CN219155446U

CN219155446U - Warehouse palletizing robot

Info

Publication number: CN219155446U
Application number: CN202223492580.XU
Authority: CN
Inventors: 张丽丽; 赵莉; 刘晓
Original assignee: Yantai Junxing Special Equipment Co ltd
Current assignee: Yantai Junxing Special Equipment Co ltd
Priority date: 2022-12-27
Filing date: 2022-12-27
Publication date: 2023-06-09
Anticipated expiration: 2032-12-27

Abstract

The application provides a warehouse palletizing robot, including removing the hoisting frame of frame and fixed connection in removing the frame roof, the spout has been seted up to the hoisting frame lateral wall, still includes: the centering component comprises a supporting plate which is connected to the side wall of the lifting frame in a sliding way, the side wall of the supporting plate is connected with a clamping frame in a sliding way, the inner wall of the clamping frame is rotationally connected with first gears, the inner wall of the clamping frame is connected with first racks in a sliding way, two groups of first racks are symmetrically arranged on the first gears, the two groups of first racks are connected through the first gears, the side wall of the clamping frame is fixedly connected with a cylinder, the output end of the cylinder is fixedly connected with one group of first racks, the side wall of the first racks is fixedly connected with a clamping plate, and the clamping plate is connected to the side wall of the clamping frame in a sliding way; the distance adjusting component is connected to the side wall of the supporting plate, and is convenient to center by arranging the first half ruler wheel and the second half ruler wheel after clamping cargoes, so that the cargoes can be more orderly stacked, and the stability of the stacked cargoes is improved.

Description

Warehouse palletizing robot

Technical Field

The utility model relates to the technical field of robot assembly, in particular to a warehouse palletizing robot.

Background

Through retrieval, the patent with the Chinese patent application number of CN201921605640.X discloses a free movable palletizing robot, which comprises a chassis, a six-axis palletizing robot detection mechanism and a control mechanism; the six-axis palletizing robot is arranged on the chassis, the detection mechanism is used for detecting the running state of the palletizing robot and is connected with the control mechanism, and the control mechanism is used for controlling the running of the palletizing robot. According to the palletizing robot, the chassis is arranged at the bottom end of the six-axis palletizing robot, so that the six-axis palletizing robot can freely move in a warehouse to carry out the work of loading, unloading, carrying and the like of the medicine outer box.

The above patents have the following disadvantages: the sucking disc subassembly is when carrying out the centre gripping to the goods, is inconvenient to carry out centre gripping to the goods of centre gripping, leads to the goods pile up neatly when placing the goods easily to influence the stability of pile up neatly goods, lead to collapsing easily, and the sucking disc is inconvenient to play fine centre gripping effect to the goods, leads to the goods to drop at the in-process of transportation easily, causes the damage to the goods.

There is therefore a need for a warehouse palletizing robot that solves the above-mentioned problems.

Disclosure of Invention

The utility model aims at: to the sucking disc subassembly that exists at present when carrying out the centre gripping to the goods, be inconvenient for carry out centre gripping to the goods of centre gripping, lead to the goods pile up neatly when placing the goods easily to influence the stability of pile up neatly good goods, lead to collapsing easily, and the sucking disc is inconvenient to play fine grip to the goods, leads to the goods to drop at the in-process of transportation easily, leads to the fact the problem of damage to the goods.

In order to achieve the above object, the present utility model provides the following technical solutions:

a warehouse palletizing robot to improve the above problems.

The application is specifically such that:

warehouse pile up neatly machine people, including removing the hoisting frame of frame and fixed connection in removing the frame roof, the spout has been seted up to the hoisting frame lateral wall, still includes:

the centering component comprises a supporting plate which is connected to the side wall of the lifting frame in a sliding way, the side wall of the supporting plate is connected with a clamping frame in a sliding way, the inner wall of the clamping frame is connected with a first gear in a rotating way, the inner wall of the clamping frame is connected with first racks in a sliding way, two groups of first racks are symmetrically arranged on the first gears, the two groups of first racks are connected through the first gears, the side wall of the clamping frame is fixedly connected with an air cylinder, the output end of the air cylinder is fixedly connected with one group of first racks, the side wall of the first racks is fixedly connected with a clamping plate, and the clamping plate is connected to the side wall of the clamping frame in a sliding way;

and the distance adjusting component is connected to the side wall of the supporting plate.

As the preferred technical scheme of this application, first gear lateral wall fixedly connected with first half gear, holder inner wall sliding connection has the second rack, first half gear links to each other with the second rack meshing, first half gear lateral wall fixedly connected with first extension spring, the one end that the second rack was kept away from to first extension spring still links to each other with the holder is fixed, second rack lateral wall fixedly connected with is first centering board, first centering board sliding connection is in the holder lateral wall.

As the preferred technical scheme of this application, first half gear lateral wall fixedly connected with second half gear, holder inner wall sliding connection has the third rack, third rack lateral wall fixedly connected with second centering board, second centering board sliding connection is in the holder lateral wall, third rack lateral wall fixedly connected with second extension spring, the one end that the third rack was kept away from to the second extension spring still links to each other with the holder is fixed, second half gear links to each other with the third rack meshing.

As the preferred technical scheme of this application, the roll adjustment part includes first driving motor, first screw rod, carriage, second gear and third gear, first driving motor fixed connection is in the backup pad roof, first screw rod rotates to be connected in the backup pad lateral wall, carriage fixed connection is in the backup pad lateral wall, second gear fixed connection is in first screw rod outer wall, third gear fixed connection is in first driving motor output, the second gear links to each other with the third gear meshing, first screw rod links to each other with the carriage screw thread.

As the preferred technical scheme of this application, remove the roof rotation and be connected with the second screw rod, hoisting frame roof fixedly connected with second driving motor, second driving motor output links to each other with the second screw rod is fixed, the second screw rod links to each other with the backup pad screw thread.

In the scheme of the application:

1. the first racks are pushed to move by the starting cylinder, the two groups of first racks are driven by the first gear, and meanwhile, the clamping plate is driven to clamp the goods, so that the problems that in the prior art, the sucker is inconvenient to clamp the goods, the goods fall off easily in the transportation process and damage is caused to the goods are solved;

2. the first half gear is driven to rotate when the first gear rotates so as to drive the second rack to move, meanwhile, the second half gear drives the third rack to synchronously move, the second rack and the third rack are simultaneously brought to the first centering plate and the second centering plate to move towards the middle, the clamped goods are centered, the goods are more orderly arranged when the second rack and the third rack are stacked, the second rack and the third rack are driven to reset under the action of the first tension spring and the second tension spring when the teeth on the first half gear and the teeth on the second half gear are not contacted, the first centering plate and the second centering plate are driven to reset, the clamped goods are pushed to be centered quickly when the goods are clamped, the problem that the sucker assembly in the prior art is inconvenient to clamp the clamped goods in the middle, the goods are prone to being untidy when the goods are placed, the stability of the goods is well stacked is affected, and collapse is prone to being caused.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a warehouse palletizing robot provided by the application;

fig. 2 is a second schematic diagram of the overall structure of a warehouse palletizing robot provided in the present application;

fig. 3 is a schematic cross-sectional structure of a warehouse palletizing robot provided in the present application;

fig. 4 is an enlarged view of the structure a in fig. 3 of a warehouse palletizing robot provided by the present application;

fig. 5 is an enlarged view of the B structure in fig. 3 of a warehouse palletizing robot provided by the present application.

The figures indicate: 100. a moving rack; 101. a lifting frame; 102. a chute; 110. a support plate; 111. a clamping frame; 112. a first gear; 113. a first rack; 114. a clamping plate; 115. a first half gear; 116. a second rack; 117. a first tension spring; 118. a first centering plate; 119. a cylinder; 120. a second half gear; 121. a third rack; 122. a second centering plate; 123. a second tension spring; 130. a first driving motor; 131. a first screw; 132. a carriage; 133. a second gear; 134. a third gear; 140. a second screw; 141. and a second driving motor.

Description of the embodiments

In order to make the objects, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model.

Thus, the following detailed description of the embodiments of the utility model is not intended to limit the scope of the utility model, as claimed, but is merely representative of some embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that, under the condition of no conflict, the embodiments of the present utility model and the features and technical solutions in the embodiments may be combined with each other.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, the terms "upper", "lower", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or an azimuth or a positional relationship conventionally put in use of the inventive product, or an azimuth or a positional relationship conventionally understood by those skilled in the art, such terms are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

As shown in fig. 1-4, this embodiment provides a warehouse palletizing robot, including moving the frame 100 and fixedly connected to the lifting frame 101 that moves the frame 100 roof, the spout 102 has been seted up to lifting frame 101 lateral wall, still includes:

the centering component comprises a supporting plate 110 which is connected to the side wall of the lifting frame 101 in a sliding way through a sliding groove 102, the side wall of the supporting plate 110 is connected with a clamping frame 111 in a sliding way, the inner wall of the clamping frame 111 is connected with a first gear 112 in a rotating way, the inner wall of the clamping frame 111 is connected with first racks 113 in a sliding way, two groups of first racks 113 are symmetrically arranged on the first gear 112, the two groups of first racks 113 are connected through the first gear 112, the side wall of the clamping frame 111 is fixedly connected with an air cylinder 119, the output end of the air cylinder 119 is fixedly connected with one group of first racks 113, the side wall of the first racks 113 is fixedly connected with a clamping plate 114, and the clamping plate 114 is connected to the side wall of the clamping frame 111 in a sliding way;

the distance adjusting component is connected to the side wall of the supporting plate 110, drives the first half gear 115 to rotate while rotating through the first gear 112 so as to drive the second rack 116 to move, simultaneously drives the third rack 121 to move synchronously, and simultaneously brings the second rack 116 and the third rack 121 to the first centering plate 118 and the second centering plate 122 to move towards the middle, so that the clamped goods are centered, and the working efficiency is improved.

As shown in fig. 1-5, as a preferred embodiment, further, on the basis of the above manner, the side wall of the first gear 112 is fixedly connected with a first half gear 115, the inner wall of the clamping frame 111 is slidably connected with a second rack 116, the first half gear 115 is meshed with the second rack 116, the side wall of the first half gear 115 is fixedly connected with a first tension spring 117, one end of the first tension spring 117, which is far away from the second rack 116, is fixedly connected with the clamping frame 111, the side wall of the second rack 116 is fixedly connected with a first centering plate 118, the first centering plate 118 is slidably connected with the side wall of the clamping frame 111, and the first centering half is conveniently reset through the first tension spring 117 when the second rack 116 is not contacted with teeth by arranging the first half gear 115, so that the practicability is improved.

As shown in fig. 1 to 5, as a preferred embodiment, further, on the basis of the above manner, the side wall of the first half gear 115 is fixedly connected with the second half gear 120, the inner wall of the clamping frame 111 is slidably connected with the third rack 121, the side wall of the third rack 121 is fixedly connected with the second centering plate 122, the second centering plate 122 is slidably connected with the side wall of the clamping frame 111, the side wall of the third rack 121 is fixedly connected with the second tension spring 123, one end of the second tension spring 123 away from the third rack 121 is fixedly connected with the clamping frame 111, the second half gear 120 is meshed with the third rack 121, and two sides are convenient to be clamped centrally simultaneously by arranging the second half gear 120 and the third rack 121, so that the use is facilitated.

As shown in fig. 1-3, as a preferred embodiment, based on the above manner, the distance adjusting component further includes a first driving motor 130, a first screw 131, a sliding frame 132, a second gear 133 and a third gear 134, where the first driving motor 130 is fixedly connected to the top wall of the supporting plate 110, the first screw 131 is rotatably connected to the side wall of the supporting plate 110, the sliding frame 132 is fixedly connected to the side wall of the supporting plate 110, the second gear 133 is fixedly connected to the outer wall of the first screw 131, the third gear 134 is fixedly connected to the output end of the first driving motor 130, the second gear 133 is meshed with the third gear 134, and the first screw 131 is in threaded connection with the clamping frame 111, so that the first screw 131 is conveniently driven to move by setting the first driving motor 130, the second gear 133 and the third gear 134, thereby pushing the clamping frame 111 to move to a suitable position, which is beneficial to being more convenient and convenient in use.

As shown in fig. 1-2, as a preferred embodiment, further, on the basis of the above manner, the top wall of the moving frame 100 is rotatably connected with a second screw rod 140, the top wall of the lifting frame 101 is fixedly connected with a second driving motor 141, the output end of the second driving motor 141 is fixedly connected with the second screw rod 140, the second screw rod 140 is in threaded connection with the supporting plate 110, and the second screw rod 140 is arranged to facilitate driving the supporting plate 110 to move to a position where the movement is required, so that the stacking efficiency is facilitated to be improved.

Specifically, this warehouse palletizing robot when using: when the device is moved to a position to be used by the moving frame 100, the second driving motor 141 is started to drive the second screw 140 to rotate, the second screw 140 drives the supporting plate 110 to lift, when the device is moved to a proper position, the first driving motor 130 is started, the first driving motor 130 drives the third gear 134 to rotate, the third gear 134 drives the first screw 131 to rotate through the second gear 133, the first screw 131 drives the clamping frame 111 to extend forwards through the sliding frame 132, when the device is extended to a proper position, the starting cylinder 119 drives the first racks 113 to move, the two groups of first racks 113 are driven through the first gears 112 to simultaneously drive the clamping plate 114 to clamp goods, when the first gears 112 rotate, the first half gears 115 are driven to rotate to drive the second racks 116 to move, simultaneously second half gear 120 has driven third rack 121 and has moved in step, first centering board 118 and second centering board 122 have been brought simultaneously to second rack 116 and third rack 121 and have moved to the centre, center the goods of centre gripping, be convenient for more neatly when second rack 116 and third rack 121 do not contact with the tooth on first half gear 115 and the second half gear 120 when the pile up neatly, the effect of first extension spring 117 and second extension spring 123 has driven second rack 116 and third rack 121 and has reset, thereby first centering board 118 and second centering board 122 have been driven and reset, be convenient for promote centering the goods that snatchs that can be quick when snatching the goods, be convenient for use more, prevent simultaneously also that the goods snatch unstably and lead to dropping when snatching the goods.

The above embodiments are only for illustrating the present utility model and not for limiting the technical solutions described in the present utility model, and although the present utility model has been described in detail in the present specification with reference to the above embodiments, the present utility model is not limited to the above specific embodiments, and thus any modifications or equivalent substitutions are made to the present utility model; all technical solutions and modifications thereof that do not depart from the spirit and scope of the utility model are intended to be included in the scope of the appended claims.

Claims

1. Warehouse palletizing robot, including removing frame (100) and fixed connection in hoisting frame (101) of removing frame (100) roof, its characterized in that, spout (102) have been seted up to hoisting frame (101) lateral wall, still include:

the centering component comprises a supporting plate (110) which is connected to the side wall of the lifting frame (101) in a sliding manner through a sliding groove (102), a clamping frame (111) is connected to the side wall of the supporting plate (110) in a sliding manner, a first gear (112) is connected to the inner wall of the clamping frame (111) in a rotating manner, first racks (113) are connected to the inner wall of the clamping frame (111) in a sliding manner, two groups of first racks (113) are symmetrically arranged on the first gears (112), two groups of first racks (113) are connected through the first gears (112), an air cylinder (119) is fixedly connected to the side wall of the clamping frame (111), the output end of the air cylinder (119) is fixedly connected with one group of first racks (113), a clamping plate (114) is fixedly connected to the side wall of the first racks (113), and the clamping plate (114) is connected to the side wall of the clamping frame (111) in a sliding manner.

And the distance adjusting component is connected to the side wall of the supporting plate (110).

2. The warehouse palletizing robot according to claim 1, wherein the first gear (112) is fixedly connected with a first half gear (115) on the side wall, the second rack (116) is slidably connected to the inner wall of the clamping frame (111), the first half gear (115) is meshed with the second rack (116), the first tension spring (117) is fixedly connected to the side wall of the first half gear (115), one end of the first tension spring (117) far away from the second rack (116) is fixedly connected with the clamping frame (111), the first centering plate (118) is fixedly connected to the side wall of the second rack (116), and the first centering plate (118) is slidably connected to the side wall of the clamping frame (111).

3. The warehouse palletizing robot according to claim 2, wherein the side wall of the first half gear (115) is fixedly connected with the second half gear (120), the inner wall of the clamping frame (111) is slidably connected with the third rack (121), the side wall of the third rack (121) is fixedly connected with the second centering plate (122), the second centering plate (122) is slidably connected with the side wall of the clamping frame (111), the side wall of the third rack (121) is fixedly connected with the second tension spring (123), one end of the second tension spring (123) far away from the third rack (121) is fixedly connected with the clamping frame (111), and the second half gear (120) is meshed with the third rack (121).

4. The warehouse palletizing robot according to claim 1, wherein the distance adjusting component comprises a first driving motor (130), a first screw (131), a sliding frame (132), a second gear (133) and a third gear (134), the first driving motor (130) is fixedly connected to the top wall of the supporting plate (110), the first screw (131) is rotatably connected to the side wall of the supporting plate (110), the sliding frame (132) is fixedly connected to the side wall of the supporting plate (110), the second gear (133) is fixedly connected to the outer wall of the first screw (131), the third gear (134) is fixedly connected to the output end of the first driving motor (130), the second gear (133) is meshed with the third gear (134), and the first screw (131) is in threaded connection with the clamping frame (111).

5. The warehouse palletizing robot as claimed in claim 4, wherein the top wall of the movable frame (100) is rotatably connected with a second screw (140), the top wall of the lifting frame (101) is fixedly connected with a second driving motor (141), the output end of the second driving motor (141) is fixedly connected with the second screw (140), and the second screw (140) is in threaded connection with the supporting plate (110).