A loading robot

Abstract

The application discloses a loading robot and relates to the technical field of machinery, which comprises an industrial robot, an X-axis moving mechanism, a Y-axis moving mechanism and a material clamping mechanism. The low-position roller conveying line, the material lifting machine and the high-position roller conveying line are used to convey the to-be-loaded boxes to the industrial robot, the first clamping plate, the second clamping plate, the third clamping plate and the fourth clamping plate of the material clamping mechanism can clamp the boxes of different sizes, the antiskid rubber teeth on the clamping plates can prevent the boxes from being separated during the transfer, and the X-axis moving mechanism and the Y-axis moving mechanism are used to make the industrial robot transfer the boxes to the corresponding positions of the transport vehicle compartment. The stability of the box grabbing during the whole transfer process is good, and the falling of the box is effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machinery, in particular to a loading robot. BACKGROUND

[0002] In the engineering construction, chemical industry, grain and other industries, the goods are usually packaged into boxes after production and processing, and then transported by train. At present, many enterprises have adopted the method of stacking or loading by using conveying belts and other semi-automatic or automatic machines to replace manual transportation and loading, so as to improve the transportation and loading efficiency of bagged goods and reduce labor costs. However, when the rigid clamping jaw of the loading robot clamps and transfers the box to the carriage of the transport vehicle, the stability of the rigid clamping jaw in clamping the box is poor, and the box is easy to fall during clamping. SUMMARY

[0003] The present application aims to provide a loading robot to overcome the above-mentioned defects in the prior art.

[0004] A loading robot, comprising an industrial robot, an X-axis moving mechanism, a Y-axis moving mechanism and a clamping mechanism, a material lifting machine is arranged between a high-position roller conveying line and a low-position roller conveying line, support frames are arranged on both sides of the high-position roller conveying line, a moving frame is slidably connected to the support frames, and the industrial robot is slidably connected to the moving frame through a moving plate;

[0005] The X-axis moving mechanism is arranged on the support frame and drives the moving frame to move along the support frame;

[0006] The Y-axis moving mechanism is arranged on the moving frame and drives the industrial robot to move along the moving frame;

[0007] The clamping mechanism is arranged at the end of the actuator of the industrial robot and is used to transfer the box on the high-position roller conveying line into the carriage of the transport vehicle.

[0008] Preferably, the X-axis moving mechanism comprises a first motor and a first rack, the two ends of the moving frame are slidably connected to the top of the support frame, the first motor is installed on the side of the moving frame and a first gear is installed on the output shaft of the first motor, and the first gear is engaged with the first rack on the side of one of the support frames.

[0009] Preferably, the Y-axis moving mechanism comprises a second motor and a second rack, the moving plate is slidably connected to the second rack on the side of the moving frame, the second motor is installed on the top of the moving plate and a second gear is installed on the output shaft of the second motor, and the second gear is engaged with the second rack on the top of the moving frame.

[0010] Preferably, the material clamping mechanism comprises a mounting plate, a third motor and a screw rod, the mounting plate is connected to the end of the executor of the industrial robot, the bottom of the mounting plate is provided with a mounting frame, the third motor is mounted on the outside of the mounting frame and the output shaft of the third motor is connected with the screw rod, the screw rod is rotationally connected in an inner extension box on the inner wall of the mounting frame, a moving block which is slidingly connected with the inner extension box is screw-connected on the screw rod through a screw nut, a first rotating rod is rotationally connected on the moving block, a first belt pulley is mounted on the top of the first rotating rod, a first clamping plate and a second clamping plate are rotationally connected on the first rotating rod, a second rotating rod is rotationally connected on the end of the first clamping plate, a second belt pulley is mounted on the top of the second rotating rod, one end of a third clamping plate is rotationally connected with the second rotating rod and the other end is rotationally connected with a third rotating rod, the bottom of the third rotating rod is rotationally connected with an inner extension plate on the inner wall of the mounting frame, a third belt pulley is mounted on the top of the third rotating rod, a fourth rotating rod is rotationally connected on the end of the second clamping plate, one end of a fourth clamping plate is rotationally connected with the third rotating rod and the other end is rotationally connected with the fourth rotating rod, a fourth belt pulley is mounted on the top of the fourth rotating rod, the first belt pulley, the second belt pulley, the third belt pulley and the fourth belt pulley are connected through a driving belt, and the second clamping plate and the fourth clamping plate are provided with a tensioning assembly for tensioning the belt pulleys.

[0011] Preferably, the tensioning assembly comprises a screw rod, a tensioning main wheel and a tensioning auxiliary wheel, a main limiting plate in the shape of an inverted "L" is arranged on the second clamping plate, a sliding block is slidingly connected on the main limiting plate, the inner end of the screw rod which is threadedly connected with the main limiting plate is rotationally connected with the sliding block, the tensioning main wheel is rotationally connected with the sliding block through a main shaft and the tensioning main wheel is in contact with the outside of the driving belt, a secondary limiting plate in the shape of an inverted "L" is arranged on the fourth clamping plate, the tensioning auxiliary wheel is rotationally connected with the secondary limiting plate through a secondary shaft and the tensioning auxiliary wheel is in contact with the outside of the driving belt.

[0012] Preferably, the inner side of the first clamping plate, the second clamping plate, the third clamping plate and the fourth clamping plate is provided with anti-skid rubber teeth.

[0013] Preferably, the outer end of the screw rod is provided with a hand wheel.

[0014] The present application has the following advantages:

[0015] In use, the low-position cylinder conveying line, the material lifting machine and the high-position cylinder conveying line are used to convey the boxes to be packed to the industrial robot, the first clamping plate, the second clamping plate, the third clamping plate and the fourth clamping plate of the material clamping mechanism can clamp the boxes of different sizes, the anti-skid rubber teeth prevent the boxes from being separated during transfer, and the X-axis moving mechanism and the Y-axis moving mechanism are used to transfer the boxes to the corresponding positions of the transport vehicle carriage by the industrial robot, the stability of the boxes during the whole transfer process is good, and the falling of the boxes is effectively avoided. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1The structural schematic diagram of the whole application.

[0017] Figure 2 The structural schematic diagram of the mobile frame and the mobile plate of the application.

[0018] Figure 3 The structural schematic diagram of the bottom of the material clamping mechanism of the application.

[0019] Figure 4 The structural schematic diagram of the top of the material clamping mechanism of the application.

[0020] Figure 5 The structural schematic diagram of the top of the material clamping mechanism of the application. Figure 4 The partial enlarged view of A in the middle.

[0021] Wherein: 1, high roller conveying line; 11, low roller conveying line; 12, material lifting machine; 2, support frame; 3, mobile frame; 4, industrial robot; 41, mobile plate; 5, X-axis moving mechanism; 51, first motor; 52, first gear; 53, first rack; 6, Y-axis moving mechanism; 61, second motor; 62, second gear; 63, second rack; 7, material clamping mechanism; 71, mounting plate; 711, mounting frame; 72, third motor; 721, screw rod; 722, inner extension box; 73, first rotating rod; 731, first belt pulley; 732, first clamping plate; 74, second rotating rod; 741, second belt pulley; 742, second clamping plate; 75, third rotating rod; 751, third belt pulley; 752, third clamping plate; 76, fourth rotating rod; 761, fourth belt pulley; 762, fourth clamping plate; 77, driving belt; 78, tensioning assembly; 781, main limiting plate; 782, screw rod; 7821, hand wheel; 783, main tensioning wheel; 784, auxiliary limiting plate; 785, auxiliary tensioning wheel; 79, anti-skid rubber tooth. DETAILED DESCRIPTION

[0022] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings, and by describing the embodiments, the specific embodiments of the application will be further described in detail to help the skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical scheme of the application.

[0023] As Figures 1-5As shown, the present application provides a loading robot, which comprises an industrial robot 4, an X-axis moving mechanism 5, a Y-axis moving mechanism 6 and a material clamping mechanism 7, a material lifting machine 12 is arranged between a high-position roller conveying line 1 and a low-position roller conveying line 11, support frames 2 are arranged on both sides of the high-position roller conveying line 1, a moving frame 3 is slidably connected to the support frames 2, the industrial robot 4 is slidably connected to the moving frame 3 through a moving plate 41, the X-axis moving mechanism 5 is arranged on the support frames 2 and drives the moving frame 3 to move along the support frames 2, the Y-axis moving mechanism 6 is arranged on the moving frame 3 and drives the industrial robot 4 to move along the moving frame 3, and the material clamping mechanism 7 is arranged at the end of an executor of the industrial robot 4 and is used for transferring a box on the high-position roller conveying line 1 into a carriage of a transport vehicle.

[0024] It should be noted that the X-axis moving mechanism 5 comprises a first motor 51 and a first rack 53, both ends of the moving frame 3 are slidably connected to a slide rail one on the top of the support frames 2, the first motor 51 is installed on the side of the moving frame 3 and a first gear 52 is installed on the output shaft of the first motor 51, and the first gear 52 is engaged with the first rack 53 on the side of one of the support frames 2.

[0025] In addition, the Y-axis moving mechanism 6 comprises a second motor 61 and a second rack 63, the moving plate 41 is slidably connected to a slide rail two on the side of the moving frame 3, the second motor 61 is installed on the top of the moving plate 41 and a second gear 62 is installed on the output shaft of the second motor 61, and the second gear 62 is engaged with the second rack 63 on the top of the moving frame 3.

[0026] In addition, the clamping mechanism 7 comprises a mounting plate 71, a third motor 72 and a screw rod 721, the mounting plate 71 is connected with the end of the executor of the industrial robot 4, the bottom of the mounting plate 71 is provided with a mounting frame 711, the third motor 72 is mounted on the outside of the mounting frame 711 and the output shaft of the third motor 72 is connected with the screw rod 721, the screw rod 721 is rotationally connected in the inner extension box 722 on the inner wall of the mounting frame 711, the screw rod 721 is screw-connected with a moving block in sliding connection with the inner extension box 722 through a screw nut of the screw rod 721, the first rotating rod 73 is rotationally connected on the moving block, the first pulley 731 is mounted on the top of the first rotating rod 73, the first clamping plate 732 and the second clamping plate 742 are rotationally connected on the first rotating rod 73, the second rotating rod 74 is rotationally connected at the end of the first clamping plate 732, the second pulley 741 is mounted on the top of the second rotating rod 74, one end of the third clamping plate 752 is rotationally connected with the second rotating rod 74 and the other end is rotationally connected with the third rotating rod 75, the bottom of the third rotating rod 75 is rotationally connected with the inner extension plate on the inner wall of the mounting frame 711, the third pulley 751 is mounted on the top of the third rotating rod 75, the fourth rotating rod 76 is rotationally connected at the end of the second clamping plate 742, one end of the fourth clamping plate 762 is rotationally connected with the third rotating rod 75 and the other end is rotationally connected with the fourth rotating rod 76, the fourth pulley 761 is mounted on the top of the fourth rotating rod 76, the first pulley 731, the second pulley 741, the third pulley 751 and the fourth pulley 761 are connected through the driving belt 77, the second clamping plate 742 and the fourth clamping plate 762 are provided with the tensioning assembly 78 for tensioning the pulleys, the inner sides of the first clamping plate 732, the second clamping plate 742, the third clamping plate 752 and the fourth clamping plate 762 are provided with the anti-skid rubber teeth 79, the friction between the first clamping plate 732, the second clamping plate 742, the third clamping plate 752 and the fourth clamping plate 762 and the box is increased, so that the box is prevented from falling during transfer.

[0027] In addition, the tensioning assembly 78 comprises a screw rod 782, a main tensioning wheel 783 and a secondary tensioning wheel 785, the main limiting plate 781 in the shape of inverted "L" is arranged on the second clamping plate 742, the sliding block is in sliding connection with the main limiting plate 781, the inner end of the screw rod 782 in threaded connection with the main limiting plate 781 is rotationally connected with the sliding block, the outer end of the screw rod 782 is provided with the hand wheel 7821, the screw rod 782 is conveniently adjusted through the hand wheel 7821, the main tensioning wheel 783 is rotationally connected with the sliding block through the main shaft and the main tensioning wheel 783 is in contact with the outside of the driving belt 77, the secondary limiting plate 784 in the shape of inverted "L" is arranged on the fourth clamping plate 762, the secondary tensioning wheel 785 is rotationally connected with the secondary limiting plate 784 through the secondary shaft and the secondary tensioning wheel 785 is in contact with the outside of the driving belt 77.

[0028] DETAILED DESCRIPTION AND PRINCIPLES

[0029] In actual application, the carriage of the transport vehicle to be loaded is located between the two support frames 2, the box to be loaded into the carriage is conveyed to the lower side of the industrial robot 4 through the low-position roller conveying line 11, the material lifting machine 12 and the high-position roller conveying line 1, the industrial robot 4 controls the clamping mechanism 7 to be sleeved on the box, so that the box is located between the first clamping plate 732, the second clamping plate 742, the third clamping plate 752 and the fourth clamping plate 762, the top of the box is in contact with the main limiting plate 781 and the auxiliary limiting plate 784, the output shaft of the third motor 72 is controlled to rotate, the third motor 72 drives the moving block to move in the inner extension box 722 through the screw rod 721, drives the first rotating rod 73 to move, drives the first clamping plate 732 and the second clamping plate 742 to rotate through the first rotating rod 73 and the driving belt 77, so that the third clamping plate 752 and the fourth clamping plate 762 rotate, the first clamping plate 732, the second clamping plate 742, the third clamping plate 752 and the fourth clamping plate 762 clamp the box, and the anti-slip rubber teeth 79 on the first clamping plate 732, the second clamping plate 742, the third clamping plate 752 and the fourth clamping plate 762 prevent the box from falling off, when the industrial robot 4 needs to move along the support frame 2, the output shaft of the first motor 51 is controlled to rotate, the first gear 52 drives the moving frame 3 and the industrial robot 4 to move along the first rack 53 on the support frame 2, when the industrial robot 4 needs to move along the moving frame 3, the output shaft of the second motor 61 is controlled to rotate, the second gear 62 drives the moving plate 41 and the industrial robot 4 to move along the second rack 63 on the moving frame 3, so that the industrial robot 4 can stack the box into the carriage of the transport vehicle.

[0030] In summary, the box to be loaded is conveyed to the industrial robot 4 through the low-position roller conveying line 11, the material lifting machine 12 and the high-position roller conveying line 1, the first clamping plate 732, the second clamping plate 742, the third clamping plate 752 and the fourth clamping plate 762 of the clamping mechanism 7 can adapt to the clamping of boxes of different sizes, the anti-slip rubber teeth 79 prevent the box from falling off during transfer, and the X-axis moving mechanism 5 and the Y-axis moving mechanism 6 enable the industrial robot 4 to transfer the box to the corresponding position of the transport vehicle carriage, the stability of the box during the whole transfer process is good, and the falling of the box is effectively avoided.

[0031] The above describes the present application by way of example in conjunction with the drawings, and it is obvious that the specific implementation of the present application is not limited to the above-mentioned manner, and various non-essential improvements or direct application of the present application and technical solutions to other occasions without improvement are within the protection scope of the present application.

Claims

1. A loading robot, characterized in that: The system includes an industrial robot (4), an X-axis moving mechanism (5), a Y-axis moving mechanism (6), and a clamping mechanism (7). A material hoist (12) is provided between the high-level roller conveyor line (1) and the low-level roller conveyor line (11). Support frames (2) are provided on both sides of the high-level roller conveyor line (1). A movable frame (3) is slidably connected to the support frame (2). The industrial robot (4) is slidably connected to the movable frame (3) via a movable plate (41). The X-axis moving mechanism (5) is mounted on the support frame (2) and drives the moving frame (3) to move along the support frame (2); The Y-axis moving mechanism (6) is mounted on the moving frame (3) and drives the industrial robot (4) to move along the moving frame (3); The clamping mechanism (7) is located at the end of the actuator of the industrial robot (4) and is used to transfer boxes on the high-level roller conveyor line (1) into the compartment of the transport vehicle; The clamping mechanism (7) includes a mounting plate (71), a third motor (72), and a lead screw (721). The mounting plate (71) is connected to the actuator end of the industrial robot (4). The bottom of the mounting plate (71) is provided with a mounting frame (711). The third motor (72) is mounted on the outside of the mounting frame (711), and the lead screw (721) is connected to its output shaft. The lead screw (721) is rotatably connected to the inner extension box (722) on the inner wall of the mounting frame (711). A moving block that is slidably connected to the inner extension box (722) is screwed onto the lead screw (721) through the lead screw (721) nut. A first rotating rod (73) is rotatably connected to the moving block. A first pulley (731) is mounted on the top of the first rotating rod (73). A first clamping plate (732) and a second clamping plate (742) are rotatably connected to the first rotating rod (73). A second rotating rod (74) is rotatably connected to the end of the first clamping plate (732). The top of the second rotating rod (74) is... The first clamping plate (731), the second clamping plate (741), the third clamping plate (752) is rotatably connected to the second rotating rod (74) at one end and to the third rotating rod (75) at the other end. The bottom of the third rotating rod (75) is rotatably connected to the inner extension plate on the inner wall of the mounting frame (711). The third clamping plate (75) is equipped with the third pulley (751) at the top. The second clamping plate (742) is rotatably connected to the end of the second clamping plate (76). The fourth clamping plate (762) is rotatably connected to the third rotating rod (75) at one end and to the fourth rotating rod (76) at the other end. The fourth rotating rod (76) is equipped with the fourth pulley (761) at the top. The first pulley (731), the second pulley (741), the third pulley (751) and the fourth pulley (761) are connected by a drive belt (77). The second clamping plate (742) and the fourth clamping plate (762) are provided with tensioning components (78) for tensioning the pulleys.

2. The loading robot according to claim 1, characterized in that: The X-axis moving mechanism (5) includes a first motor (51) and a first rack (53). The bottom ends of the moving frame (3) are slidably connected to the slide rails on the top of the support frame (2). The first motor (51) is installed on the side of the moving frame (3) and a first gear (52) is installed on its output shaft. The first gear (52) meshes with the first rack (53) on the side of one of the support frames (2).

3. The loading robot according to claim 1, characterized in that: The Y-axis moving mechanism (6) includes a second motor (61) and a second rack (63). The moving plate (41) is slidably connected to the slide rail on the side of the moving frame (3). The second motor (61) is mounted on the top of the moving plate (41) and a second gear (62) is mounted on its output shaft. The second gear (62) meshes with the second rack (63) on the top of the moving frame (3).

4. The loading robot according to claim 1, characterized in that: The tensioning assembly (78) includes a screw (782), a tensioning main wheel (783), and a tensioning secondary wheel (785). The second clamping plate (742) is provided with an inverted "L"-shaped main limiting plate (781). A slider is slidably connected to the main limiting plate (781). The slider is rotatably connected to the inner end of the screw (782) threaded on the main limiting plate (781). The tensioning main wheel (783) is rotatably connected to the slider through the main shaft and the tensioning main wheel (783) is in contact with the outer side of the drive belt (77). The fourth clamping plate (762) is provided with an inverted "L"-shaped secondary limiting plate (784). The tensioning secondary wheel (785) is rotatably connected to the secondary limiting plate (784) through the secondary shaft and the tensioning secondary wheel (785) is in contact with the outer side of the drive belt (77).

5. A loading robot according to claim 1, characterized in that: The inner sides of the first clamping plate (732), the second clamping plate (742), the third clamping plate (752) and the fourth clamping plate (762) are all provided with anti-slip rubber teeth (79).

6. A loading robot according to claim 4, characterized in that: The outer end of the screw (782) is provided with a handwheel (7821).

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