CN218402730U - Horizontal multi-joint stacking robot - Google Patents
Horizontal multi-joint stacking robot Download PDFInfo
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- CN218402730U CN218402730U CN202222637876.XU CN202222637876U CN218402730U CN 218402730 U CN218402730 U CN 218402730U CN 202222637876 U CN202222637876 U CN 202222637876U CN 218402730 U CN218402730 U CN 218402730U
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- linear guide
- guide rail
- transmission
- shaft
- transmission linear
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Abstract
The utility model discloses a horizontal multi-joint palletizing robot, which comprises an installation ground foot and a transmission linear guide rail which is rotatably arranged at the upper part of the installation ground foot; the first shaft driving mechanism is arranged between the transmission linear guide rail and the mounting anchor; the extension arm is horizontally arranged on one side of the transmission linear guide rail and can perform linear displacement in an up-and-down stroke relative to the transmission linear guide rail; the second shaft driving mechanism is arranged between the extension arm and the transmission linear guide rail; the top of the small arm is connected with the track inside the extending arm in a sliding way; the third shaft driving mechanism is arranged between the track and the small arm; the output tail shaft is arranged at the bottom of the small arm and used for installing a clamp to clamp materials; and the fourth shaft driving mechanism is arranged at the top of the small arm, is in transmission connection with the output tail shaft and is used for driving the output tail shaft to rotate and displace.
Description
Technical Field
The utility model belongs to the technical field of pile up neatly machine people technique and specifically relates to a horizontal many joints pile up neatly machine people.
Background
The stacking of goods refers to a general name of goods stacking operation modes and methods, and particularly relates to a method for stacking goods into goods stacks in various shapes according to the packaging, appearance and storage requirements of different goods and by combining warehouse equipment conditions and storage time; the existing stacking operation for the goods with certain regular volumes is usually operated manually, so that a large amount of personnel investment is caused, on one hand, the available activity of a storage site is reduced, and on the other hand, the storage investment of an enterprise is increased.
SUMMERY OF THE UTILITY MODEL
This application is directed against the shortcoming among the above-mentioned prior art, provides a many joints of level pile up neatly machine people rational in infrastructure to replace artifical pile up neatly to regular article, improved the efficiency of pile simultaneously, make pile up operation automatic, high-efficient, replace artifical messenger's place utilization ratio higher by pile up neatly machine people.
The utility model discloses the technical scheme who adopts as follows:
the utility model provides a horizontal many joints pile up neatly machine people, its includes the installation lower margin, still includes:
the transmission linear guide rail is rotatably arranged at the upper part of the mounting anchor;
the first shaft driving mechanism is arranged between the transmission linear guide rail and the mounting anchor and is used for driving the transmission linear guide rail to rotate and displace relative to the mounting anchor;
the extension arm is internally provided with a track which is arranged oppositely, the extension arm is horizontally arranged on one side of the transmission linear guide rail, and the extension arm can perform linear displacement in an up-and-down stroke relative to the transmission linear guide rail;
the second shaft driving mechanism is arranged between the extension arm and the transmission linear guide rail and is used for driving the extension arm to walk up and down;
an inner slide connected to the track inside the extending arm in a sliding manner;
the third shaft driving mechanism is arranged between the track and the small arm and is used for driving the small arm to reciprocate on the track;
the output tail shaft is arranged at the bottom of the small arm and used for installing a clamp to clamp the material;
and the fourth shaft driving part is arranged at the top of the small arm, is in transmission connection with the output tail shaft and is used for driving the output tail shaft to rotate and displace.
Furthermore, the top and bottom strokes of the transmission linear guide rail are respectively provided with a first stopper, and the side part of the transmission linear guide rail is provided with a first drag chain system.
Furthermore, the first shaft driving mechanism comprises a first servo motor arranged at the back of the transmission linear guide rail, a first gear is arranged at the driving end of the first servo motor, a second gear is arranged between the transmission linear guide rail and the installation anchor, and the first gear is in transmission engagement with the second gear.
Further, the arm that extends is the cavity design, including its body and set up in the inside guide rail of its body, the side middle part all sets up the second stopper around its body.
Furthermore, the second shaft driving mechanism comprises a sliding table which is arranged on the transmission linear guide rail in a sliding mode, the side portion of the sliding table is fixedly connected with the extension arm, a second servo motor is further arranged on the side portion of the sliding table, a gear is arranged at the driving end of the second servo motor, the second shaft driving mechanism further comprises a rack which is arranged on the inner side of the transmission linear guide rail, and the upper and lower driving of the extension arm is achieved through gear and rack meshing transmission.
Furthermore, the fourth shaft driving part is a servo motor.
Furthermore, protective shells are arranged outside the first shaft driving mechanism and the second shaft driving mechanism.
The beneficial effects of the utility model are as follows:
the utility model has simple structure, four degrees of freedom for displacement transportation, and can be used as a storage sorting and transporting robot, thereby greatly reducing the labor cost and improving the transportation efficiency; the efficiency of pile is improved for pile operation is automatic, high-efficient, replaces artifical messenger's place utilization ratio higher by pile up neatly machine people.
Drawings
Fig. 1 is a perspective view of a first viewing angle of the present invention;
fig. 2 is a perspective view of a second perspective view of the present invention;
fig. 3 is a schematic structural view of a first shaft driving mechanism in the present invention;
FIG. 4 is an internal structure view of the extension arm of the present invention;
FIG. 5 is a schematic structural view of the inner slide carriage of the present invention;
fig. 6 and 7 are schematic views of the range of motion of the present invention.
Wherein: 1. mounting ground feet; 2. a transmission linear guide rail; 3. a first shaft drive mechanism; 4. an extension arm; 5. a second shaft drive mechanism; 6. an inner slide; 7. a third shaft drive mechanism; 8. an output stub shaft; 9. a fourth shaft driving member; 21. a first stopper; 22. a first drag chain system; 31. a first servo motor; 32. a first gear; 33. a second gear; 41. a guide rail; 42. a second stopper; 51. a sliding table; 52. a second servo motor; 71. a third servo motor; 72. a belt drive mechanism; 73. an engagement seat; 10. a protective housing.
Detailed Description
In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the following description will clearly and completely describe the technical solution of the embodiments of the present invention with reference to the drawings of the specific embodiments of the present invention; like reference symbols in the various drawings indicate like elements.
Please refer to fig. 1-7: the utility model provides a concrete implementation mode of a horizontal multi-joint palletizing robot, which comprises an installation foundation 1 and a transmission linear guide rail 2, wherein the transmission linear guide rail 2 can be rotatably arranged at the upper part of the installation foundation 1;
specifically, the transmission linear guide rail 2 is driven by a first shaft driving mechanism 3 in a manner of realizing rotation, is arranged between the transmission linear guide rail 2 and the mounting anchor 1, and is used for driving the transmission linear guide rail 2 to rotate and displace relative to the mounting anchor 1; first axle actuating mechanism 3 is including setting up in the first servo motor 31 at transmission linear guide 2 back, the drive end of first servo motor 31 sets up first gear 32, set up second gear 33 between transmission linear guide 2 and installation lower margin 1, drive transmission linear guide 2 body through first gear 32 and the transmission meshing of second gear 33 and carry out the circumferential direction rotation and shift, in other words, this rotation shifts and has formed the first joint of this application, the mark is the S axle here, preferably, as shown in the figure, the motion range of S axle is 165, thereby make the multi-shutdown pile up neatly people that this application provided can drive extension arm 4 and shift at its circumference within range activity of 165.
In some embodiments, the extension arm 4 has a track arranged oppositely inside, the extension arm 4 is horizontally arranged at one side of the transmission linear guide rail 2, and the extension arm 4 can perform linear displacement in an up-and-down stroke relative to the transmission linear guide rail 2; the extending arm 4 mainly functions to provide a longer working space range, taking the output tail shaft 8 with the farthest stroke from the transmission linear guide rail 2 as an example, the output tail shaft 8 slides on a track inside the extending arm 4 through the internal sliding seat 6, so that the relative distance between the vertical center of the output tail shaft 8 and the vertical center of the transmission linear guide rail 2 forms the third joint, which is denoted as the R axis, in this embodiment, the motion range of the R axis is preferably 1500MM, that is, the stroke of the output tail shaft 8 on the track is preferably 1500MM, and the front and rear stroke ends are safely protected through the second stopper 42.
In some embodiments, the second shaft driving mechanism 5 is disposed between the extension arm 4 and the transmission linear guide 2, and is used for driving the extension arm 4 to walk up and down; the second shaft driving mechanism 5 comprises a sliding table 51 arranged on the transmission linear guide rail 2 in a sliding manner, the side portion of the sliding table 51 is fixedly connected with the extension arm 4, a second servo motor 52 is further arranged on the side portion of the sliding table 51, a gear is arranged at the driving end of the second servo motor 52, and the second shaft driving mechanism further comprises a rack arranged on the inner side of the transmission linear guide rail 2, and the extension arm 4 is driven up and down through gear-rack meshing transmission, in other words, a second joint of the multi-joint palletizing robot is formed and is marked as a Z shaft, the maximum movement range of the Z shaft is 2200mm, namely, the maximum up-and-down stroke of the extension arm 4 on the transmission linear guide rail 2 is 2200mm, and the upper end portion and the lower end portion are subjected to safety protection through a first stopper 21.
The third shaft driving mechanism 7 is arranged between the rail and the inner sliding seat 6 and is used for driving the inner sliding seat 6 to reciprocate on the rail; specifically, the extension arm comprises a third servo motor 71 fixedly arranged at one end inside the extension arm 4 and a belt transmission mechanism 72 arranged below the track, wherein the belt transmission mechanism 72 comprises a belt wheel and a transmission belt, the driving end of the third servo motor 71 is fixed with the belt wheel, the other end inside the extension arm 4 is also provided with the belt wheel so as to be in transmission connection with two ends of the transmission belt, and it should be noted that in the implementation, the engagement seat 73 is arranged below the inner sliding seat 6 and is in transmission connection with the transmission belt so that the inner sliding seat 6 can perform linear motion within a stroke of 1500mm of an R shaft under the action of the transmission belt.
The output tail shaft 8 is arranged at the bottom of the inner sliding seat 6 and used for installing a clamp to clamp materials; specifically, various clamps can be mounted to meet the requirements of different stacking volumes, such as a manipulator, a pneumatic sucker and the like; a 360 degree range of rotational movement can be achieved by the fourth shaft drive 9, which range of movement is denoted as the T-axis.
And the fourth shaft driving part 9 is arranged at the top of the small arm and is in transmission connection with the output tail shaft 8, and is used for driving the output tail shaft 8 to rotate and displace, preferably a servo motor in the embodiment and is matched with the control module to perform servo control.
The top and bottom strokes of the transmission linear guide rail 2 are respectively provided with a first stopper 21, and the side part of the transmission linear guide rail 2 is provided with a first drag chain system 22; the extending arm 4 is hollow and comprises a body and a guide rail 41 arranged in the body, and the middle parts of the front side and the rear side of the body are respectively provided with a second limiting stopper 42; protective shells are arranged outside the first shaft driving mechanism 3 and the second shaft driving mechanism 5.
The utility model discloses a theory of operation:
as shown in fig. 6 and 7, the utility model relates to a horizontal multi-joint robot, which has a working range with 4 degrees of freedom for the goods stacking work of warehousing and logistics; the device specifically comprises the S axis, the R axis, the Z axis and the T axis; wherein the motion range of the S axis is controlled by the first axis driving mechanism 3 and is +/-165 degrees; the motion range of the R axis is determined by the stroke of the slide seat 6 in the extension arm 4 and is 1500mm; the motion range of the Z axis is determined by the up-down stroke of the transmission linear guide rail 2 and is 2200mm; the T axis is determined by a fourth axis driving piece 9 which drives the output tail shaft 8 to rotate and is 360 degrees; through at 8 different anchor clamps of output final shaft installation, realize goods pile work.
It should be noted that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.
Claims (7)
1. The utility model provides a many joints of level pile up neatly machine people which characterized in that: including installation lower margin (1), still include:
the transmission linear guide rail (2) is rotatably arranged at the upper part of the mounting anchor (1);
the first shaft driving mechanism (3) is arranged between the transmission linear guide rail (2) and the mounting anchor (1) and is used for driving the transmission linear guide rail (2) to rotate and displace relative to the mounting anchor (1);
the extension arm (4) is internally provided with a track which is arranged oppositely, the extension arm (4) is horizontally arranged on one side of the transmission linear guide rail (2), and the extension arm (4) can perform linear displacement in an up-and-down stroke relative to the transmission linear guide rail (2);
the second shaft driving mechanism (5) is arranged between the extension arm (4) and the transmission linear guide rail (2) and is used for driving the extension arm (4) to move up and down;
an inner slide (6) slidably connected to the track inside the extension arm (4);
the third shaft driving mechanism (7) is arranged between the track and the small arm and is used for driving the small arm to reciprocate on the track;
the output tail shaft (8) is arranged at the bottom of the small arm and used for installing a clamp to clamp the material;
and the fourth shaft driving piece (9) is arranged at the top of the small arm, is in transmission connection with the output tail shaft (8), and is used for driving the output tail shaft (8) to rotate and displace.
2. The horizontal multi-joint palletizing robot as claimed in claim 1, wherein: the top and bottom strokes of the transmission linear guide rail (2) are respectively provided with a first stopper (21), and the side part of the transmission linear guide rail (2) is provided with a first drag chain system (22).
3. A horizontal multi-joint palletizing robot as claimed in claim 1, characterized in that: the first shaft driving mechanism (3) comprises a first servo motor (31) arranged on the back of the transmission linear guide rail (2), a first gear (32) is arranged at the driving end of the first servo motor (31), a second gear (33) is arranged between the transmission linear guide rail (2) and the installation ground foot (1), and the first gear (32) is in transmission engagement with the second gear (33).
4. A horizontal multi-joint palletizing robot as claimed in claim 1, characterized in that: the extending arm (4) is of a hollow design and comprises a body and a guide rail (41) arranged inside the body, and second limiting devices (42) are arranged in the middle of the front side and the rear side of the body.
5. The horizontal multi-joint palletizing robot as claimed in claim 1, wherein: second shaft actuating mechanism (5) sets up in slip table (51) of transmission linear guide (2) including sliding, the lateral part and the extension arm (4) fixed connection of slip table (51), the lateral part of slip table (51) still is provided with second servo motor (52), the drive end of second servo motor (52) is provided with the gear, still including setting up the rack in transmission linear guide (2) inboard, realizes the upper and lower drive to extension arm (4) through rack and pinion meshing transmission.
6. The horizontal multi-joint palletizing robot as claimed in claim 1, wherein: the fourth shaft driving piece (9) is a servo motor.
7. The horizontal multi-joint palletizing robot as claimed in claim 1, wherein: protective shells are arranged outside the first shaft driving mechanism (3) and the second shaft driving mechanism (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222637876.XU CN218402730U (en) | 2022-10-09 | 2022-10-09 | Horizontal multi-joint stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222637876.XU CN218402730U (en) | 2022-10-09 | 2022-10-09 | Horizontal multi-joint stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218402730U true CN218402730U (en) | 2023-01-31 |
Family
ID=84999825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222637876.XU Active CN218402730U (en) | 2022-10-09 | 2022-10-09 | Horizontal multi-joint stacking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218402730U (en) |
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2022
- 2022-10-09 CN CN202222637876.XU patent/CN218402730U/en active Active
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