An industrial robot palletizing and handling robot and its usage method

Abstract

The present invention relates to the field of industrial robots, and specifically to an industrial robot palletizing and handling robot and its usage method, which includes a stacking bin main body. An internally upper end of the stacking bin main body is movably installed with a transverse movement seat. An internally upper end of the stacking bin main body is installed with a threaded rod. A lower end of the transverse movement seat is movably installed with a gripper. An internally lower end of the stacking bin main body is movably installed with a first stacking rack. An internally upper side corresponding to the first stacking rack in the stacking bin main body is movably installed with a second stacking rack. A partition rotating plate is movably installed on a side of the first stacking rack facing the middle of the stacking bin main body. When a forging moves downward, it can contact one side of the partition rotating plate, so that the partition rotating plate can overcome the force of the lower spring and rotate around the rotating shaft, enabling the subsequent downward moving forging to be placed on the upper end of the rotated partition rotating plate, thus achieving the effect of separating and stacking the forgings. While avoiding the mutual adhesion between the forgings, by setting a fan, the cooling effect of the forgings can be improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and particularly to an industrial robot palletizing and handling robot and a method for using the same. Background Art

[0002] A handling robot is a machine device that replaces manual handling labor. It can assist in the handling and palletizing of objects in industrial production. Through the detection of intelligent components and the issuance of instructions, it can efficiently complete the handling and palletizing of objects, reducing the expenditure of labor costs.

[0003] Existing industrial handling robots, such as the Chinese invention with the publication number CN106743717B, relate to an industrial automatic palletizing robot. It can solve problems such as high labor intensity, long operation time, slow palletizing speed, low palletizing efficiency, high risk of scalding, and low work efficiency existing in the manual palletizing method for existing high-temperature forgings. It can realize the automatic palletizing function of high-temperature forgings without manual operation, and has advantages such as short operation time, fast palletizing speed, high palletizing efficiency, no scalding safety hazard, and high work efficiency.

[0004] Existing industrial handling and stacking devices cannot separate forgings for placement. When relatively high-temperature forgings are stacked together, they are likely to adhere to each other after cooling, and subsequent separation is required. Moreover, after stacking, it is impossible to directly move the stacked forgings away by a handling device such as a forklift, thus affecting the subsequent stacking of forgings. Summary of the Invention

[0005] An industrial robot palletizing and handling robot and a method for using the same. The device can separate forgings during stacking, thereby improving the cooling efficiency and avoiding adhesion, and can facilitate the forklift to directly move away the stacked forgings after stacking, facilitating the subsequent stacking of forgings.

[0006] An industrial robot palletizing and handling robot, including a stacking bin main body. Inside the upper end of the stacking bin main body, a transverse moving seat is movably installed. Inside the upper end of the stacking bin main body, a threaded rod is installed. At the lower end of the transverse moving seat, a clamping jaw is movably installed. Inside the lower end of the stacking bin main body, a first stacking rack is movably installed. Above the first stacking rack inside the stacking bin main body, a second stacking rack is movably installed. On both sides of the first stacking rack and the second stacking rack inside the stacking bin main body, limiting plates are fixedly installed. On one side of the first stacking rack facing the middle of the stacking bin main body, a partition rotating plate is movably installed. On the left side of the stacking bin main body, a fan is fixedly installed. At the bottom end of the middle of the stacking bin, a handling groove is opened. At the lower end of the first stacking rack, a moving block is fixedly connected. At the bottom end of the stacking bin main body, a sliding groove is opened below the first stacking rack. Inside the bottom end of the stacking bin main body, a turntable is movably installed. On the outside of the turntable, an inclined plate is fixedly connected. Inside the moving block, a driving rod is movably sleeved. On the outer arc surface of the inclined plate, teeth are equidistantly arranged.

[0007] Preferably, a steel cable wheel is installed inside the transverse moving seat, and one end of the steel cable inside the steel cable wheel is connected to the upper end of the clamping jaw.

[0008] Preferably, four groups of the first stacking rack and the second stacking rack are provided inside the stacking bin main body and are circumferentially equidistantly distributed. The partition rotating plate is arranged as a right-angled bending plate, and the second stacking rack is provided with a partition rotating plate with the same structure as that on the first stacking rack.

[0009] Preferably, the lower end of the moving block enters the inside of the sliding groove, and the side of the moving block facing the turntable is convexly arranged in an arc shape.

[0010] Preferably, the upper end of the driving rod extends upward through the inside of the first stacking rack and enters the inside of the second stacking rack. On one side of the outside of the second stacking rack corresponding to the groove, a rack is fixedly connected.

[0011] A method for using an industrial robot palletizing and handling robot, the steps of which are as follows:

[0012] In the first step, use the transverse moving seat to drive the clamping jaw to move horizontally, and then use the internal steel cable to move the clamping jaw upward to grab the forging.

[0013] In the second step, move the forging above the middle end of the stacking bin main body, and then slowly move the forging downward to contact the partition rotating plates on the first stacking rack and the second stacking rack and drive them to rotate downward.

[0014] In the third step, place the subsequent forgings above the rotated partition rotating plates to achieve the effect of separating the forgings from each other.

[0015] In the fourth step, use the turntable to drive the inclined plate to apply a force to the moving block, so that the moving block and the first stacking rack move along the sliding groove to the side away from the forging.

[0016] In the fifth step, since the driving rod in the moving block can be driven to rotate after contacting the outer end of the inclined plate, it can drive the second stacking rack to move away from the forging on one side.

[0017] In the sixth step, a forklift is used to enter the handling groove to handle the stacked forgings.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Inside the upper end of the stacking bin main body, a transverse moving seat is movably installed. Inside the upper end of the stacking bin main body, a threaded rod is installed through the upper end inside the transverse moving seat. The threaded rod is in threaded engagement with the inner side of the transverse moving seat. A clamping jaw is movably installed at the lower end of the transverse moving seat. Inside the transverse moving seat, a steel cable pulley is installed. Inside the steel cable pulley, a steel cable is installed. One end of the steel cable is connected to the upper end of the clamping jaw. A driving motor for driving the threaded rod to rotate is installed at the upper end of the stacking bin main body. Then, after the motor drives the threaded rod to rotate, the transverse moving seat can move horizontally outside the threaded rod, and the clamping jaw can move up and down through the steel cable under the control of the steel cable pulley, so as to achieve the effect of clamping the forging upward.

[0020] 2. Inside the lower end of the stacking bin main body, a first stacking rack is movably installed. Inside the stacking bin main body, a second stacking rack is movably installed corresponding to the upper side of the first stacking rack. Inside the stacking bin main body, limiting plates are fixedly installed on both sides corresponding to the first stacking rack and the second stacking rack. Then, four groups of the first stacking rack and the second stacking rack can be arranged inside the stacking bin main body and are evenly distributed in a circumferential manner. On one side of the first stacking rack facing the middle of the stacking bin main body, a partition rotating plate is movably installed. When the forging moves downward and contacts one side of the partition rotating plate, the partition rotating plate can be driven to rotate around the rotating shaft against the force of the lower spring, so that the subsequent downward-moving forging can be placed on the upper end of the rotated partition rotating plate, thus achieving the effect of separating and stacking the forgings. While avoiding the mutual adhesion between the forgings, the cooling effect of the forgings can be improved by arranging a fan.

[0021] 3. A horizontal moving groove is formed on one side of the limiting plate close to the first stacking rack. A sliding block is arranged outside the first stacking rack. One end of the sliding block enters the inside of the moving groove. The lower end of the first stacking rack is fixedly connected with a moving block. A sliding groove is formed at the bottom end of the stacking bin main body corresponding to the lower side of the first stacking rack. The lower end of the moving block enters the inside of the sliding groove. The sliding groove extends toward the side away from the partition rotating plate. A turntable is movably installed inside the bottom end of the stacking bin main body. An inclined plate is fixedly connected to the outside of the turntable. Then, when the motor drives the turntable to rotate, the inclined plate can be used to contact the arc-shaped convex side of the moving block, so as to drive the four moving blocks and the first stacking rack to move along the sliding groove away from the forging on one side, so that the unsupported forging can fall downward and contact the lower forging, completing the stacking of the forgings. Description of the Drawings

[0022] Figure 1 This is the front view of the stack bin main body of the present invention;

[0023] Figure 2 This is the top perspective view of the stack bin main body of the present invention;

[0024] Figure 3 This is the present invention Figure 2 The enlarged view at position A in;

[0025] Figure 4 This is the front perspective view of the stack bin main body of the present invention;

[0026] Figure 5 This is the present invention Figure 4 The enlarged view at position B in;

[0027] Figure 6 This is the top view of the turntable of the present invention;

[0028] Figure 7 This is the present invention Figure 6 The enlarged view at position C in.

[0029] Figures 1-7 Wherein: 1 - stack bin main body, 2 - first stacking rack, 3 - second stacking rack, 4 - partition rotating plate, 5 - clamping jaw, 6 - limiting plate, 7 - rack, 8 - sliding groove, 9 - driving rod, 10 - moving block, 11 - turntable, 12 - inclined plate, 13 - transverse moving seat, 14 - threaded rod, 15 - handling groove. Detailed implementation manners

[0030] Please refer to Figures 1 to 7 , the planar structure schematic diagram and the three-dimensional structure schematic diagram of an industrial robot palletizing and handling robot and its usage method.

[0031] In specific implementation, a transverse moving seat 13 is movably installed at the upper end inside the stack bin main body 1, a threaded rod 14 penetrating through the upper end inside the transverse moving seat 13 is installed at the upper end inside the stack bin main body 1, the threaded rod 14 is in threaded engagement with the inner side of the transverse moving seat 13, a clamping jaw 5 is movably installed at the lower end of the transverse moving seat 13, a steel cable pulley is installed inside the transverse moving seat 13, a steel cable is installed inside the steel cable pulley, one end of the steel cable is connected to the upper end of the clamping jaw 5, and a driving motor for driving the threaded rod 14 to rotate is installed at the upper end of the stack bin main body 1;

[0032] In a specific implementation, a first stacking rack 2 is movably installed at the lower end inside the stacking warehouse main body 1, a second stacking rack 3 is movably installed above the first stacking rack 2 inside the stacking warehouse main body 1, limiting plates 6 are fixedly installed on both sides of the first stacking rack 2 and the second stacking rack 3 inside the stacking warehouse main body 1. A horizontal moving groove is formed on the side of the limiting plate 6 close to the first stacking rack 2. A sliding block is arranged on the outer side of the first stacking rack 2. One end of the sliding block enters the inside of the moving groove. A spring is arranged inside the moving groove. The same moving groove is arranged on the outer side of the limiting plate 6 corresponding to the second stacking rack 3, and the same sliding block is also installed on the second stacking rack 3;

[0033] In a specific implementation, there are four groups of the first stacking rack 2 and the second stacking rack 3 inside the stacking warehouse main body 1 and they are circumferentially equidistantly distributed. A partition rotating plate 4 is movably installed on the side of the first stacking rack 2 facing the middle of the stacking warehouse main body 1. Mounting frames are arranged on both sides of the first stacking rack 2 corresponding to the partition rotating plate 4. The partition rotating plate 4 is a right-angled bent plate. Rotating shafts penetrating into its inside are arranged on both sides of the partition rotating plate 4 close to the mounting frame. A spring is fixedly connected to the lower end of the partition rotating plate 4, and the lower end of the spring is connected to the outer side of the first stacking rack 2. There are two partition rotating plates 4 vertically distributed on the first stacking rack 2, and the partition rotating plates 4 with the same structure as those on the first stacking rack 2 are arranged on the second stacking rack 3;

[0034] A fan is fixedly installed on the left side of the stacking warehouse main body 1, and a handling groove 15 is opened at the bottom end of the middle of the stacking warehouse;

[0035] A moving block 10 is fixedly connected to the lower end of the first stacking rack 2. A sliding groove 8 is opened at the bottom end of the stacking warehouse main body 1 below the first stacking rack 2. The lower end of the moving block 10 enters the inside of the sliding groove 8, and the sliding groove 8 extends towards the side away from the partition rotating plate 4;

[0036] In a specific implementation, a turntable 11 is movably installed inside the bottom end of the stacking warehouse main body 1. An inclined plate 12 is fixedly connected to the outer side of the turntable 11. A driving motor is fixedly connected to the lower side of the middle end of the turntable 11. A cavity for the inclined plate 12 to rotate is opened inside the stacking warehouse main body 1, and the cavity for placing the inclined plate 12 is communicated with the sliding groove 8;

[0037] In a specific implementation, the moving block 10 is arranged in a rectangular rod shape, the side of the moving block 10 facing the turntable 11 is convex in an arc shape, a driving rod 9 is movably sleeved inside the moving block 10, gear teeth are arranged in a circumferential distribution on the outer side of the driving rod 9, and the upper end of the driving rod 9 extends upwards through the inside of the first stacking rack 2 and enters the inside of the second stacking rack 3;

[0038] In a specific implementation, a groove for the driving rod 9 to move is formed inside the second stacking rack 3. One side of the second stacking rack 3 corresponding to the groove is fixedly connected with a rack 7. One side of the driving rod 9 passes through the inside of the moving block 10. A total of four inclined plates 12 are arranged outside the turntable 11 and are equidistantly distributed along the circumference. The outer end of the inclined plate 12 is arranged in an arc shape, and gear teeth are equidistantly arranged on the arc surface of the outer end of the inclined plate 12.

[0039] A method for using an industrial robot palletizing and handling robot, the steps of which are as follows:

[0040] In the first step, the cross-moving seat 13 is used to drive the gripper 5 to move horizontally, and then the internal steel cable is used to move the gripper 5 upward to grab the forging.

[0041] In the second step, the forging is moved above the middle end of the stacking bin main body 1, and then the forging is slowly moved downward to contact the partition rotating plate 4 on the first stacking rack 2 and the second stacking rack 3 and drive it to rotate downward.

[0042] In the third step, the subsequent forgings are placed above the rotated partition rotating plate 4 to achieve the effect of separating the forgings from each other.

[0043] In the fourth step, the turntable 11 is used to drive the inclined plate 12 to apply a force to the moving block 10, so that the moving block 10 and the first stacking rack 2 move along the sliding groove 8 to the side away from the forging.

[0044] In the fifth step, the driving rod 9 in the moving block 10 can be driven to rotate after contacting the outer end of the inclined plate 12, and then the second stacking rack 3 can be driven to move to the side away from the forging.

[0045] In the sixth step, a forklift is used to enter the handling groove 15 to handle the stacked forgings.

[0046] The working principle of the industrial robot palletizing and handling robot and its using method of the present invention is as follows.

[0047] First, a transverse movement seat 13 is movably installed at the upper end inside the stacking bin main body 1. A threaded rod 14 is installed at the upper end inside the stacking bin main body 1 and penetrates through the upper end inside the transverse movement seat 13. The threaded rod 14 is in threaded engagement with the inner side of the transverse movement seat 13. A clamping jaw 5 is movably installed at the lower end of the transverse movement seat 13. A steel cable pulley is installed inside the transverse movement seat 13, and a steel cable is installed inside the steel cable pulley. One end of the steel cable is connected to the upper end of the clamping jaw 5. A driving motor for driving the threaded rod 14 to rotate is installed at the upper end of the stacking bin main body 1. After the threaded rod 14 is driven to rotate by the motor, the transverse movement seat 13 can move horizontally outside the threaded rod 14, and the clamping jaw 5 can move up and down through the steel cable under the control of the steel cable pulley, so as to achieve the effect of clamping the forging upward. Then, a first stacking rack 2 is movably installed at the lower end inside the stacking bin main body 1, a second stacking rack 3 is movably installed above the first stacking rack 2 inside the stacking bin main body 1, and limiting plates 6 are fixedly installed on both sides of the first stacking rack 2 and the second stacking rack 3 inside the stacking bin main body 1. Four groups of the first stacking rack 2 and the second stacking rack 3 are provided inside the stacking bin main body 1 and are evenly distributed in a circumferential manner. A partition rotating plate 4 is movably installed on one side of the first stacking rack 2 facing the middle of the stacking bin main body 1. Mounting frames are arranged on both sides of the first stacking rack 2 corresponding to the partition rotating plate 4. The partition rotating plate 4 is set as a right-angled bending plate. Rotating shafts penetrating into its inside are arranged on both sides of the partition rotating plate 4 close to the mounting frames. When the forging is lifted by the clamping jaw 5 above the first stacking rack 2 and the second stacking rack 3, when the forging moves downward and contacts one side of the partition rotating plate 4, the partition rotating plate 4 can overcome the force of the lower spring and rotate around the rotating shaft, so that the subsequent downward-moving forging can be placed on the upper end of the rotated partition rotating plate 4, thus achieving the effect of separating and stacking the forgings. While avoiding the mutual adhesion between the forgings, the cooling effect of the forgings can be improved by arranging a fan. Then, a horizontal moving groove is opened on one side of the limiting plate 6 close to the first stacking rack 2. A sliding block is arranged on the outside of the first stacking rack 2, and one end of the sliding block enters the inside of the moving groove. A moving block 10 is fixedly connected to the lower end of the first stacking rack 2. A sliding groove 8 is opened at the bottom end of the stacking bin main body 1 corresponding to the lower part of the first stacking rack 2, and the lower end of the moving block 10 enters the inside of the sliding groove 8. The sliding groove 8 extends to the side away from the partition rotating plate 4. A turntable 11 is movably installed inside the bottom end of the stacking bin main body 1, and an inclined plate 12 is fixedly connected to the outside of the turntable 11. When the motor drives the turntable 11 to rotate, the inclined plate 12 can be used to contact the arc-shaped convex side of the moving block 10, so as to drive the four moving blocks 10 and the first stacking rack 2 to move along the sliding groove 8 to the side away from the forging, so that the unsupported forging can fall downward and contact the lower forging, completing the stacking of the forgings. And the forklift can enter the handling groove 15 to quickly carry away the forgings. Among them, a driving rod 9 is movably sleeved inside the moving block 10, gear teeth are distributed along the circumference on the outside of the driving rod 9, the upper end of the driving rod 9 extends upward through the inside of the first stacking rack 2 and enters the inside of the second stacking rack 3, and a groove for the driving rod 9 to move is opened inside the second stacking rack 3.On one side of the outer part of the second stacking rack 3 corresponding to the groove, a rack 7 is fixedly connected. One side of the driving rod 9 passes through the inside of the moving block 10. There are four inclined plates 12 arranged on the outside of the turntable 11 and evenly distributed along the circumference. The outer end of the inclined plate 12 is arranged in an arc shape. The outer end arc surface of the inclined plate 12 is evenly provided with teeth, so that when the moving block 10 moves to the farthest distance, it can contact the outer end arc surface of the inclined plate 12, and then the driving rod 9 inside it can engage with the teeth on the inclined plate 12. With the continuous rotation of the inclined plate 12, the driving rod 9 can be driven to rotate. Since the first stacking rack 2 and the second stacking rack 3 are not connected, after the first stacking rack 2 moves, the forgings on the second stacking rack 3 can remain stationary, thus avoiding excessive force on the lowermost forgings caused by all the forgings falling downward at one time. After the first stacking rack 2 completes moving outwards, the driving rod 9 can move out of the groove and engage with the rack 7. After the driving rod 9 rotates, the rack 7 can be used to drive the second stacking rack 3 to move towards the side away from the forgings, so as to achieve the effect of the forgings falling one by one to complete stacking.

Claims

1. An industrial robot palletizing and handling robot, characterized in that: At the upper end inside the stacking warehouse main body (1), a transverse moving seat (13) is provided. Above the first stacking rack (2) inside the stacking warehouse main body (1), a second stacking rack (3) is movably installed. At the lower end of the transverse moving seat (13), a clamping jaw (5) is provided. Inside the stacking warehouse main body (1), a first stacking rack (2) and a second stacking rack (3) are provided. On the first stacking rack (2) and the second stacking rack (3), rotatable partition rotating plates (4) are provided. The partition rotating plates (4) are arranged in a bent shape. A plurality of the first stacking racks (2) and the second stacking racks (3) are provided inside the stacking warehouse main body (1). At the bottom of the stacking warehouse main body (1), a sliding groove (8) is opened. At the lower end of the first stacking rack (2), a moving block (10) that enters the inside of the sliding groove (8) is provided. Inside the bottom of the stacking warehouse main body (1), a turntable (11) is provided. At the outer end of the turntable (11), an inclined plate (12) that can drive the moving block (10) to move is connected. The moving block (10) is arranged in a rectangle. The side of the moving block (10) facing the turntable (11) is convex in an arc shape. Inside the moving block (10), a driving rod (9) is provided. On the outer side of the driving rod (9), teeth are distributed along the circumference. The upper end of the driving rod (9) extends upward through the inside of the first stacking rack (2) and enters the inside of the second stacking rack (3). Inside the second stacking rack (3), a groove for the driving rod (9) to move is opened. On one side of the second stacking rack (3) corresponding to the groove, a rack (7) is provided. On the outer arc surface of the inclined plate (12), teeth that can engage with the outer side of the driving rod (9) are equidistantly arranged.

2. The palletizing and handling robot for industrial robots according to claim 1, wherein: Inside the upper end of the stacking warehouse main body (1), a threaded rod (14) is installed. Inside the transverse moving seat (13), a steel cable wheel is installed, and one end of the steel cable inside it is connected to the upper end of the clamping jaw (5).

3. The palletizing and handling robot for industrial robots according to claim 1, wherein: On both sides of the first stacking rack (2) and the second stacking rack (3) inside the stacking warehouse main body (1), limiting plates (6) are fixedly installed. On the limiting plates (6), moving grooves are opened, and sliders are provided on the first stacking rack (2) and the second stacking rack (3).

4. The palletizing and handling robot for industrial robots according to claim 1, wherein: On both sides of the partition rotating plate (4), rotating shafts are provided. At the lower end of the partition rotating plate (4), a spring is fixedly connected, and the lower end of the spring is connected to the outer side of the first stacking rack (2).

5. The usage method of an industrial robot palletizing and handling robot according to any one of claims 1 - 4, the steps are as follows: First step, use the transverse moving seat (13) to drive the clamping jaw (5) to move horizontally, and then use the steel cable inside to move the clamping jaw (5) upward to grab the forging. Second step, move the forging above the middle end of the stacking warehouse main body (1), and then slowly move the forging downward to contact the partition rotating plates (4) on the first stacking rack (2) and the second stacking rack (3) and drive them to rotate downward. Third step, place the subsequent forgings above the rotated partition rotating plates (4) to achieve the effect of separating the forgings from each other. Fourth step, drive the inclined plate (12) with the turntable (11) to apply a force to the moving block (10), so that the moving block (10) and the first stacking rack (2) move along the sliding groove (8) to the side away from the forging; Fifth step, the driving rod (9) in the moving block (10) can be driven to rotate after contacting the outer end of the inclined plate (12), so as to drive the second stacking rack (3) to move to the side away from the forging; Sixth step, use a forklift to enter the handling groove (15) to handle the stacked forgings.

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