CN220684036U - Robot stacking conveying line - Google Patents
Robot stacking conveying line Download PDFInfo
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- CN220684036U CN220684036U CN202322407857.2U CN202322407857U CN220684036U CN 220684036 U CN220684036 U CN 220684036U CN 202322407857 U CN202322407857 U CN 202322407857U CN 220684036 U CN220684036 U CN 220684036U
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- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 238000007599 discharging Methods 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 description 6
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
Abstract
The utility model discloses a robot stacking conveying line, which comprises a positioning conveying mechanism, a stacking robot, a positioning stacking mechanism and a discharging conveying mechanism, wherein at least two groups of positioning conveying mechanisms are arranged on two sides of the stacking robot, when the positioning conveying mechanism intermittently conveys a box body to a temporary storage station, the stacking robot can respectively transfer articles positioned on the temporary storage station on the positioning conveying mechanisms on the two sides to the positioning loading mechanism, and the floor area of the robot stacking system is smaller than that of a traditional single-set conveying and supplying robot stacking system, so that the floor area can be saved; the device can be suitable for clamping articles with different specifications, and can also carry out clamping and transferring under the condition that the specifications of articles conveyed by at least two groups of positioning conveying mechanisms arranged on two sides of the stacking robot are inconsistent; the stacking robot control system is simple in structure principle, does not need excessive operations of staff, and realizes unmanned production by adopting an automatic operation control system and intelligent informatization equipment.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a robot stacking conveying line.
Background
On the conveying line of stack line production, various workpieces on the conveying belt and the robot pair flow on the production line are required to be distributed and split, in the prior art, a plurality of manipulators capable of stacking are arranged, the workpieces can be stacked or split, the workpieces need to be conveyed by a frame for the assembly line needing splitting and then split, the frames after splitting the workpieces need to be stacked for recycling, and the split workpieces need to be conveyed in multiple layers, such as from a high-level conveying line to a low-level conveying line, so that a conveying line is required to be capable of simultaneously conveying the workpieces and the frames for accommodating the workpieces respectively, and different requirements in the production process are met.
Disclosure of Invention
To overcome the above drawbacks, an object of the present utility model is to provide a robot palletizing conveyor line.
In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides a robot stack transfer chain, includes location conveying mechanism, stacking robot, location stacking mechanism and ejection of compact conveying mechanism, wherein: the material discharging end of each group of positioning conveying mechanisms is provided with a temporary storage station, and each group of positioning conveying mechanisms is used for intermittently conveying the articles to the temporary storage station; the stacking robot comprises a manipulator, wherein a controller for controlling the manipulator to move is arranged on the manipulator, and the controller is respectively and electrically connected with a power supply, a sensor and a driving device; the stacking robot comprises a rotatable base, the base is sequentially connected with a first arm, a second arm, a third arm and a stacking clamp, and the driving device comprises a first motor, a second motor, a third motor, a fourth motor and a fifth motor which are respectively and electrically connected with the controller.
The stacking clamp is used for clamping the articles and comprises a mounting substrate and clamping parts which are arranged oppositely, and the stacking clamp is driven by a fifth motor to be close to or open to each other so as to grab or release the articles; the stacking robot is used for driving the stacking clamp to move between the temporary storage station and the positioning stacking mechanism; the positioning and stacking mechanism is provided with a carrying disc; and the discharging and conveying mechanism conveys the stacked articles out along with the carrying tray. The stacking robot can transfer the articles positioned at the temporary storage stations on the positioning conveying mechanisms at the two sides to the positioning loading mechanism respectively, so that the occupied area of the stacking robot is smaller than that of a traditional single-set conveying and supplying robot stacking system, and the field can be saved.
Furthermore, the positioning conveying mechanism is a roller conveyor and comprises a driving roller and a driven roller, wherein the driving roller and the driven roller are arranged at intervals, the driving roller is provided with a driving device, the driven roller is not provided with a driving device, and the driving device only drives the driving roller to rotate. The material can be driven by at least one driving roller, the driven roller plays a supporting role, and the quantity of the driven rollers can be reduced due to the fact that the weight of the material is small, so that energy sources can be reduced.
Still further, the positioning and conveying mechanism comprises a guide member for intermittently conveying the articles to the temporary storage station. The articles on the positioning conveying mechanism can be conveyed to the temporary storage stations through a plurality of second conveying lines respectively, so that the occurrence of congestion at one temporary storage station is avoided.
Further, the stacking robot comprises a three-dimensional camera for taking a three-dimensional photograph of the articles, and the articles are clamped onto the corresponding positioning stacking mechanisms according to the three-dimensional data of the identified articles. The data information of the articles and the carrying disc is acquired in real time, and the articles can be accurately and efficiently stacked on the no-load disc.
Further, the stacking clamp has four mechanical fingers that can be moved toward and away from each other to grasp and release the article. The contact end surfaces of the mechanical fingers and the target object are provided with the anti-slip layer, and the anti-slip layer can effectively prevent the target object from falling off and being broken in the process of grabbing the target object, so that the safety of the target object is ensured.
Still further, still include a year dish conveying mechanism, a year dish conveying mechanism is close to the one side of location stack mechanism, can carry a year dish to location stack mechanism.
Further, the temporary storage station is provided with a stopping piece which can stop the articles at the tail end of the positioning and conveying mechanism and keep the articles from falling off.
Still further still include safety barrier, safety barrier sets up in the periphery of stack transfer chain.
The beneficial effects of the utility model are as follows: 1. at least two groups of positioning conveying mechanisms are arranged on two sides of the stacking robot, when the positioning conveying mechanisms intermittently convey the box bodies to the temporary storage stations, the stacking robot can transfer the articles positioned on the temporary storage stations on the positioning conveying mechanisms on the two sides to the positioning loading mechanisms respectively, so that the occupied area is small compared with that of a traditional single-set conveying and supplying robot stacking system, and the field can be saved; 2. the device can be suitable for clamping articles with different specifications, and can also carry out clamping and transferring under the condition that the specifications of articles conveyed by at least two groups of positioning conveying mechanisms arranged on two sides of the stacking robot are inconsistent; 3. the stacking robot control system is simple in structure principle, does not need excessive operations of staff, and realizes unmanned production by adopting an automatic operation control system and intelligent informatization equipment.
Drawings
FIG. 1 is a schematic diagram of a robot palletizing conveyor line according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a positioning and conveying mechanism according to an embodiment of the present utility model;
FIG. 3 is a schematic view of a guide member according to an embodiment of the present utility model;
FIG. 4 is a schematic view of a first construction of a palletizing robot according to an embodiment of the present utility model;
FIG. 5 is a first schematic view of a stacking clamp according to an embodiment of the present utility model;
FIG. 6 is a schematic view of a second construction of a palletizing robot according to an embodiment of the present utility model;
FIG. 7 is a second schematic view of a stacking clamp according to an embodiment of the present utility model;
FIG. 8 is a schematic view of a tray conveying mechanism according to an embodiment of the present utility model;
fig. 9 is a schematic structural view of a discharge conveying mechanism according to an embodiment of the present utility model.
In the figure: 1. positioning and conveying the mechanism; 101. a driving roller; 102. a passive roller; 103. a guide member; 104. a first conveyor line; 105. a second conveyor line; 2. stacking robots; 201. a base; 202. a first arm; 203. a second arm; 204. a third arm; 205. stacking clamps; 2052. a clamping part; 206. a first motor; 207. a second motor; 208. a third motor; 209. a fourth motor; 210. a fifth motor; 3. positioning and stacking mechanisms; 4. a discharging and conveying mechanism; 5. temporary storage stations; 501. a stop member; 6. a carrier plate; 7. an article; 8. a safety barrier; 9. and the tray conveying mechanism.
Detailed Description
The preferred embodiments of the present utility model will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present utility model can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present utility model.
Referring to fig. 1, a robot stacking conveyor line in this embodiment includes a positioning conveyor mechanism 1, a stacking robot 2, a positioning stacker mechanism 3, and a discharging conveyor mechanism 4, wherein: the positioning and conveying mechanisms 1 are at least two groups, the discharge end of each group of positioning and conveying mechanism 1 is provided with a temporary storage station 5, and each group of positioning and conveying mechanism 1 is used for intermittently conveying the articles 7 to the temporary storage station 5; the stacking robot 2 comprises a manipulator, wherein a controller for controlling the movement of the manipulator is arranged on the manipulator, and the controller is respectively and electrically connected with a power supply, a sensor and a driving device; the palletizing robot 2 comprises a rotatable base 201, the base 201 is sequentially connected with a first arm 202, a second arm 203, a third arm 204 and a palletizing gripper 205, and the driving device comprises a first motor 206, a second motor 207, a third motor 208, a fourth motor 209 and a fifth motor 210 which are respectively electrically connected with the controller.
Referring to fig. 5 and 7, a stacking jig 205 is used for gripping the article 7, the stacking jig 205 includes a mounting base plate, and oppositely disposed gripping portions 2052, and the stacking jig 205 is driven to be moved close to or open from each other by a fifth motor 210 so as to grip or release the article 7; the stacking robot 2 is used for driving the stacking clamp 205 to move between the temporary storage station 5 and the positioning stacking mechanism 3; the positioning and stacking mechanism 3 is provided with a carrying disc 6; the discharge conveyor 4 conveys the stacked articles 7 out along with the carrier tray 6.
Referring to fig. 2, at least two groups of positioning and conveying mechanisms 1 are arranged on two sides of a stacking robot 2, when the positioning and conveying mechanisms 1 intermittently convey a box body to a temporary storage station 5, the stacking robot 2 can respectively transfer articles 7 positioned at the temporary storage station 5 on the positioning and conveying mechanisms 1 on the two sides to a positioning and loading mechanism, so that the floor space is smaller than that of a traditional single-conveying-supply robot stacking system, and the floor space can be saved; the device can be suitable for clamping articles 7 with different specifications, and can also carry out clamping and transferring under the condition that the specifications of the articles 7 conveyed by at least two groups of positioning conveying mechanisms 1 arranged on two sides of the stacking robot 2 are inconsistent; the stacking robot 2 control system is simple in structure principle, does not need excessive operations of staff, and realizes unmanned production by adopting an automatic operation control system and intelligent informatization equipment.
Referring to fig. 3, in some embodiments, the positioning and conveying mechanism 1 is a roller conveyor, and includes a driving roller 101 and a driven roller 102, where the driving roller 101 and the driven roller 102 are disposed at intervals, the driving roller 101 has a driving device, and the driven roller 102 does not have a driving device, and the driving device only drives the driving roller 101 to rotate. Because the material is large, can span a plurality of rollers, just so can certainly drive the material by at least one initiative roller 101, passive roller 102 plays the effect of supporting, because the material weight is less, reduces the quantity of driven roller and can the brief energy.
Referring to fig. 2 and 3, in some embodiments, the positioning conveyor 1 includes guides 103 thereon for intermittently transporting the articles 7 to the staging station 5. The positioning and conveying mechanism 1 comprises a first conveying line 104 and a second conveying line 105, wherein the guide member 103 is arranged on the first conveying line 104, and the direction of a rotating wheel on the guide member 103 is consistent with the conveying direction of the second conveying line 105 at the position where the guide member 103 is jointed with the second conveying line 105. The articles 7 are conveyed on the first conveyor line 104, and when passing the guide 103, are redirected so as to continue to move in the conveying direction of the second conveyor line 105. The guide member 103 plays a role in diverting, and can convey the articles 7 on the positioning conveying mechanism 1 to the temporary storage stations 5 through the second conveying lines 105 respectively, so that the temporary storage stations 5 are not jammed.
In some embodiments, the stacking robot 2 includes a three-dimensional camera thereon for taking a three-dimensional photograph of the article 7 and the empty tray 6, and gripping the article 7 onto the corresponding positioning stacking mechanism 3 according to the three-dimensional data identifying the article 7 and the empty tray 6. According to the obtained three-dimensional data of the empty load tray 6, the stacking clamp 205 grabs the empty load tray 6 onto the positioning stacking mechanism 3, and performs three-dimensional photographing on the articles 7 on the temporary storage station 5 again to obtain the three-dimensional data of the articles 7, so that the articles 7 are grabbed onto the empty load tray 6 for stacking.
Referring to fig. 7, in some embodiments, the stacking clamp 205 includes four mechanical fingers that can be moved toward and away from each other to grasp or release the article 7. The number of the mechanical fingers is plural, in order to ensure the grabbing effect and stability when grabbing the target object, the number of the mechanical fingers is preferably four, and the four mechanical fingers are powered by the fifth motor 210, so as to achieve the actions of approaching each other to grab the target object and separating each other to release the target object. The contact end surfaces of the mechanical fingers and the target object are provided with the anti-slip layer, and the anti-slip layer can effectively prevent the target object from falling off and being broken in the process of grabbing the target object, so that the safety of the target object is ensured.
Referring to fig. 8, in some embodiments, the tray conveying mechanism 9 is further included, where the tray conveying mechanism 9 is near a side of the positioning and stacking mechanism 3, and is capable of conveying the tray 6 to the positioning and stacking mechanism 3.
Referring to fig. 2, in some embodiments, the staging station 5 is provided with a stop 501 that can stop the articles 7 at the end of the positioning conveyor 1 and remain non-falling. The stopping piece 501 surrounds the side surface and the end part of the temporary storage station 5, and after the article 7 is conveyed to the temporary storage station 5 through the positioning conveying mechanism 1, the article 7 which is not timely grabbed by the stacking robot 2 can be kept at the tail end of the temporary storage station 5 by the stopping piece 501 and is kept not to fall.
Referring to fig. 1, in some embodiments, the stacker conveyor further includes a safety barrier 8, where the safety barrier 8 is disposed at the periphery of the stacker conveyor line.
The above embodiments are only for illustrating the technical concept and features of the present utility model, and are intended to enable those skilled in the art to understand the content of the present utility model and to implement the same, but are not intended to limit the scope of the present utility model, and all equivalent changes or modifications made according to the spirit of the present utility model should be included in the scope of the present utility model.
Claims (8)
1. The utility model provides a robot stack transfer chain which characterized in that, including location conveying mechanism, stacking robot, location stacking mechanism and ejection of compact conveying mechanism, wherein:
the device comprises at least two groups of positioning and conveying mechanisms, wherein the discharge end of each group of positioning and conveying mechanisms is provided with a temporary storage station, and each group of positioning and conveying mechanisms is used for intermittently conveying articles to the temporary storage stations;
the stacking robot comprises a controller, wherein the controller is respectively and electrically connected with a power supply, a sensor and a driving device;
the stacking robot comprises a rotatable base, the base is sequentially connected with a first arm, a second arm, a third arm and a stacking clamp, and the driving device comprises a first motor, a second motor, a third motor, a fourth motor and a fifth motor which are respectively and electrically connected with the controller;
the stacking clamp is used for clamping the articles and comprises a mounting substrate and clamping parts which are oppositely arranged, and the clamping parts are mutually close or open by a fifth motor so as to grasp or release the articles;
the stacking robot is used for driving the stacking clamp to move between a temporary storage station and the positioning stacking mechanism;
the positioning and stacking mechanism is provided with a carrying disc; and the discharging and conveying mechanism conveys the stacked articles out along with the carrying disc.
2. The robot palletizing conveyor line of claim 1, wherein the positioning conveyor mechanism is a roller conveyor, and comprises a driving roller and a driven roller, the driving roller and the driven roller are arranged at intervals, the driving roller is provided with a driving device, the driven roller is not provided with a driving device, and the driving device only drives the driving roller to rotate.
3. The robotic stacking conveyor line of claim 1, wherein said positioning conveyor mechanism includes a guide thereon for intermittently transporting said articles to said staging station.
4. The robotic palletizing conveyor line of claim 1, wherein the palletizing robot includes a three-dimensional camera thereon for taking a three-dimensional photograph of an article and gripping the article onto the corresponding positioning palletizing mechanism based on three-dimensional data of the identified article.
5. The robotic stacking conveyor line of claim 1, wherein said stacking clamp has four fingers that can be moved toward or away from each other.
6. The robotic palletizing conveyor line of claim 1, further comprising a pallet conveyor mechanism, the pallet conveyor mechanism being adjacent one side of the positioning palletizing mechanism and capable of conveying the pallet to the positioning palletizing mechanism.
7. The robotic stacking conveyor line of claim 1, wherein the staging station is provided with a stop member capable of stopping the articles at the end of the positioning conveyor mechanism and remaining non-falling.
8. The robotic stacking conveyor line of claim 1, further comprising a safety barrier disposed at a periphery of the stacking conveyor line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322407857.2U CN220684036U (en) | 2023-09-06 | 2023-09-06 | Robot stacking conveying line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322407857.2U CN220684036U (en) | 2023-09-06 | 2023-09-06 | Robot stacking conveying line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220684036U true CN220684036U (en) | 2024-03-29 |
Family
ID=90376405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322407857.2U Active CN220684036U (en) | 2023-09-06 | 2023-09-06 | Robot stacking conveying line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220684036U (en) |
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2023
- 2023-09-06 CN CN202322407857.2U patent/CN220684036U/en active Active
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