CN219602676U - Column type stacking robot - Google Patents

Abstract

The utility model relates to the technical field of column type palletizing robots, in particular to a column type palletizing robot which comprises a rotating mechanism, a lifting mechanism, a telescopic mechanism and a clamping mechanism, wherein the lifting mechanism comprises a fixed column; the winch is provided with a cable beside the fixed column, the winch is provided with a first-stage extending column in a first clamping groove, a second-stage extending column is clamped in a second clamping groove, two groups of driving wheels are symmetrically arranged on the same side of the fixed column and the first-stage extending column up and down, a fixing pin is arranged at the bottom end of the same side of the second-stage extending column and the driving wheel, tension generated by the winch can be transmitted to the driving wheel at the top end of the fixed column through the driving wheel at the bottom of the fixed column through the cable, the second-stage extending column is gradually and slidably lifted upwards in the second clamping groove, the first-stage extending column also can be slidably lifted upwards in the first clamping groove, the purpose of increasing stacking height is achieved through cooperation, and the stacking height of the column type stacking robot can be adjusted along with use environments.

Description

Column type stacking robot

Technical Field

The utility model relates to the technical field of column type palletizing robots, in particular to a column type palletizing robot.

Background

The column type palletizing robot is one of palletizing apparatuses, and in current life production, the palletizing apparatus is mainly used for clamping cargoes from the ground to the high and uniformly stacking the cargoes together, and as the palletizing robot has higher palletizing speed and higher palletizing efficiency compared with manual palletizing, most industries gradually replace manual palletizing robots.

The existing column type stacking robot generally comprises a column, a lifting telescopic mechanism and a clamping mechanism, wherein the lifting telescopic mechanism is arranged on the column, the clamping mechanism is arranged on the lifting telescopic mechanism, the column is used as a support, and the lifting telescopic mechanism drives the clamping mechanism to move in space to clamp goods and lift and stack, and the clamping and stacking purposes are achieved through cooperation.

The stacking height of the existing column type stacking robot is fixed, so that the column type stacking robot cannot be adjusted according to the use environment, and the column type stacking robot cannot be suitable for stacking of various heights; the clamping jaw spacing in the existing upright post type stacking robot clamping mechanism is fixed, cannot be adjusted according to actual use, and has poor applicability; therefore, a column palletizing robot is proposed to solve the above problems.

Disclosure of Invention

In order to make up the defects of the prior art, the utility model provides a column type palletizing robot aiming at the problems in the prior art.

The technical scheme adopted for solving the technical problems is as follows: the utility model relates to a column type palletizing robot which comprises a rotating mechanism, a lifting mechanism, a telescopic mechanism and a clamping mechanism, wherein the lifting mechanism comprises a fixed column; a second motor is arranged beside the fixed column, a winch is arranged on an output shaft of the second motor, a cable is arranged on the winch, a first clamping groove is formed in one side of the fixed column, a first-stage extending column is arranged in the first clamping groove, a second clamping groove is formed in the other side of the first-stage extending column, a second-stage extending column is clamped in the second clamping groove, two groups of driving wheels are symmetrically arranged on the same side of the fixed column and the first-stage extending column up and down, the utility model discloses a pile up neatly machine, including drive wheel, second grade extension post, fixed pin, telescopic machanism, vertical column type pile up neatly machine, the fixed pin is installed with the same one side bottom of drive wheel to the second grade extension post, the one end of hawser is fixed on the capstan winch, and the other end is fixed on the fixed pin, second grade extension post side-mounting has reached the purpose that increases pile up neatly height, has realized the pile up neatly height of vertical column type pile up neatly machine can be along with operational environment's adjustable, and compare traditional vertical column type pile up neatly machine people suitability higher.

The clamping mechanism comprises a hanging plate, two rib grooves are formed in the hanging plate in a penetrating mode, a double-shaft motor is arranged on one rib groove, threaded rods are arranged on two output shafts of the double-shaft motor, two groups of limiting blocks are symmetrically arranged at two ends of the two rib grooves, the threaded rods are rotatably arranged between the group of limiting blocks, limiting rods are arranged between the limiting blocks in a sleeved mode, two sliding parts are symmetrically arranged on the threaded rods in a sleeved mode, threads are arranged in the sliding parts sleeved on the threaded rods, two limiting plates are symmetrically hung under the sliding parts, four hydraulic cylinders are arranged on the limiting plates, four hydraulic rods are symmetrically arranged outside action ends of the four hydraulic cylinders, clamping jaws are arranged at end portions of the four hydraulic rods, the purpose of adjusting the clamping jaw distance is achieved through matching, and clamping jaw spacing adjustment of the clamping jaw of the upright type stacking robot is achieved according to the clamping volume.

Preferably, the first-stage extending column can be matched in the first clamping groove to slide up and down, the second-stage extending column can be matched in the second clamping groove to slide up and down, the two groups of driving wheels are respectively and symmetrically arranged at the upper end and the lower end of the fixing column and the upper end and the lower end of the first-stage extending column, the effect of limiting the first-stage extending column and the second-stage extending column is achieved through matching, and the phenomenon that the first-stage extending column and the second-stage extending column deviate from each other in the extending process is avoided.

Preferably, the cable is preferentially wound on the driving wheel at the bottom end of the fixed column, then is wound on the driving wheel at the bottom end of the first-stage extending column through the driving wheel at the top end of the fixed column, and finally is fixed on the fixed pin through the driving wheel at the top end of the first-stage extending column, so that the purpose of increasing the stacking height of the column type stacking robot and adjusting the stacking height according to the use condition is achieved in a matching manner, and compared with the traditional column type stacking robot, the applicability is higher.

Preferably, two rib grooves on the hanging plate are parallel to each other, the threaded rod is located right above the rib grooves, the threaded rod is parallel to the rib grooves, thread lines at two ends of the threaded rod are opposite, the threaded rod is perpendicular to the limiting block, and the distance between the stacking robot stacking clamping jaws is adjusted more conveniently and more quickly through cooperation.

Preferably, two limiting grooves are formed in the limiting plates, the clamping jaws are matched in the limiting grooves, the clamping action ends of the clamping jaws are symmetrical and inward, the side surfaces of the secondary extending columns and the lifting plates are provided with hydraulic controllers, and the clamping jaws are matched to drive clamping jaw clamping work and limit clamping jaw clamping process to be more stable.

Preferably, the rotary mechanism comprises a base, the fluted disc is installed in the rotation on the base, install the mounting on the base, install motor No. one on the mounting, the gear is installed downwards to the action end of motor No. one, tooth on the gear and tooth on the fluted disc intermesh, install lifting mechanism on the fluted disc, the cooperation has reached the effect that enlarges palletizing robot pile up neatly scope, improves pile up neatly efficiency.

Preferably, the telescopic machanism includes a pneumatic cylinder, the horizontal hydraulic stem that is provided with in the action end of pneumatic cylinder, the connecting seat is installed to the other end of pneumatic stem, no. two pneumatic cylinders are installed to the opposite side of connecting seat, no. two pneumatic cylinders's the other end is installed No. two pneumatic stems, the installation piece is installed to No. two pneumatic stem's the other end, no. three pneumatic cylinders are hung to the bottom of installation piece, no. three pneumatic stems are installed down perpendicularly to No. three pneumatic cylinder's action end, hoist and mount have fixture under No. three pneumatic stems, and the cooperation has reached the effect of expanding palletizing robot pile up neatly scope, improves pile up neatly efficiency.

The utility model has the advantages that:

1. according to the utility model, the cable is wound on the winch when the winch rotates, the tension generated by the winch can be transmitted to the driving wheel at the top end of the fixed column through the driving wheel at the bottom of the fixed column firstly through the erection of the cable, the secondary extending column can be gradually lifted upwards in the second clamping groove in a sliding manner by matching with the rotation of the driving wheel, meanwhile, the primary extending column can be lifted upwards in the first clamping groove in a sliding manner, the aim of increasing the stacking height is achieved by matching, the stacking height of the column type stacking robot can be adjusted along with the use environment, and compared with the traditional column type stacking robot, the applicability is higher.

2. According to the utility model, when the double-shaft motor drives the threaded rods at two ends to rotate, the two sliding parts on the threaded rods are simultaneously driven to simultaneously retract inwards or expand outwards, and the two sliding parts on the threaded rods can drive the limiting plates hoisted under the sliding parts to simultaneously move inwards or expand outwards in the moving process, so that the aim of adjusting the space between the clamping jaws is achieved in cooperation, the effect that the clamping jaws of the column type stacking robot can adjust the space between the clamping jaws according to the clamping volume is realized, and compared with the traditional column type stacking robot, the clamping applicability is higher.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a first perspective view;

FIG. 2 is a schematic view partially in section of a first perspective structure;

FIG. 3 is an enlarged partial cut-away schematic view of a first perspective structure;

FIG. 4 is an enlarged schematic view of a first three-dimensional structure A;

fig. 5 is an enlarged view of a region B of the first three-dimensional structure.

In the figure: 1. a base; 2. fluted disc; 3. a fixing member; 4. a motor I; 5. a gear; 6. a motor II; 7. a winch; 8. fixing the column; 9. a driving wheel; 10. a cable; 11. a first-stage extension column; 12. a secondary extension column; 13. a fixing pin; 14. a first hydraulic cylinder; 15. a hydraulic lever number one; 16. a connecting seat; 17. a second hydraulic cylinder; 18. a second hydraulic rod; 19. a mounting block; 20. a third hydraulic cylinder; 21. a third hydraulic rod; 22. a hanging plate; 23. a limiting block; 24. a biaxial motor; 25. a threaded rod; 26. a limit rod; 27. a slider; 28. a limiting plate; 29. a fourth hydraulic cylinder; 30. a fourth hydraulic rod; 31. a clamping jaw; 32. and a hydraulic controller.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.

Referring to fig. 1-4, a column type palletizing robot comprises a rotating mechanism, a lifting mechanism, a telescopic mechanism and a clamping mechanism, wherein the lifting mechanism comprises a fixed column 8; the two-stage rope winding device is characterized in that a second motor 6 is arranged beside the fixing column 8, a winch 7 is arranged on an output shaft of the second motor 6, a rope 10 is arranged on the winch 7, a first clamping groove is formed in one side of the fixing column 8, a first-stage extending column 11 is arranged in the first clamping groove, a second clamping groove is formed in the other side of the first-stage extending column 11, a second-stage extending column 12 is clamped in the second clamping groove, two groups of driving wheels 9 are symmetrically arranged on the same side of the fixing column 8 and the first-stage extending column 11 in an up-down mode, a fixing pin 13 is arranged at the bottom end of the same side of the second-stage extending column 12 as the driving wheel 9, one end of the rope 10 is fixed on the winch 7, the other end of the rope 10 is fixed on the fixing pin 13, a telescopic mechanism is arranged on the side of the second-stage extending column 12, the first-stage extending column 11 can slide up and down in the first-stage clamping groove in a matched mode, the two groups of driving wheels 9 are symmetrically arranged at the upper end and lower end of the fixing column 8 and the first-stage extending column 11 respectively, one end of the fixing pin 13 is wound on the bottom end of the first-stage extending column 9, one end of the rope 10 is wound on the fixing column 9, and the top end of the fixing pin 9 is wound on the fixing column 9, and the top end of the fixing column 9 is fixed on the top end of the fixing column 9.

During operation, the stacking height of the existing column type stacking robot is fixed, the stacking robot cannot be adjusted according to the use environment, stacking of various heights cannot be suitable, in the scheme, when the height of the stacking robot needs to be adjusted, the motor No. two 6 is started, the motor No. two 6 can drive the winch 7 to rotate after being started, the cable 10 can be wound on the winch 7 when the winch 7 rotates, when the winch 7 winds the cable 10, the length of the cable 10 is gradually reduced, the tension generated by the winch 7 can be transmitted to the driving wheel 9 at the top end of the fixed column 8 through the driving wheel 9 at the bottom of the fixed column 8 through the erection of the cable 10, the transmission wheel 9 at the top end of the fixing column 8 is transmitted to the transmission wheel 9 at the bottom end of the first-stage extending column 11, the transmission wheel 9 at the top end of the first-stage extending column 11 transmits the tensile force to the fixing pin 13, and the end part of the cable 10 is fixed on the fixing pin 13 and is matched with the rotation of the transmission wheel 9 to gradually slide and lift the second-stage extending column 12 upwards in the second clamping groove, meanwhile, the first-stage extending column 11 also slides and lifts upwards in the first clamping groove, the aim of increasing the stacking height is achieved through matching, the stacking height of the column type stacking robot can be adjusted along with the use environment, and compared with the traditional column type stacking robot, the applicability is higher.

The clamping mechanism comprises a lifting plate 22, two rib grooves are formed in the lifting plate 22 in a penetrating mode, a double-shaft motor 24 is installed on one rib groove, a threaded rod 25 is installed on two output shafts of the double-shaft motor 24, two groups of limiting blocks 23 are symmetrically arranged at two ends of the two rib grooves, the threaded rod 25 is rotatably arranged between the group of limiting blocks 23, a limiting rod 26 is installed between the limiting blocks 23 in the other group, two sliding parts 27 are symmetrically sleeved on the threaded rod 25 and the limiting rod 26, threads are arranged in the sliding parts 27 sleeved on the threaded rod 25, four limiting plates 28 are symmetrically hung below the sliding parts 27, four hydraulic cylinders 29 are installed on the limiting plates 28, four hydraulic rods 30 are symmetrically and outwardly arranged at the acting ends of the four hydraulic cylinders 29, clamping jaws 31 are installed at the ends of the four hydraulic rods 30, the two rib grooves are parallel to each other on the lifting plate 22, the threaded rod 25 is located right above the rib grooves, threads are arranged in the threaded rod 25 and the two grooves, two clamping jaw grooves are symmetrically sleeved on the two clamping jaw plates 31, two clamping jaw grooves are mutually matched with the two clamping jaw grooves 32, and the two clamping jaw grooves are mutually matched with the two limiting plates 31 at the two sides of the clamping jaw grooves 12 in a mutually-perpendicular mode.

During operation, clamping jaw interval is fixed in the existing column type palletizing robot fixture, can not adjust according to actual use, the suitability is poor, in this scheme, when the interval between clamping jaw 31 needs to be adjusted, start biax motor 24, biax motor 24 can drive the threaded rod 25 of installing on the output shaft after starting and rotate, because the thread line on threaded rod 25 at biax motor 24 both ends is opposite, biax motor 24 can drive two sliders 27 on threaded rod 25 simultaneously and inwards shrink or outwards expand when driving threaded rod 25 at both ends, two sliders 27 on threaded rod 25 then can drive limiting plate 28 of hoist or mount under slider 27 simultaneously and inwards move or outwards expand in the removal process, the cooperation has reached the purpose of adjusting clamping jaw interval, the effect that column type palletizing robot clamping jaw can carry out clamping jaw interval adjustment according to using the centre gripping volume has been realized, compare traditional column type palletizing robot centre gripping suitability higher.

Referring to fig. 5, the rotating mechanism includes a base 1, a toothed disc 2 is rotatably mounted on the base 1, a fixing member 3 is mounted on the base 1, a first motor 4 is mounted on the fixing member 3, a gear 5 is mounted at an action end of the first motor 4 downward, teeth on the gear 5 are meshed with teeth on the toothed disc 2, and a lifting mechanism is mounted on the toothed disc 2.

Referring to fig. 1-2, the telescopic mechanism includes a hydraulic cylinder 14, a first hydraulic rod 15 is horizontally disposed in an acting end of the first hydraulic cylinder 14, a connecting seat 16 is mounted at the other end of the first hydraulic rod 15, a second hydraulic cylinder 17 is mounted at the other side of the connecting seat 16, a second hydraulic rod 18 is mounted at the other end of the second hydraulic cylinder 17, a mounting block 19 is mounted at the other end of the second hydraulic rod 18, a third hydraulic rod 20 is suspended at the bottom of the mounting block 19, a third hydraulic rod 21 is vertically and downwardly mounted at the acting end of the third hydraulic rod 20, and a clamping mechanism is suspended under the third hydraulic rod 21.

The working principle is that the stacking height of the existing column type stacking robot is fixed, the stacking robot cannot be adjusted according to the use environment, stacking of various heights cannot be achieved, in the scheme, when the height of the stacking robot needs to be adjusted, the motor 6 is started and then drives the winch 7 to rotate, the cable 10 is wound on the winch 7 when the winch 7 rotates, when the cable 10 is wound on the winch 7, the tensile force generated by the winch 7 is transmitted to the driving wheel 9 at the top end of the fixing column 8 through the driving wheel 9 at the bottom of the cable 10, then is transmitted to the driving wheel 9 at the bottom end of the primary extending column 11 through the driving wheel 9 at the top end of the fixing column 8, and then is transmitted to the fixing pin 13 through the driving wheel 9 at the top end of the primary extending column 11.

The clamping jaw interval is fixed in the existing column type palletizing robot clamping mechanism, can not adjust according to actual use, the applicability is poor, in this scheme, when the interval between clamping jaws 31 needs to be adjusted, start biax motor 24, biax motor 24 can drive the threaded rod 25 of installing on the output shaft after starting and rotate, because the thread lines on threaded rod 25 at the two ends of biax motor 24 are opposite, biax motor 24 can simultaneously drive two sliders 27 on threaded rod 25 and simultaneously shrink inwards or outwards expand when driving threaded rod 25 at the two ends, two sliders 27 on threaded rod 25 then can drive limiting plate 28 of hoist or mount under slider 27 and simultaneously move inwards or outwards expand in the removal process, the cooperation has reached the purpose of adjusting the clamping jaw interval, the effect that column type palletizing robot clamping jaw can carry out clamping jaw interval adjustment according to using the clamping volume has been realized, compared traditional column type palletizing robot clamping applicability is higher.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims.

Claims (7)

1. A column pile up neatly machine people, its characterized in that: the lifting mechanism comprises a rotating mechanism, a lifting mechanism, a telescopic mechanism and a clamping mechanism, wherein the lifting mechanism comprises a fixed column (8); the novel lifting device is characterized in that a second motor (6) is arranged beside the fixing column (8), a winch (7) is mounted on an output shaft of the second motor (6), a cable (10) is arranged on the winch (7), a first clamping groove is formed in one side of the fixing column (8), a first-stage extending column (11) is arranged in the first clamping groove, a second clamping groove is formed in the other side of the first-stage extending column (11), a second-stage extending column (12) is clamped in the second clamping groove, two groups of driving wheels (9) are vertically symmetrically mounted on the same side of the fixing column (8) and the first-stage extending column (11), a fixing pin (13) is mounted at the bottom end of the same side of the second-stage extending column (12) as the driving wheels (9), one end of the cable (10) is fixed on the winch (7), the other end of the cable is fixed on the fixing pin (13), and a telescopic mechanism is mounted on the side of the second-stage extending column (12).

The clamping mechanism comprises a lifting plate (22), two rib grooves are formed in the lifting plate (22) in a penetrating mode, a double-shaft motor (24) is arranged on one rib groove, threaded rods (25) are arranged on two output shafts of the double-shaft motor (24), two groups of limiting blocks (23) are symmetrically arranged at two ends of the two rib grooves, the threaded rods (25) are rotatably arranged between the groups of limiting blocks (23), a limiting rod (26) is arranged between the limiting blocks (23) in the other group, two sliding parts (27) are symmetrically sleeved on the threaded rods (25) and the limiting rods (26), threads are arranged in the sliding parts (27) sleeved on the threaded rods (25), four limiting plates (28) are symmetrically hung under the sliding parts (27), four hydraulic cylinders (29) are arranged on the limiting plates, four hydraulic rods (30) are symmetrically arranged at the action ends of the four hydraulic cylinders (29), and clamping jaws (31) are arranged at the ends of the four hydraulic rods (30).

2. A column palletizing robot as in claim 1, wherein: the first-stage extending column (11) can slide up and down in the first clamping groove in a matched mode, the second-stage extending column (12) can slide up and down in the second clamping groove in a matched mode, and the two groups of driving wheels (9) are respectively and symmetrically arranged at the upper end and the lower end of the fixing column (8) and the upper end and the lower end of the first-stage extending column (11).

3. A column palletizing robot as in claim 1, wherein: the cable (10) is preferentially wound on the driving wheel (9) at the bottom end of the fixed column (8), then is wound on the driving wheel (9) at the bottom end of the primary extending column (11) through the driving wheel (9) at the top end of the fixed column (8), and the end part of the cable (10) is finally fixed on the fixing pin (13) through the driving wheel (9) at the top end of the primary extending column (11).

4. A column palletizing robot as in claim 1, wherein: the two rib grooves on the hoisting plate (22) are parallel to each other, the threaded rod (25) is located right above the rib grooves, the threaded rod (25) is parallel to the rib grooves, thread lines at two ends of the threaded rod (25) are opposite, and the threaded rod (25) and the limiting block (23) are perpendicular to each other.

5. A column palletizing robot as in claim 1, wherein: limiting grooves are formed in the two limiting plates (28), clamping jaws (31) are matched in the limiting grooves, clamping action ends of the two clamping jaws (31) are symmetrical and inward, and hydraulic controllers (32) are arranged on the side faces of the two-stage extending columns (12) and the lifting plates (22).

6. A column palletizing robot as in claim 1, wherein: the rotary mechanism comprises a base (1), a fluted disc (2) is rotatably arranged on the base (1), a fixing piece (3) is arranged on the base (1), a motor (4) is arranged on the fixing piece (3), a gear (5) is downwards arranged at the acting end of the motor (4), teeth on the gear (5) are meshed with teeth on the fluted disc (2), and a lifting mechanism is arranged on the fluted disc (2).

7. A column palletizing robot as in claim 2, wherein: the telescopic machanism includes pneumatic cylinder (14), horizontal in the action end of pneumatic cylinder (14) is provided with hydraulic stem (15) No. one, connecting seat (16) are installed to the other end of hydraulic stem (15), pneumatic cylinder (17) No. two are installed to the opposite side of connecting seat (16), pneumatic rod (18) No. two are installed to the other end of pneumatic cylinder (17), installation piece (19) are installed to the other end of pneumatic rod (18) No. two, no. three pneumatic cylinders (20) are hung to the bottom of installation piece (19), no. three pneumatic rods (21) are installed downwards perpendicularly to the action end of No. three pneumatic cylinders (20), hoist and mount has fixture under No. three pneumatic rods (21).