CN220502044U - Robot stacking system - Google Patents
Robot stacking system Download PDFInfo
- Publication number
- CN220502044U CN220502044U CN202322165892.8U CN202322165892U CN220502044U CN 220502044 U CN220502044 U CN 220502044U CN 202322165892 U CN202322165892 U CN 202322165892U CN 220502044 U CN220502044 U CN 220502044U
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- roller
- frame
- shaped
- guide hole
- transmission roller
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- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 18
- 238000007493 shaping process Methods 0.000 claims description 11
- 239000007787 solid Substances 0.000 abstract description 2
- 239000000843 powder Substances 0.000 description 31
- 238000003825 pressing Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007115 recruitment Effects 0.000 description 2
- 238000004513 sizing Methods 0.000 description 2
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
- 235000011941 Tilia x europaea Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 239000004571 lime Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The utility model provides a robot pile up neatly system, including pile up neatly machine people, material conveying mechanism, pile up neatly machine people's end installs snatchs mechanism, material conveying mechanism is roller conveyor, roller conveyor passes through motor drive, install the plastic roller in the top of transmission roller, all or one of them section transmission roller on the roller conveyor before the plastic roller uses its axis of rotation as non-solid of revolution transmission roller, the plastic roller rotates and installs on a U-shaped roller frame, the bottom both sides of U-shaped roller frame articulate in the frame, two U-shaped limit of U-shaped roller frame articulate respectively on a groove seat, upper portion fixedly connected with slide bar on the groove seat, sliding fit is in the guide hole in the frame about the slide bar, fixedly connected with spacing ring on the slide bar of guide hole upper portion, the spacing ring is greater than the diameter of guide hole. After stacking, the system can form a stable supporting surface, and is not easy to collapse.
Description
Technical Field
The utility model relates to a robot palletizing equipment system, in particular to a robot palletizing system, and belongs to the technical field of automatic equipment.
Background
In industrial and agricultural large-scale production, a lot of powder bagged products, such as powder materials of flour, lime powder and the like, are usually adopted in bagging, so that the materials are concentrated in the lower half part of the bag under the action of gravity, the upper half part of the bag is usually empty, in the past production, stacking of the bagged materials is completed manually, due to the fact that labor intensity of the posts is high, labor cost of the posts is increased greatly along with the increase of labor cost, recruitment of people is more and more difficult, recruitment cost is increased mainly but personnel loss is fast, mechanical equipment is adopted for replacing the posts, the stacking robot has mature application in the aspect of automatic stacking equipment, and due to poor material flowability in the powder bag materials, irregular shape and uneven supporting surface after stacking, a robot stacking system for powder is required to be developed if the current robot stacking system is adopted before the stacking height is reached.
Disclosure of Invention
The utility model aims to overcome the technical problems existing in the existing powder bag material stacking, and provides a powder bag robot stacking system.
In order to achieve the purpose of the utility model, the following technical scheme is adopted: the utility model provides a robot pile up neatly system, includes pile up neatly machine people, material conveying mechanism, pile up neatly machine people's end installs snatchs mechanism, material conveying mechanism be roller conveyor, roller conveyor passes through motor drive, through chain drive between the transmission roller on the roller conveyor, install the plastic roller in the top of transmission roller, all or one section transmission roller on the roller conveyor before the plastic roller regard its axis of rotation as non-solid of revolution transmission roller, the plastic roller rotate and install on a U-shaped roller frame, the bottom both sides of U-shaped roller frame articulate in the frame, two U-shaped limits of U-shaped roller frame articulate respectively on a groove seat, upper portion fixedly connected with slide bar on the groove seat, slide bar upper and lower sliding fit is in the guide hole in the frame, fixedly connected with spacing ring on the slide bar on guide hole upper portion, the spacing ring is greater than the diameter of guide hole.
Further; the non-revolving body transmission roller is an equilateral polygon prism, and the rotation shaft of the transmission roller is positioned at the center of the equilateral polygon prism.
Further; the non-revolving body transmission roller is an elliptic roller, and the rotating shaft of the transmission roller is positioned at the center of the elliptic roller.
Further; the non-revolving body transmission roller is a cylindrical roller, and the rotating shaft deviates from the center of the cylindrical roller.
The utility model has the positive and beneficial technical effects that: in the system, the powder bags can be shaped into the material with basically uniform and smooth distribution through the roller conveyor and the shaping roller, and the grabbing mechanism keeps the powder bags in a basically smooth state through shaping the two sides and the upper part of the powder bags when grabbing the powder bags, so that a stable supporting surface can be formed after stacking, and the powder bags are not easy to collapse.
Drawings
Fig. 1 is an overall schematic diagram of the present system.
Fig. 2 is a partial schematic view of a roller conveyor at a sizing roller.
Fig. 3 is one of the schematic views of the gripping mechanism.
Fig. 4 is a second schematic view of the gripping mechanism.
Fig. 5 is a third schematic view of the gripping mechanism.
Detailed Description
In order to more fully explain the practice of the utility model, examples of the practice of the utility model are provided. These examples are merely illustrative of the present utility model and do not limit the scope of the utility model.
The utility model will be explained in further detail with reference to the accompanying drawings, in which: 1: a roller conveyor; 101: a finishing roller; 102: a U-shaped roller frame; 103: a frame; 104: a groove seat; 105: a guide rod; 106: a conveying roller; 2: a palletizing robot; 3: a grabbing mechanism; 301: a mounting plate; 302: a hinge base; 303: a crank arm; 304: a fixed block; 305: a tail handle; 306: l-shaped supporting rods; 307: a connecting plate; 308: a T-bar; 309: an end plate; 310: a pressing cylinder; 311: an L-shaped plate; 3111: the horizontal plane of the L-shaped plate; 3112: the vertical surface of the L-shaped plate; 312: an opening and closing cylinder; 313: an open long groove; 314: and (5) jackscrews. 4: and (5) powder bags.
As shown in fig. 1 to 5, in the robot palletizing system, 4 is a powder bag, and the powder is concentrated at the bottom of the bag because the powder bag is generally upward in mouth during bagging and the powder has poor fluidity. The device comprises a palletizing robot 2 and a material conveying mechanism, wherein a grabbing mechanism 3 is arranged at the tail end of the palletizing robot.
The material conveying mechanism adopts a roller conveyor, the roller conveyor is driven by a motor, conveying rollers on the roller conveyor are driven by a chain, a shaping roller 101 is arranged above the conveying rollers, a section of conveying roller on the roller conveyor in front of the shaping roller is a non-revolving body conveying roller with a rotating shaft as the center, the conveying roller shown as 106 in the figure is a quadrangular roller, and the purpose of adopting the non-revolving body roller is that vibration occurs when powder bags pass through, so that the material is uniformly distributed in the bags. The transfer roller after the sizing roller is a revolving body transfer roller with the rotation shaft as the center. Besides prisms, elliptic rollers and cam rollers can also be used as non-revolving body conveying rollers.
The shaping roller 101 is rotatably arranged on a U-shaped roller frame 102, two sides of the bottom of the U-shaped roller frame 102 are hinged on a frame 103, two U-shaped edges of the U-shaped roller frame are respectively hinged on a groove seat 104, the upper part of the groove seat is fixedly connected with a slide bar 105, the slide bar is matched in a guide hole in the frame in a vertical sliding way, the slide bar at the upper part of the guide hole is fixedly connected with a limiting ring, and the limiting ring is larger than the diameter of the guide hole. The limiting ring can be realized by screwing a nut on the guide rod, the height of the shaping roller can be adjusted by adjusting the height of the limiting ring, and the upper surface of the shaping roller is basically flattened when powder bags pass through the shaping roller.
Install at terminal grabbing mechanism of pile up neatly robot, including the mounting panel 301 that is located the top, all install collet formula claw mechanism in mounting panel lower extreme both sides, have on the mounting panel be used for with the terminal between fixed connection's of robot connecting hole, two articulated seat 302 of every side fixedly connected with under the mounting panel, two articulated seat comprise two parallel fixed plates, the fixed plate passes through bolt fixed connection on the mounting panel. Each hinge seat is hinged with one crank arm 303, the lower ends of the two crank arms are fixedly connected to a fixed block 304, the upper end of one crank arm is fixedly connected with a tail handle 305, the cylinder rod of an opening and closing cylinder 312 is hinged to the tail handle 305, and the cylinder body of the opening and closing cylinder 305 is hinged to the hinge seat. The vertical edge ends of the L-shaped supporting rods 306 are fixedly connected to a connecting plate 307, and the connecting plate is fixedly connected with the fixing block 304 through bolts and nuts.
A plurality of sliding holes in the horizontal left-right direction are formed in the fixed block, a plurality of parallel T-shaped rods 308 penetrate through the sliding holes, the vertical edges of the T-shaped rods are in the horizontal direction, the outer ends of the vertical edges of the T-shaped rods are fixedly connected to the end plates 309, jackscrew holes are formed in part of the sliding hole walls, jackscrews 314 are screwed in the jackscrew holes, and the transverse edges of the T-shaped rods are positioned above the transverse edges of the L-shaped supporting rods.
The lower pressing cylinder 310 is fixedly connected under the mounting plate, the cylinder rod of the lower pressing cylinder is fixedly connected with an L-shaped plate 311, 3111 is a horizontal plane of the L-shaped plate in the figure, 3112 is a vertical plane of the L-shaped plate, the lower end of the vertical plane 3112 of the L-shaped plate is provided with a plurality of open long grooves 312 in the vertical direction, the lower end of the L-shaped plate is inclined outwards, the transverse edges of the T-shaped rods are positioned in the open long grooves, and when the grabbing mechanism is closed, the horizontal plane of the L-shaped plate is parallel to the horizontal edges of the L-shaped rods.
When the system works, vibrating materials are vibrated and leveled after powder bags pass through non-revolving body transmission rollers of the roller conveyor, the upper surfaces of the powder bags are basically leveled after the powder bags pass through finishing rollers, a proximity switch arranged on the roller conveyor detects the powder bags after the powder bags travel to the tail end of the roller conveyor, a palletizing robot drives a grabbing mechanism to descend to the position above the powder bags, an opening and closing cylinder acts to drive a tail handle to enable L-shaped supporting rods on two sides of the crank arms to open after the crank arms rotate, the grabbing mechanism continues to descend, the opening and closing cylinder acts to drive the tail handle to enable the L-shaped supporting rods on two sides of the crank arms to clamp after the crank arms reversely rotate, the horizontal edges of the L-shaped supporting rods are located below the powder bags, the horizontal edges of T-shaped rods on two sides limit and finish the powder bags, a pressing cylinder drives an L-shaped plate to press the side surfaces and the upper surfaces of the powder bags to further shape and finish, so that the powder bags are formed into regular surface, and then the palletizing robot transfers the powder bags to a set position, the pressing cylinder ascends, and the opening and closing cylinder drives the L-shaped supporting rods on two sides to open sides, and the powder bags can be placed on a material stack.
Having described embodiments of the present utility model in detail, it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the scope and spirit of the utility model as defined in the appended claims, and any simple, equivalent changes and modifications to the above examples are intended to be within the scope of the present utility model and the utility model is not limited to the embodiments as set forth in the specification.
Claims (4)
1. The utility model provides a robot palletizing system, includes palletizing robot, material conveying mechanism, palletizing robot's end is installed and is snatched mechanism, material conveying mechanism be roller conveyor, roller conveyor passes through motor drive, through chain drive between the transmission roller on the roller conveyor, its characterized in that: a shaping roller is arranged above the transmission roller, all or one section of transmission roller on the roller conveyor in front of the shaping roller takes the rotation shaft as a center to serve as a non-revolving body transmission roller, the shaping roller is rotatably arranged on a U-shaped roller frame, two sides of the bottom of the U-shaped roller frame are hinged on a frame, two U-shaped edges of the U-shaped roller frame are respectively hinged on a groove seat, the upper part of the groove seat is fixedly connected with a sliding rod, and the sliding rod is matched in a guide hole on the frame in an up-down sliding manner; the slide bar at the upper part of the guide hole is fixedly connected with a limiting ring, and the limiting ring is larger than the diameter of the guide hole.
2. A robotic palletizing system as in claim 1, wherein: the non-revolving body transmission roller is an equilateral polygon prism, and the rotation shaft of the transmission roller is positioned at the center of the equilateral polygon prism.
3. A robotic palletizing system as in claim 1, wherein: the non-revolving body transmission roller is an elliptic roller, and the rotating shaft of the transmission roller is positioned at the center of the elliptic roller.
4. A robotic palletizing system as in claim 1, wherein: the non-revolving body transmission roller is a cylindrical roller, and the rotating shaft deviates from the center of the cylindrical roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322165892.8U CN220502044U (en) | 2023-08-14 | 2023-08-14 | Robot stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322165892.8U CN220502044U (en) | 2023-08-14 | 2023-08-14 | Robot stacking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220502044U true CN220502044U (en) | 2024-02-20 |
Family
ID=89879113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322165892.8U Active CN220502044U (en) | 2023-08-14 | 2023-08-14 | Robot stacking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220502044U (en) |
-
2023
- 2023-08-14 CN CN202322165892.8U patent/CN220502044U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |