavity by a labeling manipulator and then labeled on the labeling manipulator through corresponding equipment, after the products are attached, the products on the labeling manipulator are usually stacked by manual work or stacking equipment, the manual product stacking is labor-wasting, and the production automation is not facilitated; although the automation degree of products stacked by the existing stacking equipment is high, most of the existing stacking equipment is complex in structure and high in equipment cost.
Accordingly, the present inventors have conducted extensive studies to solve the above problems and have made the present invention.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a product stacking manipulator which is simple in structure, free of manual participation and high in automation degree.
A product stacking manipulator comprises a rack and a mounting rack connected to the rack in a sliding mode along the vertical direction, wherein a lifting device for driving the mounting rack to move along the vertical direction is further arranged on the rack; the manipulator body and a turnover device driving the manipulator body to turn over on a vertical surface by 90 degrees are arranged on the mounting frame, the manipulator body is hinged to the mounting frame, the turnover device is an air cylinder or an electric cylinder, a cylinder body of the turnover device is mounted on the mounting frame, and a connecting rod driving the manipulator body to turn over is hinged between a piston rod of the turnover device and the manipulator body; the manipulator body is provided with a plurality of suckers for sucking products, and the sucking end faces of the suckers form a product sucking face; the manipulator body has a product suction state for sucking products and a product stacking state for stacking the products in the overturning process, the manipulator body is in the product suction state, and the product suction surface is vertically arranged; the manipulator body is the product and piles up the state, the product absorbs and personally submits the level and sets up downwards.
The rack is provided with a slide rail along the vertical direction, and the mounting rack is connected on the slide rail in a sliding manner.
The lifting device comprises a lifting synchronous belt and a servo motor, wherein the lifting synchronous belt drives the mounting rack to slide up and down, the servo motor is fixedly arranged on the rack, a connecting piece is fixedly arranged on the mounting rack, and the connecting piece is clamped on the lifting synchronous belt.
The mounting bracket comprises a connecting frame and a vertically arranged fixing plate, the connecting piece is arranged on the connecting frame, the connecting frame is horizontally arranged, one end of the connecting frame is connected to the sliding rail along a vertical sliding mode, the fixing plate is arranged at the other end of the connecting frame, the cylinder body of the turnover device is fixed to the fixing plate, and the manipulator body is hinged to the fixing plate.
The manipulator body articulates on the fixed plate, turning device is electronic jar, electronic jar's cylinder body fixed connection be in on the fixed plate, the one end of connecting rod articulates on the piston rod of electronic jar, the other end of connecting rod articulates on the manipulator body.
The manipulator comprises a manipulator body, connecting rods, manipulator bodies and connecting rods, wherein the number of the connecting rods and the manipulator bodies are two, each manipulator body and each connecting rod are arranged in a one-to-one correspondence mode, the two manipulator bodies are symmetrically arranged, and the two connecting rods are symmetrically arranged; the piston rods of the electric cylinders are all arranged downwards, the lower ends of the piston rods are fixedly connected with a hinge block, one end of each connecting rod is hinged to the piston rod through the hinge block, and the other end of each connecting rod is hinged to the corresponding manipulator body.
The manipulator is characterized in that a transmission belt is further arranged below the manipulator body, and a transmission plane of the transmission belt is horizontally arranged.
After the technical scheme is adopted, the product stacking mechanical arm is matched with the labeling mechanical arm for use, and the labeling mechanical arm is provided with a product suction station; when the manipulator lifting device works, the turnover device drives the manipulator body to turn over, so that the manipulator body is in a product suction state, and the lifting device drives the manipulator body to move to a product suction station; then a sucker on the mechanical hand body works to suck the product on the labeling mechanical hand on a product suction surface; then the lifting device drives the manipulator body to descend and move out of the product suction station, the turnover device drives the manipulator body to turn over, so that the manipulator body is in a product stacking state, and meanwhile, the lifting device continues to drive the product on the sucker of the manipulator body to vertically move downwards to a product stacking position; after the products on the suckers of the manipulator body are stacked, the lifting device stops descending, the suckers stop sucking the products, and the products are stacked; then the lifting device drives the mounting frame to ascend, the manipulator body ascends along with the mounting frame, and meanwhile the overturning device drives the manipulator body to overturn, so that the manipulator body is in a product sucking state; according to the technical scheme, the product stacking manipulator is simple in structure, few in actions in the stacking process and high in efficiency; when stacking, the descending height of the mounting frame can be adjusted by controlling the lifting device, when the height of the stacked products can rise according to the stacking position, the descending height of the mounting frame is reduced, so that the position, at which the products on the suction cup of the manipulator body descend, corresponds to the stacking height of the products, the products can be accurately stacked above the stacked products, and the stacking is stable and reliable.
Drawings
For ease of illustration, the utility model is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic view of a product stacking robot of the present invention;
FIG. 2 is a schematic view of a holding plate, flipping mechanism and robot body of the present invention;
FIG. 3 is a view of the frame, lifting device and connecting frame of the present invention (the connecting frame only shows the portion slidably connected to the slide rails and connected to the connecting member);
figure 4 is a schematic view of the product stacking robot of the present invention in use with a labeling robot.
In the figure:
rack-1 slide rail-11
Mounting rack-2 connecting rack-21
Connector-211 fixed plate-22
Electric cylinder-31 hinge block-311
Connecting rod-32 manipulator body-33
Suction cup-331 servo motor-41
Lifting synchronous belt-42 transmission belt-5
Frame-6 labeling manipulator-61
Driving device-62
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
As shown in fig. 1 to 4, a product stacking manipulator includes a frame 1 and a mounting frame 2 slidably connected to the frame 1 along a vertical direction, and the frame 1 is further provided with a lifting device for driving the mounting frame 2 to slide along the vertical direction. In this embodiment, elevating gear is including driving the lift hold-in range 42 that mounting bracket 2 goes up and down and driving the driven servo motor 41 of lift hold-in range 42, servo motor 41's cylinder body is fixed in frame 1, the lower extreme transmission of lift hold-in range 42 is connected with an action wheel, the upper end transmission of lift hold-in range 42 is connected with a follow driving wheel, servo motor 41's pivot is passed through the shaft coupling and is connected with the action wheel transmission, make the action wheel drive lift hold-in range 42 transmission, all be provided with the driving cog on action wheel and the lift hold-in range 42, and action wheel and lift hold-in range 42 intermeshing, this is conventional design, this is unnecessary here and is repeated.
The fixing plate 22 is provided with a manipulator body 33 for sucking the product and a turnover device for driving the manipulator body 33 to turn over 90 degrees on a vertical surface. Manipulator body 33 has two in this embodiment, and two manipulator bodies 33 symmetry sets up on fixed plate 22, and two manipulator bodies 33 all articulate on fixed plate 22.
The turning device in this embodiment includes an electric cylinder 31 and two symmetrically arranged connecting rods 32 (here, the electric cylinder 31 is a well-known device, and can be replaced by an air cylinder), a cylinder body of the electric cylinder 31 is fixedly connected to the fixing plate 22, a piston rod of the electric cylinder 31 is arranged downward, a hinge block 311 is connected to the lower end of the piston rod, each connecting rod 32 is arranged in one-to-one correspondence with each manipulator body 33, each connecting rod 32 is located below the piston rod, one end of each connecting rod 32 is hinged to the hinge block 311, and the other end of each connecting rod 32 is hinged to the corresponding manipulator body 33; when the piston rod of the electric cylinder 31 moves up and down, each manipulator body 33 turns around the hinge position of itself and the fixed plate 22; in this embodiment, when the piston rod of the electric cylinder 31 moves downward from the upper limit position to the lower limit position, each manipulator body 33 turns upward by 90 ° on the vertical plane, and each manipulator body 33 is located at the upper turning limit position; when the piston rod of the electric cylinder 31 moves upward from the lower limit position to the upper limit position, each robot body 33 turns downward by 90 ° on the vertical plane, and each robot body 33 is at the lower turning limit position.
The manipulator body 33 is provided with a plurality of suction cups 331, each suction cup 331 in this embodiment is connected with a vent pipe, each vent pipe is connected with the same air compressor, and the suction of air by the air compressor enables each suction cup 331 to adsorb articles, which is not described in the prior art. The suction end surfaces of the suction cups 331 of one of the robot main bodies 33 together constitute a product suction surface, and the suction end surfaces of the suction cups 331 of the other robot main body 33 together constitute another product suction surface. The robot body 33 has a product suction state and a product stack state during the turnover. In this embodiment, the angle of the vertical turning of each manipulator body 33 is 90 °, when each manipulator body 33 is at the upper turning limit position, each manipulator body 33 is in a product suction state, the product suction surfaces are both in a vertical state, and when the two product suction surfaces are in a vertical state, the two product suction surfaces face in opposite directions; when each robot body 33 is at the lower turning limit position, the robot body 33 is in a product stacking state, and both the product suction surfaces are in a state of being directed horizontally downward.
It should be noted that the product stacking robot of the present invention is used in combination with the labeling robot 61, and the labeling robot 61 is a commonly known labeling device. As shown in fig. 4, in this embodiment, there are two labeling manipulators 61, the two labeling manipulators 61 are symmetrically arranged on the frame 6, a driving device 62 (here, the driving device 62 is a motor) is further arranged on the frame 6 for simultaneously driving the two labeling manipulators 61 to slide along the horizontal front-back direction, the two labeling manipulators 61 each have a product suction station in the frame 6, the labeling manipulators 61 can be driven to the product suction stations by the driving device 62, the labeling manipulators 61 are provided with suction cups (not shown) for sucking the products, and the suction cups on the manipulator body 33 suck the labeled products at the product suction stations; the suction surfaces of the suction cups on one labeling manipulator 61 form a labeled product suction surface; the suction surfaces of the suction cups of the other labeling manipulator 61 together form another labeled product suction surface. On the product suction station, the two label product suction surfaces are both in a vertical state, and the two label product suction surfaces are arranged oppositely. When the two labeling manipulators 61 and the two manipulator bodies 33 are positioned on the product suction stations and the two product suction surfaces are in a vertical state, the product suction surfaces and the labeled product suction surfaces are arranged in a one-to-one opposite mode; when the air compressor sucks the product from the suction cup 331 of each robot body 33, the suction cup of the corresponding labeling robot 61 stops sucking the product, and the product is separated from the suction cup of the labeling robot 61, so that the product on each labeling robot 61 is sucked to the suction cup 331 of the corresponding robot body 33.
The working process is as follows:
s1: the driving device 62 drives the labeling manipulator to move to the product suction station; the piston rod of the electric cylinder 31 is pushed out downwards to the lower limit position, and the piston rod of the electric cylinder 31 drives the two manipulator bodies 33 to turn over simultaneously, so that the suction surfaces of the two products are in a vertical state;
s2: then the servo motor 41 drives the manipulator body 33 to ascend to a product sucking station; the product suction surface of each manipulator body 33 corresponds to the corresponding label product suction surface (the distance between each product suction surface and the product on the label product suction surface is less than 5mm, and the distance is set to 2mm in this embodiment);
s3: then, the air compressor makes the suction cups 331 on the manipulator bodies 33 suck the products, the suction cups on the corresponding labeling manipulators 61 stop sucking air, and the products are separated from the suction cups of the labeling manipulators 61, so that the products on the labeling manipulators 61 are adsorbed on the suction cups 331 of the corresponding manipulator bodies 33;
s4: then the servo motor 41 drives the manipulator body 33 to descend, when the manipulator body 33 descends and completely moves out of the product suction station (interference with the labeling manipulator 61 when the manipulator body 33 is turned over is avoided), the piston rod of the electric cylinder 31 is contracted upwards to the upper limit position, the electric cylinder 31 can drive the manipulator body 33 to turn over through transmission of the connecting rod 32, so that the product suction surface faces downwards horizontally, and meanwhile, the servo motor 41 continues to drive the manipulator body 33 to continue to move downwards; when the products on the manipulator body 33 are stacked at the stacking position, the servo motor 41 stops rotating, the manipulator body 33 stops descending, and the air compressor stops the suction cups 331 on the manipulator body 33 from adsorbing the products, so that the products are stacked at the stacking position;
s5: then the servo motor 41 drives the manipulator body 33 to ascend, when the manipulator body 33 moves to the position below the product suction station (the position should avoid interference with the labeling manipulator 61 and the products at the stacking position at the same time), the piston rod of the electric cylinder 31 is pushed out downwards to the lower limit position, the manipulator body 33 is turned upwards, and the product suction plane is in a vertical state; then the servo motor 41 continues to drive the manipulator body 33 to ascend to the product suction station, and waits for the suction cups 331 on the manipulator body 33 to suck the product from the labeling and labeling manipulator again.
According to the utility model, the product stacking manipulator has the advantages of simple structure, less actions in the stacking process and high efficiency; when stacking, since the number of rotations and the rotational position of the servo motor 41 (the rotational position of the servo motor is monitored by an encoder, which is a common knowledge) are easily adjusted, the lowered height of the robot body 33 is easily and precisely adjusted; according to the height change of the stacked products at the stacking position, the descending height of the manipulator body 33 can be correspondingly and accurately adjusted by controlling the servo motor 41, so that the products on the manipulator body 33 can be accurately stacked above the stacked products, and the stacking is stable and reliable.
Preferably, a conveying belt 5 is further arranged below the manipulator body 33, and a conveying plane of the conveying belt 5 is horizontally arranged. The arrangement of the conveying belt 5 enables the products to be stacked on the conveying plane of the conveying belt 5, and when the number of the stacked products meets the requirement, the products can be conveyed to the next station by the conveying belt 5.
The embodiments and drawings are not intended to limit the forms and modes of the present invention, and any suitable changes or modifications thereof by one of ordinary skill in the art should be considered as not departing from the scope of the present invention.
Claims (7)
1. A product stacking robot, comprising: the lifting device comprises a rack and a mounting rack which is connected to the rack in a sliding manner along the vertical direction, wherein the rack is also provided with a lifting device which drives the mounting rack to move along the vertical direction; the manipulator body and a turnover device driving the manipulator body to turn over on a vertical surface by 90 degrees are arranged on the mounting frame, the manipulator body is hinged to the mounting frame, the turnover device is an air cylinder or an electric cylinder, a cylinder body of the turnover device is mounted on the mounting frame, and a connecting rod driving the manipulator body to turn over is hinged between a piston rod of the turnover device and the manipulator body; the manipulator body is provided with a plurality of suckers for sucking products, and the sucking end faces of the suckers form a product sucking face; the manipulator body has a product suction state for sucking products and a product stacking state for stacking the products in the overturning process, the manipulator body is in the product suction state, and the product suction surface is vertically arranged; the manipulator body is the product and piles up the state, the product absorbs and personally submits the level and sets up downwards.
2. A product stacking robot as recited in claim 1, wherein: the rack is provided with a slide rail along the vertical direction, and the mounting rack is connected on the slide rail in a sliding manner.
3. A product stacking robot as recited in claim 2, wherein: the lifting device comprises a lifting synchronous belt and a servo motor, wherein the lifting synchronous belt drives the mounting rack to slide up and down, the servo motor is fixedly arranged on the rack, a connecting piece is fixedly arranged on the mounting rack, and the connecting piece is clamped on the lifting synchronous belt.
4. A product stacking robot as recited in claim 3, wherein: the mounting bracket comprises a connecting frame and a vertically arranged fixing plate, the connecting piece is arranged on the connecting frame, the connecting frame is horizontally arranged, one end of the connecting frame is connected to the sliding rail along a vertical sliding mode, the fixing plate is arranged at the other end of the connecting frame, the cylinder body of the turnover device is fixed to the fixing plate, and the manipulator body is hinged to the fixing plate.
5. A product stacking robot as recited in claim 4, wherein: the manipulator body articulates on the fixed plate, turning device is electronic jar, electronic jar's cylinder body fixed connection be in on the fixed plate, the one end of connecting rod articulates on the piston rod of electronic jar, the other end of connecting rod articulates on the manipulator body.
6. A product stacking robot as recited in claim 5, wherein: the manipulator comprises a manipulator body, connecting rods, manipulator bodies and connecting rods, wherein the number of the connecting rods and the manipulator bodies are two, each manipulator body and each connecting rod are arranged in a one-to-one correspondence mode, the two manipulator bodies are symmetrically arranged, and the two connecting rods are symmetrically arranged; the piston rods of the electric cylinders are all arranged downwards, the lower ends of the piston rods are fixedly connected with a hinge block, one end of each connecting rod is hinged to the piston rod through the hinge block, and the other end of each connecting rod is hinged to the corresponding manipulator body.
7. A product stacking robot as recited in claim 1, wherein: the manipulator is characterized in that a transmission belt is further arranged below the manipulator body, and a transmission plane of the transmission belt is horizontally arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121404606.3U CN216128970U (en) | 2021-06-23 | 2021-06-23 | Product stacking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121404606.3U CN216128970U (en) | 2021-06-23 | 2021-06-23 | Product stacking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216128970U true CN216128970U (en) | 2022-03-25 |
Family
ID=80766674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121404606.3U Active CN216128970U (en) | 2021-06-23 | 2021-06-23 | Product stacking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216128970U (en) |
-
2021
- 2021-06-23 CN CN202121404606.3U patent/CN216128970U/en active Active
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