Stacking robot for intelligent manufacturing industry

Abstract

The invention provides a palletizing robot for the intelligent manufacturing industry, and belongs to the field of manipulators. Comprising a fixed support and an annular plate, the annular plate is fixedly connected to the fixed support, a mounting column is movably connected to the annular plate, a displacement assembly is arranged on the mounting column, a movable shell is movably connected to the outer side wall of the mounting column, and a height assembly is arranged in an inner cavity of the movable shell; a round shell is movably connected to the side, away from the annular plate, of the movable shell, a movable plate is movably connected into the round shell, an extension assembly is arranged on the movable plate, and a connecting plate is fixedly connected to the side, extending out of the round shell, of the movable plate. According to the stacking robot, through the arrangement of the mounting plate, mounting operation of manipulators of different styles can be achieved, the manipulators are fixedly connected with the mounting holes in the mounting plate through fasteners, then the stacking robot can conduct stacking operation on different objects, and the universality is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of manipulator, in particular to a palletizing robot for intelligent manufacturing industry. BACKGROUND

[0002] The palletizing robot is an automated device for material handling and palletizing in intelligent manufacturing industry. The palletizing robot can run continuously at a very high speed and complete multiple palletizing actions per minute, greatly improving production efficiency. Especially in large-scale production scenarios, the palletizing robot can significantly shorten the palletizing time of products and speed up the logistics turnover.

[0003] The prior art discloses a palletizing robot device for intelligent manufacturing industry, which comprises a transfer mechanism, a grabbing frame mechanism and a dust removal mechanism, and is characterized in that the transfer mechanism comprises an annular track, a walking track is formed in the top of the annular track, and a walking frame is rotatably arranged in the walking track. The walking frame and the annular track cooperate to drive the grabbing frame mechanisms on both sides to rotate relative to the transfer mechanism. When the walking frame rotates, the linkage gear at the bottom rotates along the walking gear ring, thereby driving the multiple vibration structures to intermittently knock the walking frame. Residues remaining in the grabbing frame are shaken down, and dust and debris can be completely sucked under the action of the dust suction pump, thereby avoiding harm to the operator. The design is ingenious and effective, greatly improving the degree of freedom and service life of the palletizing robot device for intelligent manufacturing industry.

[0004] However, the palletizing robot for intelligent manufacturing industry has insufficient flexibility in use, and the range of goods that can be transported is limited, which cannot meet the actual needs of the prior art. Moreover, the transport structure is fixed and cannot realize palletizing and transporting operations for more other goods, and the versatility is insufficient.

[0005] Based on the above reasons, the present application provides a palletizing robot for intelligent manufacturing industry, which realizes more flexible and versatile palletizing and transporting operations in intelligent manufacturing industry. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a palletizing robot for intelligent manufacturing industry with flexibility and versatility.

[0007] To solve the above technical problems, the present application provides the following technical solutions:

[0008] The application discloses a palletizing robot for intelligent manufacturing industry, which comprises a fixed support, a ring-shaped plate fixedly connected to the fixed support, a mounting column movably connected to the ring-shaped plate, a displacement assembly arranged on the mounting column, a movable shell movably connected to the outer sidewall of the mounting column, a height assembly arranged in the inner cavity of the movable shell, a circular shell movably connected to the side, away from the ring-shaped plate, of the movable shell, a movable plate movably connected to the inner cavity of the circular shell, an extension assembly arranged on the movable plate, a connecting plate fixedly connected to the side, extending out of the circular shell, of the movable plate, a movable shaft movably connected to the connecting plate, a mounting plate fixedly connected to the movable shaft, a plurality of mounting holes formed in the mounting plate, and a rotating assembly arranged on the connecting plate and the circular shell.

[0009] Preferably, the displacement assembly comprises a fixed plate fixedly connected to the two sides of the mounting column and arranged in a concave shape, a first motor fixedly connected to the top surface of the fixed plate, and a first rotating shaft fixedly connected to the rotor of the first motor.

[0010] Preferably, the first rotating shaft penetrates through the fixed plate and is fixedly connected with a first gear, an annular gear is fixedly connected to the outer sidewall of the ring-shaped plate, and the first gear is arranged in meshing mode with the annular gear.

[0011] Preferably, the height assembly comprises two first turbines arranged in an arc shape and fixedly connected to the outer wall of the mounting column, a first worm gear meshing with one side of the first turbine, and a second gear fixedly connected to the sidewall of the movable shell and movably connected with the movable shell.

[0012] Preferably, the same third gear is arranged in meshing mode between the two second gears, a second rotating shaft is fixedly connected to the center of the sidewall of the third gear, and a second motor fixedly connected to the movable shell is fixedly connected to the other end of the second rotating shaft.

[0013] Preferably, the extension assembly comprises a threaded hole formed in the center of the sidewall of the movable plate and internally threadedly connected with a threaded rod, the threaded rod penetrates through the circular shell and is fixedly connected with a third motor, and the third motor is fixedly connected with the circular shell.

[0014] Preferably, the rotating assembly comprises a second turbine fixedly connected to the outer wall of the circular shell and the movable shaft, a second worm gear meshing with the second turbine, and a fourth motor fixedly connected to one end of the second worm gear, wherein the fourth motor is fixedly connected with the movable shell and the connecting plate respectively.

[0015] Preferably, the fixed support comprises a bottom plate, a plurality of circular holes are formed in the bottom plate, a support rod is fixedly connected to the top surface of the bottom plate, a horizontal plate is fixedly connected to the top end of the support rod, and the horizontal plate is fixedly connected with the inner wall of the ring-shaped plate.

[0016] Preferably, a side slot matched with the annular plate is formed on the side wall of the mounting column, an arc-shaped slot is formed on the upper and lower side walls of the side slot, the side wall of the annular plate is inserted into the side slot, and the upper and lower side walls are fixedly connected with a circular ring plate, and the circular ring plate is movably connected with the arc-shaped slot.

[0017] Preferably, a circular groove matched with the mounting column is formed on one side of the movable shell, two arc-shaped shells are fixedly connected in the circular groove, the mounting column is inserted into the circular groove, and two arc-shaped plates are fixedly connected to the outer wall of the mounting column, and the arc-shaped plates are movably connected with the arc-shaped shells.

[0018] Compared with the prior art, the present application has at least the following beneficial effects:

[0019] The present application can realize the installation operation of different types of mechanical hands through the setting of the mounting plate, and the fixing connection between the mechanical hand and the mounting hole on the mounting plate is completed through the fastener, so that the present stacking robot can realize the stacking operation of different articles, and the versatility is improved.

[0020] The present application can realize the adjustment operation of the grabbing and stacking position of the mechanical hand through the setting of the displacement assembly, improve the spatial range of the mechanical hand stacking operation, and realize the adjustment operation of the height of the mechanical hand through the setting of the height assembly, so that the mechanical hand can move the articles to a specified height, facilitate flexible stacking use, and realize more flexible and accurate stacking operation of the articles through the setting of the extension assembly and the rotating assembly, and the use effect is good. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and to enable a person skilled in the relevant art to implement and use the present disclosure.

[0022] Figure 1 is a front perspective structural schematic view of the present application;

[0023] Figure 2 is a side perspective structural schematic view of the present application;

[0024] Figure 3 is a transverse cross-sectional perspective structural schematic view of the present application;

[0025] Figure 4 is a perspective structural schematic view of the annular plate of the present application;

[0026] Figure 5 is a perspective structural schematic view of the height adjustment assembly of the present application;

[0027] Figure 6 is a perspective structural schematic view of the mounting plate of the present application;

[0028] Figure 7 is a schematic view of the three-dimensional structure on the round shell of the present application;

[0029] Figure 8 is a schematic view of the three-dimensional structure on the mounting column of the present application.

[0030] [Reference signs]

[0031] 1, fixed support; 2, annular plate; 3, mounting column; 4, displacement assembly; 5, movable shell; 6, height assembly; 7, round shell; 8, movable plate; 9, extension assembly; 10, connecting plate; 11, movable shaft; 12, mounting plate; 13, rotating assembly; 14, fixed plate; 15, first motor; 16, first rotating shaft; 17, first gear; 18, annular gear; 19, first turbine; 20, first worm; 21, second gear; 22, third gear; 23, second rotating shaft; 24, second motor; 25, threaded rod; 26, third motor; 27, second turbine; 28, second worm; 29, fourth motor; 30, bottom plate; 31, round hole; 32, support rod; 33, cross plate; 34, side groove; 35, arc-shaped groove; 36, annular plate; 37, arc-shaped shell; 38, arc-shaped plate; 39, mounting hole.

[0032] As shown in the drawings, in order to clearly realize the structure of the embodiments of the present application, specific structures and devices are marked in the drawings, but this is only for the need of illustration, and is not intended to limit the present application in the specific structures, devices and environments, and those skilled in the art can adjust or modify these devices and environments according to specific needs, and the adjustment or modification still falls within the scope of the appended claims. DETAILED DESCRIPTION

[0033] The intelligent manufacturing industry stacking robot provided by the present application is described in detail below in combination with the drawings and specific embodiments. It should be noted that, in order to make the embodiments more detailed, the following embodiments are the best, preferred embodiments, and other alternative ways can also be adopted by those skilled in the art to implement some known technologies; and the drawings are only used to more specifically describe the embodiments, and are not intended to specifically limit the present application.

[0034] It should be noted that in the specification, "one embodiment", "embodiment", "exemplary embodiment", "some embodiments" and the like indicate that the described embodiments can include specific features, structures or characteristics, but not necessarily every embodiment includes the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in combination with an embodiment, it should be within the knowledge of those skilled in the related art to realize this feature, structure or characteristic in combination with other embodiments (whether or not explicitly described).

[0035] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0036] It is understood that the meanings of “on”, “above” and “above” in this disclosure should be interpreted in the broadest sense, such that “on” means not only “directly on” something, but also includes something with an intermediary feature or layer, and that “above” or “above” means not only “on” something, but also includes something “above” or “above” without an intermediary feature or layer.

[0037] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0038] like Figures 1-8 As shown, an embodiment of the present invention provides a palletizing robot for intelligent manufacturing industry, including a fixed bracket 1. The fixed bracket 1 includes a base plate 30, a plurality of circular holes 31 are provided on the base plate 30 and a support rod 32 is fixedly connected to the top surface. A horizontal plate 33 is fixedly connected to the top of the support rod 32 and the horizontal plate 33 is fixedly connected to the inner wall of the annular plate 2.

[0039] In the technical solution of this embodiment, when installing the palletizing robot, the base plate 30 is placed at the designated position and the external fasteners are used to pass through the round hole 31 to fix the base plate 30 to the ground. The support rod 32 and the horizontal plate 33 are used to support the palletizing robot, so that the palletizing robot can operate stably.

[0040] The fixing support 1 is fixedly connected with an annular plate 2, the annular plate 2 is movably connected with a mounting column 3, the mounting column 3 is provided with a displacement assembly 4, the displacement assembly 4 comprises a fixed plate 14, the fixed plate 14 is fixedly connected on both sides of the mounting column 3 and is concave, the top surface of the fixed plate 14 is fixedly connected with a first motor 15, the rotor of the first motor 15 is fixedly connected with a first rotating shaft 16, the first rotating shaft 16 penetrates through the fixed plate 14 and is fixedly connected with a first gear 17, the outer side wall of the annular plate 2 is fixedly connected with an annular gear 18, the first gear 17 is meshed with the annular gear 18.

[0041] In the technical scheme of the embodiment, in use, the first motor 15 is started, the first motor 15 drives the first rotating shaft 16 to rotate, the first rotating shaft 16 drives the first gear 17 to rotate, the first gear 17 meshes with the annular gear 18 to move, the movement of the mounting column 3 on the annular plate 2 is realized, and the adaptive adjustment operation of the position of the mechanical hand is completed.

[0042] Further, a side groove 34 matched with the annular plate 2 is formed in the side wall of the mounting column 3, arc-shaped grooves 35 are formed in the upper and lower side walls of the side groove 34, the side wall of the annular plate 2 is inserted into the side groove 34 and the upper and lower side walls are fixedly connected with a circular ring plate 36, the circular ring plate 36 is movably connected with the arc-shaped grooves 35, the mounting column 3 and the annular plate 2 can be connected and mounted by inserting the annular plate 2 into the side groove 34, and the stability of the mounting column 3 during movement can be improved by the movement of the circular ring plate 36 in the arc-shaped grooves 35.

[0043] The outer side wall of the mounting column 3 is movably connected with a movable shell 5, the inner cavity of the movable shell 5 is provided with a height assembly 6, the height assembly 6 comprises a first turbine 19, the first turbine 19 is arc-shaped and fixedly connected with two on the outer wall of the mounting column 3, one side of the first turbine 19 is meshed with a first worm 20, the first worm 20 is movably connected with the movable shell 5 and the side wall is fixedly connected with a second gear 21, the same third gear 22 is meshed between the two second gears 21, the side wall center of the third gear 22 is fixedly connected with a second rotating shaft 23, the other end of the second rotating shaft 23 is fixedly connected with a second motor 24 fixed with the movable shell 5.

[0044] In the technical scheme of the embodiment, when the mechanical hand completes the grabbing of the article, the second motor 24 is started, the second motor 24 drives the second rotating shaft 23 to rotate, the second rotating shaft 23 drives the third gear 22 to mesh with the second gear 21 to rotate, the second gear 21 drives the first worm 20 to rotate, the first worm 20 meshes with the first turbine 19 to rotate, the first turbine 19 drives the movable shell 5 to rotate, the movable shell 5 rotates together with the circular shell 7 and the movable plate 8, and the height adjustment operation of the article grabbed by the mechanical hand can be realized, which is convenient for stacking.

[0045] Further, the movable shell 5 is provided with a circular groove matched with the mounting column 3 on one side, two arc-shaped shells 37 are fixedly connected in the circular groove, the mounting column 3 is inserted into the circular groove and two arc-shaped plates 38 are fixedly connected on the outer wall, the arc-shaped plates 38 are movably connected with the arc-shaped shells 37, when the movable shell 5 rotates, the arc-shaped plates 38 move in the arc-shaped shells 37, the stability and precision of the rotation of the movable shell 5 can be improved;

[0046] The movable shell 5 is movably connected with a circular shell 7 away from the annular plate 2, the circular shell 7 is movably connected with a movable plate 8, the movable plate 8 is provided with an extension assembly 9, the extension assembly 9 comprises a threaded hole, the threaded hole is arranged in the center of the side wall of the movable plate 8 and is internally threadedly connected with a threaded rod 25, one end of the threaded rod 25 penetrates through the circular shell 7 and is fixedly connected with a third motor 26, the third motor 26 is fixedly connected with the circular shell 7;

[0047] In the technical scheme of the embodiment, by starting the third motor 26, the third motor 26 drives the threaded rod 25 to rotate, the threaded rod 25 meshes with the threaded hole on the movable plate 8 to rotate, so that the movable plate 8 moves in the circular shell 7, the movable plate 8 drives the mechanical hand on one side to move together, the article can be extended or pulled back to one side, which facilitates stacking the article to the specified position and improves flexibility and precision;

[0048] The movable plate 8 is fixedly connected with a connecting plate 10 extending out of one side of the circular shell 7, the connecting plate 10 is movably connected with a movable shaft 11, the movable shaft 11 is fixedly connected with a mounting plate 12, and a plurality of mounting holes 39 are arranged on the mounting plate 12;

[0049] In the technical scheme of the embodiment, by arranging the mounting plate 12, different styles of mechanical hands can be installed, the mechanical hand and the mounting holes 39 on the mounting plate 12 are fixedly connected through fasteners, so that the stacking robot can realize stacking operation on different articles and improve versatility;

[0050] The connecting plate 10 and the circular shell 7 are provided with a rotating assembly 13, the rotating assembly 13 comprises a second turbine 27, the second turbine 27 is fixedly connected on the outer wall of the circular shell 7 and the movable shaft 11, the second turbine 27 is meshed with a second worm 28, one end of the second worm 28 is fixedly connected with a fourth motor 29, and the fourth motor 29 is fixedly connected with the movable shell 5 and the connecting plate 10 respectively;

[0051] In the technical scheme of the embodiment, when the article is grabbed or placed, the fourth motor 29 is started, the fourth motor 29 drives the second worm 28 to rotate, the second worm 28 meshes with the second turbine 27 to rotate, when the second turbine 27 drives the circular shell 7 to rotate, the circular shell 7 drives the mechanical hand to rotate through the movable plate 8, the article on the mechanical hand can be rotated and adjusted, the article is conveniently placed, when the second turbine 27 drives the movable shaft 11 to rotate, the movable shaft 11 drives the mounting plate 12 to rotate, the angle of the mechanical hand can be adjusted, and the precise grabbing operation is facilitated, and the flexibility is high.

[0052] The present application encompasses any substitutions, modifications, equivalent methods and schemes made on the essence and scope of the present application. In order to make the public have a thorough understanding of the present application, specific details are described in the following preferred embodiments of the present application, and the present application can be fully understood without the description of these details to those skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the present application, well-known methods, processes, procedures, elements and circuits are not described in detail.

[0053] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in computer readable storage medium, such as ROM / RAM, magnetic disc, optical disc and the like.

[0054] The above is only the preferred embodiment of the present application, and it should be pointed out that, for those skilled in the art, without departing from the principle of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present application.

Claims

1. A palletizing robot of the intelligent manufacturing industry, comprising a fixed support (1), characterized in that, The fixed support (1) is fixedly connected with an annular plate (2), the annular plate (2) is movably connected with a mounting column (3), the mounting column (3) is provided with a displacement assembly (4), the outer side wall of the mounting column (3) is movably connected with a movable shell (5), the inner cavity of the movable shell (5) is provided with a height assembly (6), the side, away from the annular plate (2), of the movable shell (5) is movably connected with a circular shell (7), the circular shell (7) is movably connected with a movable plate (8), the movable plate (8) is provided with an extension assembly (9), the side, extending out of the circular shell (7), of the movable plate (8) is fixedly connected with a connecting plate (10), the connecting plate (10) is movably connected with a movable shaft (11), the movable shaft (11) is fixedly connected with a mounting plate (12), a plurality of mounting holes (39) are formed in the mounting plate (12), and the connecting plate (10) and the circular shell (7) are provided with rotating assemblies (13).

2. The palletizing robot of claim 1, wherein The displacement assembly (4) comprises a fixed plate (14), the fixed plate (14) is fixedly connected to the two sides of the mounting column (3) and is provided in a concave shape, and the top surface of the fixed plate (14) is fixedly connected with a first motor (15).

3. The palletizing robot of claim 2, wherein the robot is configured to: The first rotating shaft (16) penetrates through the fixed plate (14) and is fixedly connected with a first gear (17), the outer side wall of the annular plate (2) is fixedly connected with an annular gear (18), and the first gear (17) is meshed with the annular gear (18). ​ 4. The palletizing robot of claim 3, wherein the robot is configured to: The height assembly (6) comprises a first turbine (19), the first turbine (19) is arc-shaped and two are fixedly connected to the outer wall of the mounting column (3), one side of the first turbine (19) is meshed with a first worm (20), the first worm (20) is movably connected with the movable shell (5) and is fixedly connected with a second gear (21) on the side wall. ​ 5. The palletizing robot of claim 4, wherein, The same third gear (22) is meshed between the two second gears (21), the second rotating shaft (23) is fixedly connected to the center of the side wall of the third gear (22), and the other end of the second rotating shaft (23) is fixedly connected with a second motor (24) fixed with the movable shell (5).

6. The palletizing robot of claim 5, wherein, The extension assembly (9) comprises a threaded hole, the threaded hole is formed in the center of the side wall of the movable plate (8) and is internally threadedly connected with a threaded rod (25), one end of the threaded rod (25) penetrates through the circular shell (7) and is fixedly connected with a third motor (26), and the third motor (26) is fixedly connected with the circular shell (7).

7. The palletizing robot of claim 6, wherein, The rotating assembly (13) comprises a second turbine (27), the second turbine (27) is fixedly connected to the outer wall of the circular shell (7) and the movable shaft (11), the second turbine (27) is meshed with a second worm (28), one end of the second worm (28) is fixedly connected with a fourth motor (29), and the fourth motor (29) is fixedly connected with the movable shell (5) and the connecting plate (10) respectively.

8. The palletizing robot of claim 7, wherein, The fixed support (1) comprises a bottom plate (30), a plurality of round holes (31) are formed in the bottom plate (30), and a supporting rod (32) is fixedly connected to the top surface of the bottom plate (30); the top end of the supporting rod (32) is fixedly connected with a horizontal plate (33); and the horizontal plate (33) is fixedly connected with the inner wall of the annular plate (2).

9. The palletizing robot of claim 8, wherein, A side slot (34) matched with the annular plate (2) is formed in the side wall of the mounting column (3); arc-shaped slots (35) are formed in the upper and lower side walls of the side slot (34); the side wall of the annular plate (2) is inserted into the side slot (34); and a circular ring plate (36) is fixedly connected to the upper and lower side walls of the annular plate (2).

10. The palletizing robot of claim 9, wherein, An arc-shaped shell (37) is fixedly connected to the circular groove on one side of the movable shell (5); the mounting column (3) is inserted into the circular groove; two arc-shaped plates (38) are fixedly connected to the outer wall of the mounting column (3); and the arc-shaped plates (38) are movably connected with the arc-shaped shells (37).

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