CN220315388U

CN220315388U - Palletizing robot

Info

Publication number: CN220315388U
Application number: CN202321741621.6U
Authority: CN
Inventors: 宁永胜
Original assignee: Qingdao Heding Machinery Equipment Co ltd
Current assignee: Qingdao Heding Machinery Equipment Co ltd
Priority date: 2023-07-05
Filing date: 2023-07-05
Publication date: 2024-01-09
Anticipated expiration: 2033-07-05

Abstract

The utility model discloses a palletizing robot which comprises a frame (1), a sliding frame (2), a clamping jaw mechanism (3), a packing mechanism (4), a conveyor belt (5) and a control box (6); the sliding frame (2) and the packing mechanism (4) are transversely and slidably arranged on the frame (1) and are driven by a first electric screw (103) and a second electric screw (105) which are arranged on the frame (1) respectively; a guide frame (203) which vertically slides is arranged on the sliding frame (2); the guide frame (203) is driven by a first telescopic cylinder (202) arranged on the sliding frame (2), and an electric screw rod III (204) is longitudinally arranged at the bottom; the clamping jaw mechanism (3) is in threaded sliding installation with the electric screw rod III (204) through a sliding block (301) fixedly arranged at the upper end; the conveyor belt (5) is fixedly arranged at one side of the frame (1); according to the utility model, through the matching design of the sliding frame, the clamping jaw mechanism, the packing mechanism and the conveyor belt, the automatic stacking and packing of materials are realized.

Description

Palletizing robot

Technical Field

The utility model relates to the technical field of material stacking, in particular to a stacking robot.

Background

Along with the expansion of production scale and the improvement of labor cost, the palletizing operation of materials is more and more urgently required to be mechanized, and the palletizing robot provides higher production efficiency for modern production and reduces production cost.

The current palletizing robot comprises the following manual steps:

step one, a clamping jaw mechanism identifies a workpiece on a conveyor belt.

Step two, clamping the workpiece by the clamping jaw mechanism.

And thirdly, clamping the workpiece by the clamping jaw to move to a designated position.

And fourthly, placing the workpiece by the clamping jaw.

And fifthly, returning the clamping jaw mechanism to the upper part of the conveyor belt.

At present, a machine is required to be used for stacking products in the mass production line production process so as to achieve higher production efficiency, but the existing stacking robot is used for carrying out transfer on the tray by carrying equipment such as a forklift after stacking, so that the stacked materials collapse due to unstable walking, the risk of falling of the materials occurs, and the production safety is seriously endangered.

In view of the foregoing, it is desirable to provide a palletizing robot apparatus that is capable of simultaneously palletizing a stack of materials.

Disclosure of Invention

Aiming at the problems, the utility model provides a palletizing robot which is used for solving the problems in the background technology.

The adopted technical scheme is as follows:

the palletizing robot is characterized by comprising a rack, a sliding frame, a clamping jaw mechanism, a packing mechanism, a conveyor belt and a control box; the sliding frame and the packing mechanism are transversely and slidably arranged on the frame and are driven by a first electric screw and a second electric screw respectively; the sliding frame is provided with a guide frame which vertically slides; the guide frame is driven by a first telescopic cylinder arranged on the sliding frame, and an electric screw rod III is longitudinally arranged at the bottom of the guide frame; the clamping jaw mechanism is slidably arranged with the electric screw rod through three threads of a sliding block fixedly arranged at the upper end; the conveying belt is fixedly arranged on one side of the frame and used for conveying materials; the control box is arranged on the frame and used for controlling the operation of the whole palletizing robot.

Preferably, the clamping jaw mechanism further comprises a supporting frame, a telescopic cylinder II and a clamping plate; the upper end of the supporting frame is fixedly connected with the sliding block, and a plurality of groups of supporting sliding rails are uniformly distributed on the side surface and extend outwards; the clamping plates are horizontally and correspondingly arranged on each group of supporting sliding rails; the two telescopic cylinders with the same number as the clamping plates are horizontally and correspondingly fixedly arranged on the supporting frame, and the output end is fixedly connected with one side of the clamping plates.

Preferably, the packaging mechanism comprises a sliding plate II, a motor I, a rotating arm I, a preservative film cylinder, a rotating arm II, a traction rod, a cutter and a telescopic cylinder III; the second sliding plate is transversely and slidably arranged on the frame and is in threaded sliding connection with the second electric screw rod; the first rotating arm is vertically and fixedly arranged on the lower side of the second sliding plate and is driven by a first motor fixedly arranged on the second sliding plate; the preservative film cylinder is rotatably arranged on the lower side of one end of the rotating arm; the second rotating arm is rotatably arranged at the lower side of the first rotating arm and is driven by a second motor fixedly arranged on the first rotating arm; the traction rod is fixedly arranged at the lower side of one end of the second rotating arm; the cutter is slidably arranged on the lower side of the rotary arm II close to the traction rod and is driven by the telescopic cylinder III fixedly arranged on the rotary arm II, and the cutter is used for laminating and compacting the cutter and the traction rod.

Preferably, the traction rod is a static rod.

Preferably, the conveyor belt is provided with an correlation sensor.

Preferably, the feeding end of the conveyor belt is provided with a pair of limit screws.

Due to the adoption of the technical scheme, the utility model has the following advantages:

1. according to the utility model, through the matching design of the sliding frame, the clamping jaw mechanism, the packing mechanism and the conveyor belt, the automatic stacking and packing of materials are realized, and the problem that the stacked materials collapse due to unstable walking in the transferring process is effectively avoided.

2. According to the packaging mechanism, through the matching design of the traction rod, the cutter and the telescopic cylinder, the problem that the starting end of the preservative film cannot be automatically pulled is effectively solved, and the operation efficiency is improved.

Drawings

Fig. 1-2 are schematic views of the overall structure of the present utility model.

Fig. 3 is a schematic view of the present utility model with the packaging mechanism removed.

Fig. 4 is a schematic structural view of a frame in the present utility model.

Fig. 5 is a schematic diagram of an assembly structure of the carriage and the jaw mechanism according to the present utility model.

Fig. 6-9 are schematic views of the overall structure of the jaw mechanism of the present utility model.

Fig. 10-13 are schematic structural views of the packing mechanism of the present utility model.

Fig. 14 is a schematic view of the structure of the cutter and the telescopic cylinder three in the packing mechanism of the present utility model.

Fig. 15 is a schematic diagram of a conveyor belt according to a second embodiment of the utility model.

Reference numerals: 1-a frame (101-a frame body, 102-a bearing plate, 103-a first electric lead screw, 104-a first guide rod, 105-a second electric lead screw and 106-a second guide rod); 2-sliding frame (201-sliding plate I; 202-telescopic cylinder I; 203-guide frame; 204-electric screw III; 205-guide rod III); 3-clamping jaw mechanism (301-sliding block; 302-supporting frame; 303-telescopic cylinder two; 304-clamping plate); 4-packaging mechanism (401-sliding plate II; 402-motor I; 403-rotating arm I; 404-preservative film cylinder; 405-rotating arm II; 406-traction rod; 407-cutter; 408-telescoping cylinder III); 5-a conveyor belt; 6-control box.

Detailed Description

The technical scheme of the utility model is further specifically described below through examples and with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, but the present utility model may be embodied in many other forms than described herein, and persons skilled in the art will be able to make similar modifications without departing from the spirit of the utility model, so that the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "upper surface", "lower surface", "front", "rear", etc. are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present utility model.

Embodiment one:

as shown in fig. 1-2, a palletizing robot comprises a frame 1, a carriage 2, a jaw mechanism 3, a packing mechanism 4, a conveyor belt 5 and a control box 6.

Specifically, as shown in fig. 3 to 14, the rack 1 includes a rack body 101, a bearing plate 102, an electric screw one 103, a guide rod one 104, an electric screw two 105 and a guide rod two 106; the bearing plate 102 is fixedly arranged at the lower end of the frame body 101, and the electric screw rod I103 and the two guide rods I104 are parallel and transversely arranged at the upper end of the frame body 101 in the horizontal distribution direction; the second electric screw 105 and the second guide rod 106 are parallel and are transversely arranged on one side vertical surface of the frame body 101 in an up-down distribution direction.

The sliding frame 2 comprises a sliding plate I201, a telescopic cylinder I202, a guide frame 203, an electric screw III 204 and a guide rod III 205; the first sliding plate 201 is transversely connected with the first two guide rods 104 in a sliding manner and driven by the first electric lead screw 103; the guide frame 203 is vertically and slidably mounted on the first sliding plate 201 and driven by a first telescopic cylinder 202 mounted on the guide frame 203, and an electric screw rod III 204 is longitudinally mounted at the bottom.

The clamping jaw mechanism 3 is in threaded sliding installation with the electric screw rod III 204 through a sliding block 301 fixedly arranged at the upper end; the clamping jaw mechanism 3 further comprises a supporting frame 302, a telescopic cylinder II 303 and a clamping plate 304; the upper end of the supporting frame 302 is fixedly connected with the sliding block 301, and four groups of supporting sliding rails are uniformly distributed on the side surface and extend outwards; the clamping plates 304 are horizontally and correspondingly arranged on each group of supporting sliding rails; the second telescopic cylinders 303, the number of which is the same as that of the clamping plates 304, are horizontally and correspondingly fixedly arranged on the supporting frame 302, and the output ends of the second telescopic cylinders are fixedly connected with one side of the clamping plates 304.

The packaging mechanism 4 comprises a second sliding plate 401, a first motor 402, a first rotating arm 403, a preservative film cylinder 404, a second rotating arm 405, a traction rod 406, a cutter 407 and a third telescopic cylinder 408; the second sliding plate 401 is transversely and slidably arranged on the second guide rod 106 of the frame 1 and is in threaded sliding connection with the second electric screw rod 105; the first rotary arm 403 is vertically and fixedly arranged on the lower side of the second sliding plate 401 and is driven by a first motor 402 fixedly arranged on the second sliding plate 401; the preservative film cylinder 404 is rotatably arranged at the lower side of one end of the rotary arm one 403; the second rotating arm 405 is rotatably installed at the lower side of the first rotating arm 403 and is driven by a second motor fixedly installed on the first rotating arm 403; the traction rod 406 is fixedly arranged at the lower side of one end of the second rotating arm 405; the cutter 407 is slidably arranged on the lower side of the second rotating arm 405 close to the traction rod 406 and driven by a third telescopic cylinder 408 fixedly arranged on the second rotating arm 405, and is used for laminating and compacting the cutter 407 and the traction rod 406, so that the starting end of the preservative film cut by the cutter 407 is automatically compacted on one side of the traction rod 406, and the traction rod 406 is driven by a second motor to finish traction of the starting end of the preservative film;

in this embodiment, in order to ensure that the starting end of the preservative film cut by the cutter 407 can be quickly and permanently attached to the traction rod 406, the traction rod 406 is made of an electrostatic rod.

The conveyor belt 5 is fixedly arranged on one side of the frame 1 and is used for conveying materials; the control box 6 is arranged on the frame 1 and is used for controlling the operation of the whole palletizing robot; in this embodiment, the fixed edges on two sides of the conveyor belt 5 are provided with correlation sensors, and when the material moves along with the conveyor belt and is detected by the correlation sensors, the conveyor belt 5 stops to ensure the positioning of the clamping jaw mechanism 3 on the material.

In the embodiment, the first electric screw 103, the second electric screw 105, the third electric screw 204 and the conveyor belt 5 are driven by servo motors; the first motor 402 and the second motor are servo motors; the first telescopic cylinder 202 is a servo electric cylinder; the second telescopic cylinder 303 and the third telescopic cylinder 408 are cylinders; the driving elements are electrically connected with the control box 6.

Embodiment two:

the distinguishing feature of this embodiment and the first embodiment is that the feeding end of the conveyor belt 5 is provided with a pair of limit screws, and the positioning interval is adjusted by the limit screws, so as to facilitate manual feeding.

Working principle:

firstly, a traction rod 406 in a packaging mechanism 4 is rotated to the same side of a preservative film cylinder 404 under the driving of a motor II, a preservative film starting end is manually placed between the traction rod 406 and a cutter 407, the preservative film is tightly pressed on the traction rod 406 under the driving of a telescopic cylinder III 408, then the traction rod 406 and the cutter 407 clamp the preservative film and rotate 180 degrees under the driving of the motor II, the preservative film is spread, the packaging mechanism 4 is moved to one side of a frame 101 far away from a conveyor belt 5 to stop after the first traction of the preservative film starting end is completed, and a material tray is placed on a bearing plate 102;

secondly, placing the materials at the feeding end of the conveyor belt 5 through automatic equipment or manually, and stopping the conveyor belt 5 after the materials move along with the conveyor belt and are detected by the correlation sensor;

thirdly, the clamping jaw mechanism 3 moves to a set position under the cooperation of the electric screw 103, the electric screw 204 and the telescopic cylinder 202, and grabs materials under the driving of the telescopic cylinder 408;

fourthly, the clamping jaw mechanism 3 sequentially stacks materials according to the program setting of the control box 6 under the cooperation of the first electric screw 103, the third electric screw 204 and the first telescopic cylinder 202, and after the stacking is completed, the sliding frame 2 moves to one side close to the conveying belt 5 and stops;

fifthly, starting a packing mechanism 4, driving a sliding plate II 401 to move towards the piled materials under the driving of an electric screw II 105, separating a cutter 407 from a traction rod 406 after wrapping one side of the materials by a preservative film, and then driving a rotary arm I403 and a rotary arm II 405 to rotate under the driving of a motor I402, so that the preservative film is packed around the materials; after the preservative film is wound on the set layer, the motor II drives the cutter 407 to rotate and cuts the preservative film; then, the new fresh-keeping film starting end on the fresh-keeping film barrel 404 is stuck on a traction rod 406 between the cutter 407 and the fresh-keeping film barrel 404 under the drive of the cutter 407, and is stuck with the traction rod 406 in a large area under the action of static electricity; then the cutter 407 compresses the preservative film on the traction rod 406 under the drive of the telescopic cylinder III 408;

sixthly, supporting and conveying the material tray away through external equipment; then the traction rod 406 and the cutter 407 clamp the preservative film and rotate 180 degrees under the drive of the motor II, after the traction of the starting end of the preservative film is completed, the packaging mechanism 4 is moved to one side of the frame 101 far away from the conveyor belt 5 to stop, and the next packaging is waited;

and seventhly, repeating the six steps to finish continuous stacking and packing of the materials.

Claims

1. The palletizing robot is characterized by comprising a frame (1), a sliding frame (2), a clamping jaw mechanism (3), a packing mechanism (4), a conveyor belt (5) and a control box (6); the sliding frame (2) and the packing mechanism (4) are transversely and slidably arranged on the frame (1) and are driven by a first electric screw (103) and a second electric screw (105) which are arranged on the frame (1) respectively; a guide frame (203) which vertically slides is arranged on the sliding frame (2); the guide frame (203) is driven by a first telescopic cylinder (202) arranged on the sliding frame (2), and an electric screw rod III (204) is longitudinally arranged at the bottom of the guide frame; the clamping jaw mechanism (3) is in threaded sliding installation with the electric screw rod III (204) through a sliding block (301) fixedly arranged at the upper end; the conveying belt (5) is fixedly arranged at one side of the frame (1) and is used for conveying materials; the control box (6) is arranged on the frame (1) and used for controlling the operation of the whole palletizing robot.

2. A palletizing robot according to claim 1, characterized in that the jaw mechanism (3) further comprises a support frame (302), a telescopic cylinder two (303) and a clamping plate (304); the upper end of the supporting frame (302) is fixedly connected with the sliding block (301), and a plurality of groups of supporting sliding rails are uniformly distributed on the side surface and extend outwards; the clamping plates (304) are horizontally and correspondingly arranged on each group of supporting sliding rails; the two telescopic cylinders (303) with the same number as the clamping plates (304) are horizontally and correspondingly fixedly arranged on the supporting frame (302), and the output end is fixedly connected with one side of the clamping plates (304).

3. A palletizing robot according to claim 1, wherein the baling mechanism (4) comprises a second sliding plate (401), a first motor (402), a first rotating arm (403), a preservative film cylinder (404), a second rotating arm (405), a traction rod (406), a cutter (407) and a third telescopic cylinder (408); the second sliding plate (401) is transversely and slidably arranged on the frame (1) and is in threaded sliding connection with the second electric screw rod (105); the first rotating arm (403) is vertically and fixedly arranged on the lower side of the second sliding plate (401) and is driven by a first motor (402) fixedly arranged on the second sliding plate (401); the preservative film cylinder (404) is rotatably arranged at the lower side of one end of the rotary arm I (403); the second rotating arm (405) is rotatably arranged on the lower side of the first rotating arm (403) and is driven by a second motor fixedly arranged on the first rotating arm (403); the traction rod (406) is fixedly arranged at the lower side of one end of the second rotating arm (405); the cutter (407) is slidably arranged on the lower side of the second rotating arm (405) close to the traction rod (406) and is driven by the third telescopic cylinder (408) fixedly arranged on the second rotating arm (405) to attach and press the cutter (407) to the traction rod (406).

4. A palletizing robot according to claim 3, characterized in that the traction rod (406) is an electrostatic rod.

5. Palletizing robot according to any of the claims 1-4, characterized in that the conveyor belt (5) is provided with correlation sensors.

6. A palletizing robot according to any of claims 1-4, wherein the feeding end of the conveyor belt (5) is provided with a pair of limit screws.