A changeable gripper palletizing robot

Abstract

The application relates to the technical field of stacking robots, and discloses a replaceable clamp stacking robot, a rotating fixing platform is sleeved at the top of the first working support, and an internal wall on one side of the top of the rotating fixing platform is fixedly connected with a servo motor; the fixed base is arranged, which is beneficial to fixing the whole device; the first working support, the rotating fixing platform, the second working support and the servo motor are arranged, which are beneficial to the operation of the whole stacking robot device; the telescopic rotating cabin is arranged, which is beneficial to fixing the gripper device; the supporting micro column is arranged, which is beneficial to fixing the first electric hydraulic column; the first electric hydraulic column and the second electric hydraulic column are arranged, which are beneficial to providing lifting force and stretching force; the motor set is arranged, which is beneficial to providing angle adjusting force; and the third electric hydraulic column is arranged, which is beneficial to fixing the gripper device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacking robots, more particularly to a stacking robot with replaceable clamps. BACKGROUND

[0002] Stacking robots are the product of the organic combination of machinery and computer programs, providing higher production efficiency for modern production. Stacking robots have quite wide application in the stacking industry. Stacking robots greatly save labor and space, and are flexible, accurate, fast, efficient, and stable in operation, with high work efficiency.

[0003] However, the most widely used field of the existing stacking robot is the field of express delivery and factory assembly line. The stacking robot may transport and pick different sizes and types of goods during use. Therefore, the stacking robot may need to be replaced by a different type of gripper device by manual operation during use, which will cause a waste of time. In addition, the gripper device of the stacking robot is generally of a fixed type. Therefore, when picking and transporting different types of goods, the staff generally installs different types of stacking robots on the same assembly line to achieve the purpose of picking different types of goods. Such a method undoubtedly increases the cost of goods production, thereby causing economic waste. SUMMARY

[0004] In order to overcome the above-mentioned defects of the prior art, the present application provides a stacking robot with replaceable clamps to solve the problems in the above background.

[0005] The present application provides the following technical scheme: a stacking robot with replaceable clamps, comprising a fixed base, further comprising: a first working support fixedly connected to the top of the fixed base, a rotating fixed platform sleeved to the top of the first working support, a servo motor fixedly connected to the inner wall of one side of the top of the rotating fixed platform, a second working support sleeved to the other side of the top of the rotating fixed platform, a telescopic rotating cabin fixedly connected to one end of the second working support, a gripper fixed cabin fixedly connected to the bottom of the telescopic rotating cabin, support micro columns fixedly connected to the outer walls of both sides of the gripper fixed cabin, a first electric hydraulic column fixedly connected to one end of the support micro column, a fixed block fixedly connected to the top of the first electric hydraulic column, a first electric hydraulic column fixedly connected to one side of the fixed block, a U-shaped column fixedly connected to one end of the first electric hydraulic column, and a second electric hydraulic column fixedly connected to the bottom of one end of the U-shaped column.

[0006] One end of the second electric hydraulic column is fixedly connected to a motor set, one end of the motor set is fixedly connected to a support plate, and a third electric hydraulic column is fixedly connected to the outer wall of one side of the support plate.

[0007] The outer wall of the third electric hydraulic column is connected with a fixed hollow cabin, one side of the fixed hollow cabin is fixedly connected with a fixed hollow plate, the outer wall of the fixed hollow plate is fixedly connected with a handle frame, the inner wall of the fixed hollow plate is fixedly connected with a fixed clamping groove plate, and the outer wall of the bottom of one end of the fixed clamping groove plate is provided with a fixed block.

[0008] The inner walls of the two sides of the handle fixed cabin are provided with sliding grooves, the two sides of the handle fixed cabin are connected with sliding plates, one end of the sliding plate is fixedly connected with a second electric hydraulic column, the top of the sliding plate is fixedly connected with a fixed outer ring, the inner wall of the fixed outer ring is fixedly connected with a second electric hydraulic column, and one end of the second electric hydraulic column is fixedly connected with a concave plate.

[0009] The inner wall of the concave plate is sleeved with a gear transmission plate, the inner wall of the gear transmission plate is fixedly connected with a rotating shaft, one end of the gear transmission plate is semicircular, the one end of the gear transmission plate is provided with a threaded groove, the one end of the gear transmission plate is connected with a gear transmission rod, the inner wall of the middle part of the gear transmission rod is provided with a hollow groove, the inside of the hollow groove of the middle part of the gear transmission rod is provided with a gear groove, the outer walls of the two ends of the gear transmission rod are fixedly connected with bearings, the outer walls of the bearings are fixedly connected with fixed plates, and the end heads of the two ends of the gear transmission rod are fixedly connected with U-shaped support plates.

[0010] The top of one end of the U-shaped support plate is fixedly connected with a sensing fixed cabin, the inner wall of one side of the sensing fixed cabin is provided with a fixed groove, the inner wall of the top of the sensing fixed cabin is fixedly connected with a telescopic sensing cabin, the telescopic sensing cabin has telescopic property, the inner wall of the telescopic sensing cabin is fixedly connected with a sensing spring, the inner wall of the middle part of the bottom end of the sensing spring is fixedly connected with a sensing switch, and the inner wall of the middle part of the top end of the sensing spring is fixedly connected with a pressing column.

[0011] The inner wall of one side of the top of the sensing fixed cabin is sleeved with a torsion spring column, the outer wall of the middle part of the torsion spring column is fixedly connected with a pressing plate, the outer walls of the two ends of the torsion spring column are sleeved with first support plates, one side of the first support plate is provided with a rotating rod, and the outer wall of the rotating rod of one side of the first support plate is sleeved with a fixed outer plate.

[0012] The outer wall of one side of the fixed outer plate is fixedly connected with an electromagnetic telescopic cabin, the inner wall of the electromagnetic telescopic cabin is sleeved with a sensing spring, and the inner walls of the two ends of the electromagnetic telescopic cabin are fixedly connected with electromagnets.

[0013] Technical effects and advantages of the application:

[0014] 1, The fixed base is provided with the first working support, the rotating fixed platform, the second working support and the servo motor, so that the overall stacking robot device can run, the telescopic rotating cabin is provided, so that the fixed gripper device is fixed, the supporting micro column is provided, so that the first electric hydraulic column is fixed, the first electric hydraulic column and the second electric hydraulic column are provided, so that the lifting force and the stretching force are provided, the motor set is provided, so that the angle adjusting force is provided, and the third electric hydraulic column is provided, so that the fixed gripper device is fixed;

[0015] 2, The fixed hollow cabin is provided, so that the fixed hollow plate is fixed, the fixed hollow plate is provided, so that the fixed gripper frame is fixed, the fixed clamping groove plate is provided, so that the fixed gripper device is in the inductive fixed cabin, the second electric hydraulic column at one end of the sliding plate is provided, so that the position of the sliding plate is adjusted, the fixed outer ring is provided, so that the second electric hydraulic column is fixed, the concave plate is provided, so that the stretching force is transmitted, the gear transmission plate is provided, so that the stretching force is converted, the gear transmission rod is provided, so that the rotating force is transmitted, the fixed plate and the bearing are provided, so that the rotating of the gear transmission rod is protected, the U-shaped support plate is provided, so that the rotating force transmission is realized, the inductive fixed cabin is provided, so that the fixed gripper fixing device is fixed, the telescopic inductive cabin is provided, so that the overall inductive device is fixed, the inductive spring is provided, so that the buffer force is provided, the pressing column and the inductive switch are provided, so that the inductive rotating hand is fixed in the inductive fixed cabin, the extrusion plate is provided, so that the inductive gripper device reaches the inductive fixed cabin, and the fixed outer plate is provided, so that the fixed gripper device is fixed. DRAWINGS

[0016] Figure 1 The overall structure of the present application is shown in the figure.

[0017] Figure 2 The overall structure of the gripper device of the present application is shown in the figure.

[0018] Figure 3 The overall structure of the rotating force providing device of the present application is shown in the figure.

[0019] Figure 4 The overall structure of the fixed device of the present application is shown in the figure.

[0020] Figure 5 The partial structure of the gripper device of the present application is shown in the figure.

[0021] Figure 6The whole structure of the electromagnetic telescopic cabin is shown in the explosion diagram.

[0022] The reference signs are: 1, fixed base; 2, first working support; 3, rotating fixed platform; 4, second working support; 5, servo motor; 6, telescopic rotating cabin; 7, gripper fixed cabin; 8, gripper support; 9, U-shaped support plate; 10, support micro column; 11, first electric hydraulic column; 12, fixed block; 13, U-shaped column; 14, second electric hydraulic column; 15, motor group; 16, extrusion plate; 17, fixed hollow plate; 18, support plate; 19, induction fixed cabin; 20, sliding plate; 21, rotating shaft; 22, concave plate; 23, gear transmission plate; 24, fixed outer ring; 25, fixed outer plate; 26, gear transmission rod; 27, fixed plate; 28, bearing; 29, electromagnetic telescopic cabin; 30, first support plate; 31, torsional spring column; 32, telescopic induction cabin; 33, pressing column; 34, induction switch; 35, induction spring; 36, fixed clamping groove plate; 37, third electric hydraulic column; 38, fixed hollow cabin; 39, electromagnet. DETAILED DESCRIPTION

[0023] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application, and additionally, the forms of each structure described in the following embodiments are only examples, and the stacker robot with replaceable clamps involved in the present application is not limited to each structure described in the following embodiments, and all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0024] As Figures 1-6As shown, the present application provides a replaceable clamp stacking robot, comprising a fixed base 1, further comprising: the top of the fixed base 1 is fixedly connected with a first working support 2, the top of the first working support 2 is sleeved with a rotating fixed platform 3, the inner wall of one side of the top of the rotating fixed platform 3 is fixedly connected with a servo motor 5, the other side of the top of the rotating fixed platform 3 is sleeved with a second working support 4, one end of the second working support 4 is fixedly connected with a telescopic rotating cabin 6, the bottom of the telescopic rotating cabin 6 is fixedly connected with a gripper fixed cabin 7, the outer walls of the two sides of the gripper fixed cabin 7 are fixedly connected with supporting micro columns 10, one end of the supporting micro column 10 is fixedly connected with a first electric hydraulic column 11, the top of the first electric hydraulic column 11 is fixedly connected with a fixed block 12, one side of the fixed block 12 is fixedly connected with the first electric hydraulic column 11, one end of the first electric hydraulic column 11 is fixedly connected with a U-shaped column 13, the bottom of one end of the U-shaped column 13 is fixedly connected with a second electric hydraulic column 14, by providing the fixed base 1, it is conducive to the function of fixing the overall device, by providing the first working support 2, the rotating fixed platform 3, the second working support 4, the servo motor 5, it is conducive to the operation of the overall stacking robot device, by providing the telescopic rotating cabin 6, it is conducive to the function of fixing the gripper device, by providing the supporting micro column 10, it is conducive to the function of fixing the first electric hydraulic column 11, by providing the first electric hydraulic column 11 and the second electric hydraulic column 14, it is conducive to the provision of lifting force and tensile force.

[0025] In a specific embodiment, one end of the second electric hydraulic column 14 is fixedly connected with a motor group 15, one end of the motor group 15 is fixedly connected with a supporting plate 18, the outer wall of one side of the supporting plate 18 is fixedly connected with a third electric hydraulic column 37, by providing the motor group 15, it is conducive to the provision of angle adjustment force, by providing the third electric hydraulic column 37, it is conducive to the function of fixing the gripper device.

[0026] In a specific embodiment, the outer wall of the third electric hydraulic column 37 is engagedly connected with a fixed hollow cabin 38, one side of the fixed hollow cabin 38 is fixedly connected with a fixed hollow plate 17, the outer wall of the fixed hollow plate 17 is fixedly connected with a gripper frame 8, the inner wall of the fixed hollow plate 17 is fixedly connected with a fixed slot plate 36, the outer wall of the bottom of one end of the fixed slot plate 36 is provided with a fixed block, by providing the fixed hollow cabin 38, it is conducive to the function of fixing the fixed hollow plate 17, by providing the fixed hollow plate 17, it is conducive to the function of fixing the gripper frame 8, by providing the fixed slot plate 36, it is conducive to the function of sensing whether the gripper device is fixed in the sensing fixed cabin 19.

[0027] In a specific embodiment, the inner wall of both sides of the grab hand fixing cabin 7 is provided with a sliding groove, the sliding plate 20 is engaged and connected on both sides of the grab hand fixing cabin 7, one end of the sliding plate 20 is fixedly connected with the second electric hydraulic column 14, the top of the sliding plate 20 is fixedly connected with the fixed outer ring 24, the inner wall of the fixed outer ring 24 is fixedly connected with the second electric hydraulic column 14, one end of the second electric hydraulic column 14 is fixedly connected with the concave plate 22, the second electric hydraulic column 14 at one end of the sliding plate 20 is beneficial to adjust the position of the sliding plate 20, the fixed outer ring 24 is beneficial to fix the second electric hydraulic column 14, and the concave plate 22 is beneficial to the transmission of tensile force.

[0028] In a specific embodiment, the inner wall of the concave plate 22 is sleeved with a gear transmission plate 23, the inner wall of the gear transmission plate 23 is fixedly connected with a rotating shaft 21, one end of the gear transmission plate 23 is semicircular, the one end of the gear transmission plate 23 is provided with a threaded groove, one end of the gear transmission plate 23 is engaged and connected with a gear transmission rod 26, the inner wall of the middle part of the gear transmission rod 26 is provided with a hollow groove, the inside of the hollow groove of the middle part of the gear transmission rod 26 is provided with a gear groove, the outer wall of both ends of the gear transmission rod 26 is fixedly connected with a bearing 28, the outer wall of the bearing 28 is fixedly connected with a fixed plate 27, the end of both ends of the gear transmission rod 26 is fixedly connected with a U-shaped support plate 9, the gear transmission plate 23 is beneficial to the conversion of tensile force, the gear transmission rod 26 is beneficial to the transmission of rotating force, the fixed plate 27 and the bearing 28 are beneficial to protect the rotation of the gear transmission rod 26, and the U-shaped support plate 9 is beneficial to the transmission of rotating force.

[0029] In a specific embodiment, the top of one end of the U-shaped support plate 9 is fixedly connected with a sensing fixed cabin 19, the inner wall of one side of the sensing fixed cabin 19 is provided with a fixed groove, the inner wall of the top of the sensing fixed cabin 19 is fixedly connected with a telescopic sensing cabin 32, the telescopic sensing cabin 32 has telescopic property, the inner wall of the telescopic sensing cabin 32 is fixedly connected with a sensing spring 35, the inner wall of the middle part of the bottom end of the sensing spring 35 is fixedly connected with a sensing switch 34, the inner wall of the middle part of the top end of the sensing spring 35 is fixedly connected with a pressing column 33, the sensing fixed cabin 19 is beneficial to fix the grab hand fixing device, the telescopic sensing cabin 32 is beneficial to fix the overall sensing device, the sensing spring 35 is beneficial to provide buffering force, and the pressing column 33 and the sensing switch 34 are beneficial to sense whether the hand is fixed inside the sensing fixed cabin 19.

[0030] In one specific embodiment, the inner wall of the top of one side of the induction fixed cabin 19 is sleeved with a torsion spring column 31, the outer wall of the middle part of the torsion spring column 31 is fixedly connected with the extrusion plate 16, the outer wall of both ends of the torsion spring column 31 is sleeved with the first support plate 30, one side of the first support plate 30 is provided with a rotating rod, the outer wall of the rotating rod on one side of the first support plate 30 is sleeved with the fixed outer plate 25, the extrusion plate 16 is provided, which is conducive to the function of sensing whether the grab hand device reaches the inside of the induction fixed cabin 19, and the fixed outer plate 25 is provided, which is conducive to the function of fixing the grab hand device.

[0031] In one specific embodiment, the outer wall of one side of the fixed outer plate 25 is fixedly connected with the electromagnetic telescopic cabin 29, the inner wall of the electromagnetic telescopic cabin 29 is sleeved with the induction spring 35, and the inner wall of both ends of the electromagnetic telescopic cabin 29 is fixedly connected with the electromagnet 39.

[0032] Working principle:

[0033] S1, when the goods picking of the stacking robot is carried out, at this time the servo motor 5 in the first working support 2, the rotating fixed platform 3, the second working support 4 starts to input power, in turn drives the whole stacking robot to adjust the position, at the same time when the grab hand frame 8 is located above the article, at this time the first electric hydraulic column 11 in the fixed outer ring 24 starts to input power, in turn drives the concave plate 22, the gear transmission plate 23 to move, indirectly drives the semicircular gear groove at one end of the gear transmission plate 23 to rotate, in turn drives the gear transmission rod 26 to rotate at a certain angle, drives the U-shaped support plate 9, the induction fixed cabin 19, the grab hand frame 8 to rotate at the same angle, so that the two groups of grab hand frames 8 fix the articles to be transported, after the fixing is completed, the articles are conveyed through the first working support 2, the rotating fixed platform 3, the second working support 4, the servo motor 5;

[0034] S2, when its handover device model and the need to transport the model of the goods does not serve, at this time the motor group 15 starts to drive its support plate 18 to rotate, and then make a group of third electric hydraulic column 37 without fixed rotation to the bottom, after the rotation is completed, at this time the first electric hydraulic column 11, U type column 13 starts to pass through the power supply, and then drive its support plate 18 to reach the top of the induction fixed cabin 19, the next step, make its second electric hydraulic column 14 starts to pass through the current, and then drive its support plate 18 to descend operation, until the end of a group of third electric hydraulic column 37 and fixed hollow cabin 38 horizontal position, after reaching the position, at this time the third electric hydraulic column 37 starts to pass through the power supply, and then make its third electric hydraulic column 37 into the inside of the fixed hollow cabin 38, at this time the third electric hydraulic column 37 can be fixed, at the same time the second electric hydraulic column 14 starts to pass through the power supply, and then drive its support plate 18 to rise, at the same time the electromagnet 39 in the electromagnetic telescopic cabin 29 starts to stop the input of power supply, and then make its gripper frame 8 from the inside of the induction fixed cabin 19;

[0035] S3, when a group of its gripper frame 8 from its induction fixed cabin 19 inside, at this time the motor group 15 starts to pass through the power supply, and then drive its support plate 18 to adjust the angle of 180 degrees, make the group of gripper frame 8 that needs to be replaced rotate to the position at the bottom of the support plate 18, after the angle adjustment is completed, the second electric hydraulic column 14 starts to pass through the power supply, and then drive its support plate 18 to descend operation, until the fixed clamping groove plate 36 is extruded to the extrusion plate 16, and then make the extrusion plate 16 rotate at a certain angle, until the extrusion plate 16 is extruded to the telescopic induction cabin 32, at the same time, the pressing column 33 presses to the induction switch 34 and the fixed block at the bottom of the fixed clamping groove plate 36 enters the fixed groove in the induction fixed cabin 19, at this time the two groups of electromagnet 39 in the electromagnetic telescopic cabin 29 start to pass through the current, and then make the two groups of electromagnet 39 produce a certain magnetic attraction, make its drive the electromagnetic telescopic cabin 29 to shrink to a certain degree, and then make its fixed outer plate 25 contact the surface of the fixed clamping groove plate 36, at this time the replacement work of different models of gripper can be completed.

[0036] Finally, it should be pointed out that in the description of the present application, it should be pointed out that unless otherwise specified and limited, the terms "installation", "connection", "connection" should be understood broadly, which can be mechanical connection or electrical connection, or the communication between two elements, or direct connection, "up", "down", "left", "right" and the like are only used to indicate the relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may change;

[0037] Secondly: the embodiment disclosed in the embodiment of the present application only relates to the structure involved in the embodiment of the present application, other structures can refer to the general design, and in the case of no conflict, the same embodiment and different embodiments of the present application can be combined with each other;

[0038] Finally: the above only describes the preferred embodiments of the present application and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A changeable gripper palletizing robot comprising a stationary base (1), characterized in that, Also include: The top of the fixed base (1) is fixedly connected with a first working support (2), the top of the first working support (2) is sleeved with a rotating fixed platform (3), the inner wall of one side of the top of the rotating fixed platform (3) is fixedly connected with a servo motor (5), the other side of the top of the rotating fixed platform (3) is sleeved with a second working support (4), one end of the second working support (4) is fixedly connected with a telescopic rotating cabin (6), the bottom of the telescopic rotating cabin (6) is fixedly connected with a gripper fixed cabin (7), the outer walls of the two sides of the gripper fixed cabin (7) are fixedly connected with supporting micro columns (10), one end of the supporting micro column (10) is fixedly connected with a first electric hydraulic column (11), the top of the first electric hydraulic column (11) is fixedly connected with a fixed block (12), one side of the fixed block (12) is fixedly connected with another first electric hydraulic column (11), one end of the another first electric hydraulic column (11) is fixedly connected with a U-shaped column (13), the bottom of one end of the U-shaped column (13) is fixedly connected with a second electric hydraulic column (14), one end of the second electric hydraulic column (14) is fixedly connected with a motor group (15), one end of the motor group (15) is fixedly connected with a supporting plate (18), the outer wall of one side of the supporting plate (18) is fixedly connected with a third electric hydraulic column (37),The outer wall of the third electric hydraulic column (37) is engagedly connected with a fixed hollow cabin (38), one side of the fixed hollow cabin (38) is fixedly connected with a fixed hollow plate (17), the outer wall of the fixed hollow plate (17) is fixedly connected with a grab frame (8), the inner wall of the fixed hollow plate (17) is fixedly connected with a fixed clamping groove plate (36), the outer wall of the bottom of one end of the fixed clamping groove plate (36) is provided with a fixed block, the inner wall of both sides of the grab fixed cabin (7) is provided with a sliding groove, both sides of the grab fixed cabin (7) are engagedly connected with a sliding plate (20), one end of the sliding plate (20) is connected with the third electric hydraulic column, the top of the sliding plate (20) is fixedly connected with a fixed outer ring (24), the inner wall of the fixed outer ring (24) is connected with the third electric hydraulic column, one end of the third electric hydraulic column is fixedly connected with a concave plate (22), the inner wall of the concave plate (22) is sleeved with a gear transmission plate (23), the inner wall of the gear transmission plate (23) is fixedly connected with a rotating shaft (21), one end of the gear transmission plate (23) is semicircular, one end of the gear transmission plate (23) is provided with a threaded groove, one end of the gear transmission plate (23) is engagedly connected with a gear transmission rod (26), the inner wall of the middle part of the gear transmission rod (26) is provided with a hollow groove, the inside of the hollow groove of the middle part of the gear transmission rod (26) is provided with a gear groove, the outer wall of both ends of the gear transmission rod (26) is fixedly connected with a bearing (28), the outer wall of the bearing (28) is fixedly connected with a fixed plate (27), the end of both ends of the gear transmission rod (26) is fixedly connected with a U-shaped support plate (9), the top of one end of the U-shaped support plate (9) is fixedly connected with a sensing fixed cabin (19), the inner wall of one side of the sensing fixed cabin (19) is provided with a fixed groove, the inner wall of the top of one side of the sensing fixed cabin (19) is sleeved with a torsional spring column (31), the outer wall of the middle part of the torsional spring column (31) is fixedly connected with a pressing plate (16), the outer wall of both ends of the torsional spring column (31) is sleeved with a first support plate (30), one side of the first support plate (30) is provided with a rotating rod, the outer wall of the rotating rod of one side of the first support plate (30) is sleeved with a fixed outer plate (25).

2. A changeable gripper palletizing robot according to claim 1, characterized in that: The inner wall of the top of the induction fixed cabin (19) is fixedly connected with a telescopic induction cabin (32), the telescopic induction cabin (32) has telescopic property, the inner wall of the telescopic induction cabin (32) is fixedly connected with an induction spring (35), the inner wall of the middle of the bottom end of the induction spring (35) is fixedly connected with an induction switch (34), the inner wall of the middle of the top end of the induction spring (35) is fixedly connected with a pressing column (33).

3. The changeable gripper palletizing robot according to claim 1, characterized in that: The outer wall of one side of the fixed outer plate (25) is fixedly connected with an electromagnetic telescopic cabin (29), the inner wall of the electromagnetic telescopic cabin (29) is sleeved with an induction spring (35), the inner wall of both ends of the electromagnetic telescopic cabin (29) is fixedly connected with an electromagnet (39).

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