CN221115912U - Automatic pile up neatly equipment of robot - Google Patents
Automatic pile up neatly equipment of robot Download PDFInfo
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- CN221115912U CN221115912U CN202322902109.1U CN202322902109U CN221115912U CN 221115912 U CN221115912 U CN 221115912U CN 202322902109 U CN202322902109 U CN 202322902109U CN 221115912 U CN221115912 U CN 221115912U
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- 238000009434 installation Methods 0.000 description 1
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Abstract
The utility model discloses automatic robot stacking equipment which comprises an underframe and a supporting unit, wherein the underframe is provided with a plurality of support units; a chassis: the left end of the robot is provided with a heightening seat, and the upper surface of the heightening seat is provided with a robot; and a supporting unit: the robot automatic stacking device comprises X-shaped frames, support shafts, first sliding blocks, stacking platforms and connectors, wherein the number of the X-shaped frames is two, the lower ends of the X-shaped frames are all connected with the rotating shaft of the rear end of a bottom frame in a rotating mode, the front lower ends of the two X-shaped frames are connected with the support shafts in a rotating mode through bearings, the first sliding blocks are arranged at the two ends of the support shafts and are respectively connected with sliding grooves on the left side and the right side of the bottom frame in a sliding mode, the upper ends of the two X-shaped frames are all connected with the stacking platforms in a rotating mode, the robot automatic stacking device can provide good positioning for the pallet, meanwhile the stacking platforms can move downwards in a lifting mode, the distance of vertical movement of the robot during carrying of goods is reduced, and stacking efficiency of the robot is improved.
Description
Technical Field
The utility model relates to the technical field of stacking equipment, in particular to robot automatic stacking equipment.
Background
Along with the development of society and rapid development, the industrial automation's theory also gets deep into the people's heart, higher production efficiency is provided for modern production, and then palletizing machine has fairly extensive application in the pile up neatly trade, wherein robot automatic pile up neatly equipment operation is nimble accurate, high efficiency, stability is high has good result of use, robot automatic pile up neatly equipment generally comprises robot and pile up neatly platform, place the pallet on the pile up neatly platform when using, then the robot stacks up the material on the pallet, although pile up neatly platform can provide the location to the pallet and guaranteed pile up neatly quality, but the in-process of using, pile up neatly platform generally can not go up and down, and then the in-process robot of pile up neatly needs to drive the goods and carries out vertical removal, and along with the change of pile up neatly height, vertical moving distance also can be longer, and then influence the operating efficiency of robot, therefore pile up neatly efficiency has the space that promotes.
Disclosure of utility model
The utility model aims to overcome the existing defects, provides the automatic stacking equipment for the robot, the stacking platform can well position the pallet, meanwhile, the stacking platform can be lifted and moved downwards, the height of the robot during stacking is certain, the vertical moving distance of the robot during carrying goods is reduced, the stacking efficiency of the robot is improved, and the problems in the background technology can be effectively solved.
In order to achieve the above purpose, the present utility model provides the following technical solutions: a robot automatic stacking device comprises a chassis and a supporting unit;
a chassis: the left end of the robot is provided with a heightening seat, and the upper surface of the heightening seat is provided with a robot;
And a supporting unit: the two X-shaped frames are in rotary connection with a rotary shaft at the rear end of the underframe, the front lower ends of the two X-shaped frames are in rotary connection with the support shaft through bearings, the two ends of the support shaft are respectively provided with the first sliding block, the first sliding block is respectively in sliding connection with the first sliding grooves at the left side and the right side of the underframe, the rear upper ends of the two X-shaped frames are respectively in rotary connection with the stacking platform, the front upper ends of the two X-shaped frames are respectively in rotary connection with the connectors through bearings, and the connectors are respectively in sliding connection with the second sliding grooves at the left side and the right side of the stacking platform;
Wherein: still include the PLC controller, the PLC controller sets up in the inside that increases the seat, the output of PLC controller is connected to the input electricity of robot, the external power source is connected to the input electricity of PLC controller, the in-process that uses can utilize the locating plate to fix a position the position of pallet, and then guaranteed the accuracy of stacking the position, can satisfy the location of not unidimensional pallet simultaneously, the pile up neatly quality has been promoted, and the in-process of pile up neatly, the pile up neatly platform can drive the pallet and move down, and then the height when robot pile up neatly was placed is certain, vertical moving distance when having reduced the robot transport goods has promoted the pile up neatly efficiency of robot.
Further, the supporting unit further comprises a nut block and a screw rod, the nut block is arranged in the middle of the supporting shaft, the screw rod is rotationally connected to the middle of the underframe through a bearing, and the nut block is in threaded connection with the screw rod, so that deformation of the X-shaped frame can be conveniently controlled.
Further, the supporting unit further comprises a servo motor, the servo motor is arranged at the rear end of the underframe, an output shaft of the servo motor is fixedly connected with the rear end of the screw rod, and the input end of the servo motor is electrically connected with the output end of the PLC controller, so that the screw rod can be conveniently driven to rotate.
Further, the right side of pile up neatly platform upper surface and the third inside sliding groove of middle part are all sliding connection have slider two, and the upper surface of slider two all is equipped with the locating plate, makes things convenient for the location of pallet.
Furthermore, the inside of the threaded through hole of the upper surface of the second slider is connected with a locking bolt in a threaded manner, so that the second slider is conveniently locked.
Furthermore, the right side and the middle part of pile up neatly platform upper surface all are equipped with the scale, and the scale sets up with the locating plate cooperation, conveniently confirms the position of locating plate.
Furthermore, the four corners of the upper surface of the underframe are provided with fixing holes, so that the underframe is convenient to fix.
Compared with the prior art, the utility model has the beneficial effects that: this automatic pile up neatly equipment of robot has following benefit:
1. When the pallet stacking device is used, the pallet is placed on the upper surface of the stacking platform, the front side surface and the right side surface of the pallet are respectively close to the corresponding positioning plates, the pallet can be positioned, the position of the positioning plates can be adjusted according to the size of the pallet, the locking bolt is separated from the bottom wall of the sliding groove III, the movement of the sliding block II is not limited, the sliding block II can be slid to drive the positioning plates to move, the moving distance of the pallet can be determined by observing the graduated scale, after the pallet stacking device is moved to a proper position, the locking bolt is locked, the lower end of the locking bolt abuts against the bottom wall of the sliding groove III, the trapezoidal sliding block II can be driven to tightly contact with the side wall of the sliding groove III, the movement of the sliding block II is limited, the pallet can be positioned by the positioning plates in the using process, the accuracy of stacking positions is guaranteed, the positioning of pallets with different sizes can be met, and stacking quality is improved.
2. When the robot is in operation, the material is clamped and conveyed to the upper surface of the pallet to be stacked, after one layer of stacking is finished, the PLC controls the servo motor to operate, the servo motor drives the screw rod to rotate, the screw rod drives the supporting shaft to move forwards through the nut block, the X-shaped frame is made of two connecting rods and a pin shaft, the middle parts of the two connecting rods are rotationally connected with the pin shaft, the supporting shaft further drives the sliding block to slide along the sliding groove at the front end of the underframe, the X-shaped frame is driven to deform, meanwhile, the joint of the X-shaped frame, the supporting shaft, the underframe, the stacking platform and the connector relatively rotates, the connector and the stacking platform relatively slide, the height of the stacking platform is reduced, the servo motor drives the stacking platform to reduce the height of one side of the goods, then the robot can continue stacking, the stacking platform can drive the pallet to move downwards, the height of the robot is fixed when the robot is placed, the height of the robot is not required to be increased along with stacking, the distance of the vertical movement of the robot when the robot is reduced, and the stacking efficiency of the robot is improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is an enlarged schematic view of the structure of the present utility model at A;
FIG. 3 is an enlarged schematic view of the structure of the present utility model at B;
Fig. 4 is a schematic structural view of the connector of the present utility model.
In the figure: 1 chassis, 2 heightening seats, 3 robots, 4PLC controllers, 5 supporting units, 51X-shaped frames, 52 supporting shafts, 53 sliding blocks I, 54 stacking platforms, 55 connectors, 56 nut blocks, 57 screws, 58 servo motors, 6 sliding blocks II, 7 positioning plates, 8 locking bolts, 9 graduated scales and 10 fixing holes.
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, the present embodiment provides a technical solution: the robot automatic stacking device comprises a chassis 1 and a supporting unit 5;
Chassis 1: the left end of the lifting seat is provided with a lifting robot 2, the upper surface of the lifting seat 2 is provided with a robot 3, the lifting seat 2 improves the installation height of the robot 3, four corners of the upper surface of the underframe 1 are provided with fixing holes 10, the underframe 1 is installed on the side surface of a conveying line before use, the robot 3 corresponds to the position of the conveying line, then an expansion bolt penetrates through the fixing holes 10 to fix the underframe 1, and the robot 3 clamps and conveys materials to the upper surface of a pallet for stacking during operation;
Support unit 5: the X-shaped frame comprises an X-shaped frame 51, a supporting shaft 52, a first sliding block 53, a stacking platform 54 and connectors 55, wherein the number of the X-shaped frame 51 is two, the rear lower ends of the X-shaped frame 51 are respectively and rotatably connected with a rotating shaft at the rear end of a chassis 1, the front lower ends of the two X-shaped frames 51 are rotatably connected with the supporting shaft 52 through bearings, the first sliding block 53 is respectively arranged at the two ends of the supporting shaft 52 and is respectively and slidably connected with a sliding groove at the left side and the right side of the chassis 1, the rear upper ends of the two X-shaped frames 51 are respectively and rotatably connected with the connectors 55 through bearings, the connectors 55 are respectively and slidably connected with sliding grooves at the left side and the right side of the stacking platform 54, the X-shaped frame 51 is made of two connecting rods and a pin shaft, the middle parts of the two connecting rods are rotatably connected with the pin shaft, the supporting shaft 52 drives the first sliding block 53 to slide along the first sliding groove at the front end of the chassis 1 and simultaneously drives the X-shaped frame 51 to deform, meanwhile, the joint of the X-shaped frame 51, the supporting shaft 52, the underframe 1, the stacking platform 54 and the connector 55 relatively rotates, the connector 55 and the stacking platform 54 relatively slide, the height of the stacking platform 54 is reduced, the supporting unit 5 further comprises a nut block 56 and a screw rod 57, the nut block 56 is arranged in the middle of the supporting shaft 52, the screw rod 57 is rotationally connected in the middle of the underframe 1 through a bearing, the nut block 56 is in threaded connection with the screw rod 57, the supporting unit 5 further comprises a servo motor 58, the servo motor 58 is arranged at the rear end of the underframe 1, an output shaft of the servo motor 58 is fixedly connected with the rear end of the screw rod 57, an input end of the servo motor 58 is electrically connected with the output end of the PLC controller 4, the servo motor 58 runs, the servo motor 58 drives the screw rod 57 to rotate, the screw rod 57 drives the supporting shaft 52 to move forwards through the nut block 56, the servo motor 58 drives the stacking platform 54 to lower the height of one side of the goods, then the operation is stopped, and then the robot 3 can continue stacking;
The right side of the upper surface of the stacking platform 54 and the inside of the sliding groove III in the middle are both in sliding connection with the second sliding block 6, the upper surface of the second sliding block 6 is provided with the positioning plate 7, the inside of the threaded through hole in the upper surface of the second sliding block 6 is both in threaded connection with the locking bolt 8, the right side and the middle of the upper surface of the stacking platform 54 are both provided with the graduated scale 9, the graduated scale 9 is matched with the positioning plate 7, when in use, the pallet is placed on the upper surface of the stacking platform 54, the front side surface and the right side surface of the pallet are respectively close to the corresponding positioning plate 7, the pallet can be positioned, the position of the positioning plate 7 can be adjusted according to the size of the pallet, the locking bolt 8 is separated from the bottom wall of the third sliding groove, the movement of the second sliding block 6 is not limited, then the second sliding block 6 can be slid to drive the positioning plate 7 to move, the graduated scale 9 can be observed to determine the movement distance of the pallet, after the graduated scale 9 is moved to a proper position, the lower end of the locking bolt 8 is locked, and the bottom end of the locking bolt 8 is abutted against the bottom wall of the sliding block 6 of the sliding groove III can drive the second sliding block 6 to be tightly contacted with the side wall of the third sliding block 6;
Wherein: still include PLC controller 4, PLC controller 4 sets up in the inside that increases seat 2, and the output of PLC controller 4 is connected to the input electricity of robot 3, and external power source is connected to the input electricity of PLC controller 4, and the control of electrical apparatus is made things convenient for to PLC controller 4.
The working principle of the robot automatic stacking equipment provided by the utility model is as follows: before use, the underframe 1 is arranged on the side surface of the conveying line, the robot 3 corresponds to the position of the conveying line, then the underframe 1 is fixed by using the expansion bolts through the fixing holes 10, when in use, the pallet is placed on the upper surface of the stacking platform 54, the front side surface and the right side surface of the pallet are respectively close to the corresponding positioning plates 7, the pallet can be positioned, the position of the positioning plates 7 can be adjusted according to the size of the pallet, the locking bolts 8 are separated from the bottom wall of the sliding groove III during adjustment, the movement of the sliding block II 6 is not limited, the sliding block II 6 can be slid to drive the positioning plates 7 to move, the graduated scale 9 can be observed to determine the self movement distance, after moving to a proper position, the locking bolts 8 are locked, the lower ends of the locking bolts 8 are propped against the bottom wall of the sliding groove III to drive the trapezoidal sliding block II 6 to be in tight contact with the side wall of the sliding groove III to limit the movement of the sliding block II 6, when the robot 3 works, materials are clamped and conveyed to the upper surface of a pallet to be stacked, after one layer of stacking is finished, the PLC 4 controls the servo motor 58 to operate, the servo motor 58 drives the screw rod 57 to rotate, the screw rod 57 drives the supporting shaft 52 to move forwards through the nut block 56, the X-shaped frame 51 is made of two connecting rods and a pin shaft, the middle parts of the two connecting rods are rotationally connected with the pin shaft, the supporting shaft 52 further drives the first sliding block 53 to slide along the first sliding groove at the front end of the underframe 1 and simultaneously drives the X-shaped frame 51 to deform, meanwhile, the joints of the X-shaped frame 51, the supporting shaft 52, the underframe 1, the stacking platform 54 and the connecting heads 55 relatively rotate, the connecting heads 55 and the stacking platform 54 relatively slide, the height of the stacking platform 54 is reduced, the servo motor 58 drives the stacking platform 54 to reduce the height of one side of goods, and then the operation is stopped, then robot 3 can continue the pile up neatly, and then the height when robot 3 pile up neatly was placed is certain, need not promote the height of placing along with the pile up neatly, and then helps promoting the pile up neatly efficiency, after the pile up neatly finishes, removes pallet and goods back, servo motor 58 drives pile up neatly platform 54 and moves the reset.
It should be noted that, the robot 3, the PC controller 4 and the servo motor 58 disclosed in the above embodiment can be freely configured according to the practical application scenario, the PC controller 4 may be se:Sup>A PC controller with model FX3G-24 MT/ES-se:Sup>A, the servo motor 58 may be se:Sup>A servo motor with model 1FK7060-5AF71-1 SG0, and the PC controller 4 controls the robot 3 and the servo motor 58 to work by se:Sup>A method commonly used in the prior art.
The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.
Claims (7)
1. Automatic pile up neatly equipment of robot, its characterized in that: comprises a chassis (1) and a supporting unit (5);
chassis (1): the left end of the robot is provided with a heightening seat (2), and the upper surface of the heightening seat (2) is provided with a robot (3);
A supporting unit (5): the automatic stacking device comprises X-shaped frames (51), supporting shafts (52), first sliding blocks (53), stacking platforms (54) and connectors (55), wherein the number of the X-shaped frames (51) is two, the rear lower ends of the X-shaped frames (51) are rotationally connected with rotating shafts at the rear ends of the underframe (1), the front lower ends of the two X-shaped frames (51) are rotationally connected with the supporting shafts (52) through bearings, the first sliding blocks (53) are arranged at the two ends of the supporting shafts (52), the first sliding blocks (53) are respectively in sliding connection with sliding grooves on the left side and the right side of the underframe (1), the rear upper ends of the two X-shaped frames (51) are rotationally connected with the stacking platforms (54), the front upper ends of the two X-shaped frames (51) are rotationally connected with the connectors (55) through bearings, and the connectors (55) are respectively in sliding connection with sliding grooves on the left side and the right side of the stacking platforms (54);
Wherein: still include PLC controller (4), PLC controller (4) set up in the inside that increases seat (2), and the output of PLC controller (4) is connected to the input electricity of robot (3), and the external power source is connected to the input electricity of PLC controller (4).
2. A robotic automatic palletizing apparatus as in claim 1, wherein: the supporting unit (5) further comprises a nut block (56) and a screw rod (57), the nut block (56) is arranged in the middle of the supporting shaft (52), the screw rod (57) is rotatably connected to the middle of the underframe (1) through a bearing, and the nut block (56) is in threaded connection with the screw rod (57).
3. A robotic automatic palletizing apparatus as in claim 2, wherein: the supporting unit (5) further comprises a servo motor (58), the servo motor (58) is arranged at the rear end of the underframe (1), an output shaft of the servo motor (58) is fixedly connected with the rear end of the screw rod (57), and the input end of the servo motor (58) is electrically connected with the output end of the PLC (4).
4. A robotic automatic palletizing apparatus as in claim 1, wherein: the right side of pile up neatly platform (54) upper surface and the three inside sliding grooves of middle part are all sliding connection have slider two (6), and the upper surface of slider two (6) all is equipped with locating plate (7).
5. A robotic automatic palletizing apparatus as in claim 4, wherein: and locking bolts (8) are connected with the inside of the threaded through holes on the upper surface of the second sliding block (6) in a threaded manner.
6. A robotic automatic palletizing apparatus as in claim 4, wherein: the right side and the middle part of the upper surface of the stacking platform (54) are respectively provided with a graduated scale (9), and the graduated scales (9) are matched with the positioning plate (7).
7. A robotic automatic palletizing apparatus as in claim 1, wherein: fixing holes (10) are formed in four corners of the upper surface of the underframe (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322902109.1U CN221115912U (en) | 2023-10-28 | 2023-10-28 | Automatic pile up neatly equipment of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322902109.1U CN221115912U (en) | 2023-10-28 | 2023-10-28 | Automatic pile up neatly equipment of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221115912U true CN221115912U (en) | 2024-06-11 |
Family
ID=91341161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322902109.1U Active CN221115912U (en) | 2023-10-28 | 2023-10-28 | Automatic pile up neatly equipment of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221115912U (en) |
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2023
- 2023-10-28 CN CN202322902109.1U patent/CN221115912U/en active Active
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