CN217376351U

CN217376351U - Truss type stacking manipulator

Info

Publication number: CN217376351U
Application number: CN202122698609.9U
Authority: CN
Inventors: 何国强
Original assignee: Hefei Jingsong Intelligent Technology Co ltd
Current assignee: Hefei Jingsong Intelligent Technology Co ltd
Priority date: 2021-11-05
Filing date: 2021-11-05
Publication date: 2022-09-06
Anticipated expiration: 2031-11-05

Abstract

The utility model discloses a truss type stacking manipulator, which comprises four supporting legs and an upper frame detachably arranged at the tops of the four supporting legs, wherein the upper frame is provided with an installation beam, the installation beam is provided with a grabbing mechanism, and the grabbing mechanism is driven by a first horizontal driving mechanism and a lifting driving mechanism to move upwards on the installation beam; the upper frame is further provided with a second horizontal driving mechanism, the second horizontal driving mechanism drives the mounting cross beam to move on the upper frame, and the moving direction of the mounting cross beam is perpendicular to the moving direction of the grabbing mechanism. Through the mutual cooperation of the horizontal driving mechanism I, the lifting driving mechanism and the horizontal driving mechanism II, the connection conveying from grabbing to transferring is realized, the stacking stroke is shortened, the transferring space is saved, and the stacking efficiency is improved.

Description

Truss type stacking manipulator

Technical Field

The utility model relates to a product transportation technical field, more specifically say, relate to a truss-like pile up neatly machinery hand.

Background

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

Present, the assembly degree of difficulty of pile up neatly manipulator on the production line is big, this is because current pile up neatly manipulator depends on field device more and fixes, can't erect independently, and installation and debugging are all very inconvenient, lead to the flexibility that current pile up neatly manipulator used poor. Meanwhile, when the existing stacking manipulator clamps goods, the stroke of the existing stacking manipulator is long due to the fact that the driving mechanism is loaded with impurities, the clamping efficiency is low, and the stability is poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a truss-like pile up neatly machinery hand for solve the technical problem who exists among the above-mentioned background art.

The utility model provides a truss type stacking manipulator, including four supporting legs and can dismantle the upper ledge that sets up at four the supporting leg tops, be provided with the installation crossbeam on the upper ledge, be provided with on the installation crossbeam and snatch the mechanism, snatch the mechanism and drive through horizontal drive mechanism one and lift actuating mechanism and move upwards at the installation crossbeam;

the upper frame is further provided with a second horizontal driving mechanism, the second horizontal driving mechanism drives the mounting cross beam to move on the upper frame, and the moving direction of the mounting cross beam is perpendicular to the moving direction of the grabbing mechanism.

In a preferred embodiment, two first racks are arranged on the mounting cross beam along the length direction of the mounting cross beam, the first horizontal driving mechanism comprises a first motor and a first gear fixed with an output shaft of the first motor, the first gear is meshed with the first racks, and the first motor is fixed on the grabbing mechanism.

In a preferred embodiment, two sides of the two first racks are provided with first limiting slide rails, and two sliding sides of the grabbing mechanism are respectively in sliding connection with the two first limiting slide rails.

In a preferred embodiment, a second rack is vertically arranged on one side of the grabbing mechanism, the lifting driving mechanism comprises a second motor and a second gear fixed with an output shaft of the second motor, and the second gear is meshed with the second rack.

In a preferred embodiment, the grabbing mechanism comprises a lifting rod body and a clamping jaw fixed at the bottom of the lifting rod body, the clamping jaw comprises two oppositely arranged clamping plates, and anti-falling lines are arranged on the inner sides of the clamping plates.

In a preferred embodiment, a lifting and stabilizing mechanism is arranged on one side of the lifting rod body, the lifting rod body is fixed with the lifting and stabilizing mechanism, the lifting and stabilizing mechanism comprises a vertically arranged limiting groove and a stabilizing chain positioned in the limiting groove, and the top end of the stabilizing chain is bent and fixed with the lifting rod body.

In a preferred embodiment, the second horizontal driving mechanism includes a third motor, two transmission shafts, two driving wheels, two driven wheels, and two chains, the chains are sleeved on the driving wheels and the driven wheels, the transmission shafts are fixed to the driving wheels, the two transmission shafts are respectively disposed on two sides of the third motor and are driven by the third motor, and two sides of the mounting beam are respectively fixed to the two chains.

In a preferred embodiment, a second limiting slide rail is arranged on the upper frame, and two sides of the mounting cross beam are respectively connected with the second limiting slide rail in a sliding manner.

The utility model discloses technical scheme's beneficial effect is:

1. the integral framework part of the stacking manipulator is assembled by three parts: the tray is placed in the whole framework area, goods conveyed or placed to the area are grabbed through the grabbing mechanism, and then the goods are orderly stacked on the tray. The stacking manipulator is convenient to transfer and match in production, has strong integrity, shortens the cargo transferring stroke, and improves the stacking efficiency.

2. Through the mutual cooperation of the horizontal driving mechanism I, the lifting driving mechanism and the horizontal driving mechanism II, the connection conveying from grabbing to transferring is realized, the stacking stroke is shortened, the transferring space is saved, and the stacking efficiency is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention,

FIG. 2 is a schematic view of the structure of the gripping mechanism of the present invention,

FIG. 3 is a schematic view of the upper frame structure of the present invention,

figure 4 is a side view of the utility model,

fig. 5 is an enlarged view of a portion a in fig. 4 according to the present invention.

Description of reference numerals: 1 supporting leg, 2 upper ledge, 3 installation crossbeams, 31 first rack, 4 snatch the mechanism, 41 the body of the lift body, 42 clamping jaws, 43 splint, 44 second rack, 5 horizontal drive mechanism one, 51 first motor, 52 first gear, 6 the lift firm mechanism, 61 spacing groove, 62 firm chain, 7 lift actuating mechanism, 71 second motor, 72 second gear, 8 horizontal drive mechanism two, 81 third motor, 82 transmission shafts, 83 action wheel, 84 follow driving wheel, 85 chain, 9 first spacing slide rail, 10 second spacing slide rail, 11 trays.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Referring to fig. 1-5, the utility model discloses technical scheme a truss type pile up neatly machinery hand, including four supporting legs 1 with can dismantle the upper ledge 2 that sets up at four supporting legs 1 tops, be provided with installation crossbeam 3 on the upper ledge 2, be provided with on the installation crossbeam 3 and snatch mechanism 4. The integral framework part of the stacking manipulator is assembled by three parts: supporting legs 1, upper frame 2 and installation crossbeam 3, tray 11 are placed in whole framework region, and the goods of carrying or placing this region snatch through snatching mechanism 4, then neatly stacks on tray 11. The stacking manipulator is convenient to transfer and match in production, has strong integrity, shortens the cargo transferring stroke, and improves the stacking efficiency.

The grabbing mechanism 4 is driven by a first horizontal driving mechanism 5 and a lifting driving mechanism 7 to move upwards on the mounting cross beam 3. The upper frame 2 is also provided with a second horizontal driving mechanism 8, the second horizontal driving mechanism 8 drives the mounting cross beam 3 to move on the upper frame 2, and the moving direction of the mounting cross beam 3 is perpendicular to the moving direction of the grabbing mechanism 4.

When the goods are stacked, the first horizontal driving mechanism 5 drives the grabbing mechanism 4 to be right above the goods, then the lifting driving mechanism 7 drives the grabbing mechanism 4 to move downwards and clamp the goods, then the second horizontal driving mechanism 8 drives the mounting cross beam 3 to move, so that the grabbing mechanism 4 moves to the stacking top, and the goods are placed on the designated position of the stack. When in use, the movement distances of the first horizontal driving mechanism 5, the second lifting driving mechanism 7 and the second horizontal driving mechanism 8 are controlled by a controller, and the control process is the prior art and is not described in detail herein.

Two first racks 31 are arranged on the mounting cross beam 3 along the length direction of the mounting cross beam 3, the first horizontal driving mechanism 5 comprises a first motor 51 and a first gear 52 fixed with an output shaft of the first motor 51, the first gear 52 is meshed with the first racks 31, and the first motor 51 is fixed on the grabbing mechanism 4. Two first rack 31 both sides are provided with first spacing slide rail 9, snatch mechanism 4 slip both sides respectively with two first spacing slide rail 9 sliding connection.

Based on above-mentioned technical scheme, snatch mechanism 4 and slide through first spacing slide rail 9 and set up on installation crossbeam 3, when first motor 51 drive first gear 52 rotated, first gear 52 can move on the first rack 31 rather than the meshing, and then drives and snatch mechanism 4 and follow installation crossbeam 3 length direction and move on installation crossbeam 3.

The second rack 44 is vertically arranged on one side of the grabbing mechanism 4, the lifting driving mechanism 7 comprises a second motor 71 and a second gear 72 fixed with an output shaft of the second motor 71, and the second gear 72 is meshed with the second rack 44. The second rack 44 is arranged on one side of the grabbing mechanism 4, the second gear 72 rotates under the driving of the second motor 71, and the second rack 44 is transmitted in the rotating process of the second gear 72, so that the grabbing mechanism 4 fixed with the second rack moves up and down in the vertical direction.

The grabbing mechanism 4 comprises a lifting rod body 41 and a clamping jaw 42 fixed at the bottom of the lifting rod body 41, the clamping jaw 42 comprises two oppositely arranged clamping plates 43, and anti-falling lines are arranged on the inner sides of the clamping plates 43. Clamping jaw 42 is when getting the goods, and through two splint 43 of driving piece drive mutual being close to, then presss from both sides the goods tightly again, is located the inboard anticreep line increase of splint 43 and the frictional force between the goods, guarantees to get the stability of getting.

In order to ensure the stability of the grabbing mechanism 4 in the lifting process, a lifting stabilizing mechanism 6 is arranged on one side of the lifting rod body 41, and the lifting rod body 41 is fixed with the lifting stabilizing mechanism 6. The lifting stabilizing mechanism 6 comprises a vertically arranged limiting groove 61 and a stabilizing chain 62 positioned in the limiting groove 61, and the top end of the stabilizing chain 62 is bent and fixed with the lifting rod body 41. When the lifting rod 41 is lifted, the stabilizing chain 62 slides up and down in the limiting groove 61, so as to ensure the stability of the lifting rod 41 moving in the vertical direction.

The second horizontal driving mechanism 8 comprises a third motor 81, two transmission shafts 82, two driving wheels 83, two driven wheels 84 and two chains 85, the chains 85 are sleeved on the driving wheels 83 and the driven wheels 84, the transmission shafts 82 are fixed with the driving wheels 83, the two transmission shafts 82 are respectively arranged on two sides of the third motor 81 and are driven by the third motor 81 at the same time, and two sides of the installation beam 3 are respectively fixed with the two chains 85. The upper frame 2 is provided with a second limiting slide rail 10, and two sides of the mounting beam 3 are respectively connected with the two second limiting slide rails 10 in a sliding manner.

Based on the above technical solution, the third motor 81 drives the two transmission shafts 82 to move synchronously, and under the cooperation of the driving wheel 83, the driven wheel 84 and the chain 85, the mounting beam 3 fixed with the chain 85 moves on the upper frame 2. Utilize same motor to carry out synchronous drive to two transmission shafts 82, guarantee the one to one nature of installation crossbeam 3 both ends translation rate, and then promote the stability that the goods removed, also further promote the stability that two installation crossbeams 3 removed through the setting of second spacing slide rail 10.

This pile up neatly machinery hand mutually supports through horizontal drive mechanism one 5, lifting drive mechanism 7 and horizontal drive mechanism two 8, realizes not only having shortened the stacking stroke from grabbing to the connectivity transport that shifts, practices thrift the transfer space simultaneously, promotes stacking efficiency.

It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art and related fields without creative efforts shall fall within the protection scope of the present disclosure. The structures, devices, and methods of operation of the present invention, not specifically described and illustrated, are generally practiced by those of ordinary skill in the art without specific recitation or limitation.

Claims

1. The utility model provides a truss-like pile up neatly machinery hand which characterized in that: the lifting device comprises four supporting legs and an upper frame detachably arranged at the tops of the four supporting legs, wherein an installation crossbeam is arranged on the upper frame, a grabbing mechanism is arranged on the installation crossbeam, and the grabbing mechanism is driven by a first horizontal driving mechanism and a lifting driving mechanism to move upwards on the installation crossbeam;

the upper frame is also provided with a second horizontal driving mechanism, the second horizontal driving mechanism drives the mounting cross beam to move on the upper frame, and the moving direction of the mounting cross beam is perpendicular to the moving direction of the grabbing mechanism; a second rack is vertically arranged on one side of the grabbing mechanism, the lifting driving mechanism comprises a second motor and a second gear fixed with an output shaft of the second motor, and the second gear is meshed with the second rack.

2. A truss palletizing robot as claimed in claim 1, wherein: the horizontal driving mechanism I comprises a first motor and a first gear fixed with an output shaft of the first motor, the first gear is meshed with the first rack, and the first motor is fixed on the grabbing mechanism.

3. A truss palletizing robot as claimed in claim 2, wherein: two first rack both sides are provided with first spacing slide rail, snatch the mechanism slip both sides respectively with two first spacing slide rail sliding connection.

4. A truss palletizing robot as claimed in claim 1, wherein: the grabbing mechanism comprises a lifting rod body and a clamping jaw fixed at the bottom of the lifting rod body, the clamping jaw comprises two clamping plates which are oppositely arranged, and anti-falling lines are arranged on the inner sides of the clamping plates.

5. A truss palletizing robot as claimed in claim 4, wherein: the lifting and stabilizing mechanism is arranged on one side of the lifting rod body and fixed with the lifting and stabilizing mechanism, the lifting and stabilizing mechanism comprises a vertically arranged limiting groove and a stabilizing chain located in the limiting groove, and the top end of the stabilizing chain is bent and fixed with the lifting rod body.

6. A truss palletizing robot as claimed in claim 1, wherein: horizontal drive mechanism two includes a third motor, two transmission shafts, two action wheels, two from driving wheel and two chains, the chain cover is established the action wheel with from the driving wheel on, the transmission shaft with the action wheel is fixed, two the transmission shaft sets up respectively the third motor both sides, and passes through the third motor simultaneous driving, installation crossbeam both sides respectively with two the chain is fixed.

7. A truss palletizing robot as claimed in claim 6, wherein: and the two sides of the mounting cross beam are respectively connected with the two second limiting slide rails in a sliding manner.