Industrial robot with fast palletizing function

Abstract

The present application belongs to the technical field of stacking equipment, and particularly relates to an industrial robot with a rapid stacking function. The present application is aimed at the problem that the existing stacking device cannot adjust the clamped components to achieve the diversity of material wrapping and taking and placing. The present application proposes the following scheme, which comprises a movable base, a vertically arranged fixed top frame is fixed on the top of the movable base through bolts, four moving mechanisms are installed on the bottom of the movable base, and a vertically sliding elevator box is installed on the outside of the fixed top frame. The present application adjusts the angle position of the top clamping box and the bottom clamping box through the first steering engine and the second steering engine, respectively, to achieve the wrapping type taking and placing stacking mode and the direct clamping type taking and placing stacking of materials of different sizes. For materials of different weights, the second steering engine at the bottom can also lift the bottom clamping box to a horizontal state, support and lift the materials at the bottom, and ensure the stability of the material taking and placing stacking process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacking equipment, and particularly relates to an industrial robot with a rapid stacking function. BACKGROUND

[0002] As a key link of material handling and warehouse logistics in modern industrial production, the efficiency and automation level of stacking operation directly affect the production capacity and cost of the whole production line. With the rapid development of manufacturing and logistics industry, higher and higher requirements are put forward for the working tempo, positioning accuracy and running stability of the stacking robot. At present, the stacking robot applied in industrial production mostly adopts a joint type multi-degree-of-freedom mechanical arm structure.

[0003] A bagged cement stacking equipment is disclosed in Chinese patent document with publication number CN109051830B. The conveying mechanism is located above the support table and installed on the rack. The material blocking plate is vertically arranged on the side of the support table away from the conveying mechanism and installed on the bracket. The guide mechanism is located below the conveying mechanism and can be horizontally slidably installed on the rack. The first driving mechanism is connected with the guide mechanism for driving the guide mechanism to slide. The surface of the guide mechanism is provided with an inclined guide surface, and the height of the guide surface gradually decreases towards the support table. The above-mentioned patent disclosure has the following problems: during the stacking process of the material, the stacking device cannot quickly take and place the material. The main reason is that the current stacking device must insert the clamping structure into the material for clamping before taking it out, and cannot adjust the clamping assembly to achieve the diversity of wrapping, taking and placing the material. The existing technology cannot easily solve such problems. Therefore, an industrial robot with a rapid stacking function is needed to solve the above-mentioned problems. SUMMARY

[0004] Based on the technical problem that the current stacking device cannot adjust the clamping assembly to achieve the diversity of wrapping, taking and placing the material, the present application proposes an industrial robot with a rapid stacking function.

[0005] The industrial robot with a rapid stacking function proposed by the present application comprises a mobile base, a vertically arranged fixed top frame is fixed on the top of the mobile base through bolts, four mobile mechanisms are installed on the bottom of the mobile base, a vertically sliding elevator box is installed on the outside of the fixed top frame, a vertically arranged side machine box is fixed on one side of the elevator box through bolts, and clamping mechanisms are installed on both sides of the side machine box.

[0006] The clamping mechanism comprises two first holes opened at one end of the side machine box, two electric push rods are arranged in the two first holes, one end of the two electric push rods is fixedly connected with a vertically arranged side extension frame, a top clamping assembly is arranged at the middle position of the side extension frame through a bearing, and the top clamping assembly comprises four top clamping machine boxes.

[0007] Preferably, a first steering wheel is arranged in the side extension frame and the top clamping machine box, and the output shaft of the first steering wheel is arranged on the fixing shaft of the four top clamping machine boxes.

[0008] Preferably, a horizontally arranged second steering wheel is arranged at the inner position of the bottom of the top clamping machine box, and the output shaft of the second steering wheel is fixedly connected with the rotating shaft of the bottom clamping machine box.

[0009] Preferably, vertically arranged fixed top frame side sliding grooves are arranged at the two sides of the fixed top frame, a vertically penetrating sliding cavity is arranged at the middle position of the elevator box, the sliding cavity is arranged in interfitting mode between the fixed top frame, and side sliding blocks are arranged on the two side inner walls of the elevator box.

[0010] Preferably, a vertically arranged limiting vertical rod is arranged between the top and the bottom of the fixed top frame side sliding groove at one side, the limiting vertical rod is arranged in sliding sleeve mode between the side sliding blocks, a lifting lead screw is arranged between the top and the bottom of the fixed top frame side sliding groove at the other side through a bearing, the lifting lead screw is arranged in threaded sleeve mode between the side sliding blocks, a first driving motor is fixedly arranged at the bottom of the lifting lead screw, and the first driving motor is arranged in interfitting mode in the inner position of the moving base.

[0011] Preferably, rubber rollers are arranged at one side of the top clamping machine box and the bottom clamping machine box through a bearing, a plurality of convex rubber blocks are arranged on the circumferential outer wall of the rubber roller, second driving motors are arranged in the top clamping machine box and the bottom clamping machine box, and a gear set connection transmission is arranged between the output shaft of the second driving motor and the rotating shaft of the rubber roller.

[0012] Preferably, the moving mechanism comprises a rolling rubber ball groove arranged at the bottom of the moving base, a driving cavity is arranged at the top of the rolling rubber ball groove, a vertically arranged rotating motor is arranged in the interfitting mode in the inner position of the driving cavity, the output shaft of the rotating motor is arranged at the bottom, a driving gear is fixedly arranged at the bottom of the output shaft of the rotating motor, a rotating frame gear is arranged at the middle position of the top of the rolling rubber ball groove through a medium-thick bearing, and the rotating frame gear is arranged in engagement matching mode with the driving gear.

[0013] Preferably, the bottom of the rotating frame gear is fixed with a ball frame assembly, the ball frame assembly comprises a limiting ball frame and a driving arc frame, the limiting ball frame and the driving arc frame are designed as an integral structure, the inner wall of the limiting ball frame is provided with ball grooves, and the ball grooves of the inner wall of the limiting ball frame are arranged in an array, and rolling limiting balls are installed in the ball grooves of the limiting ball frame.

[0014] Preferably, the bottom of the ball frame assembly is provided with a rolling rubber ball, and the surface of the rolling rubber ball is provided with a convex rubber block.

[0015] Preferably, the bottom inner wall of the driving arc frame is provided with a driving belt groove, driving belt limiting machine boxes are fixed at both sides of the driving belt groove of the driving arc frame, a driving belt is installed between the driving belt limiting machine boxes at both sides, driving belt limiting chains are arranged at both sides of the driving belt, and the driving belt limiting chains at both sides are respectively connected with the driving belt limiting machine boxes at both sides, the surface of the driving belt is provided with a rubber convex strip, the rubber convex strip on the outer wall of the driving belt is in extrusion contact with the convex rubber block on the surface of the rolling rubber ball, and a third driving motor is fixed in the driving arc frame, and the output shaft of the third driving motor is connected with the rotating shaft of the driving belt through a gear set.

[0016] The beneficial effects in the application are:

[0017] The industrial robot with the rapid stacking function can adjust the clamping position according to the size of the material during the material clamping work of the clamping mechanism, and the clamping position does not need to be adjusted specially when the material is carried. After the clamping position is directly reached, the angle position of the top clamping box and the bottom clamping box is adjusted through the first steering engine and the second steering engine respectively, so that the material of different sizes is placed and taken in a wrapping mode and a direct clamping mode. For the material of different weights, the second steering engine at the bottom can also lift the bottom clamping box to be horizontal, support and lift the material at the bottom, and ensure the stability of the material placing and taking process. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Figure 1 is a schematic diagram of one side position of the overall structure of the industrial robot with the rapid stacking function proposed in the application;

[0019] Figure 2 Figure 2 is a schematic diagram of the other side position of the overall structure of the industrial robot with the rapid stacking function proposed in the application;

[0020] Figure 3 Figure 3 is a schematic diagram of the partial structure of the moving base of the industrial robot with the rapid stacking function proposed in the application;

[0021] Figure 4The invention provides an industrial robot with rapid stacking function Figure 3 The structure of part A in the schematic view is enlarged.

[0022] Figure 5 The invention provides an industrial robot with rapid stacking function

[0023] Figure 6 The invention provides an industrial robot with rapid stacking function

[0024] In the figure: 1, moving base; 2, fixed top frame; 3, elevator box; 4, fixed top frame side sliding groove; 5, side box; 6, lifting screw; 7, side extension frame; 8, electric push rod; 9, limiting vertical rod; 10, top clamping box; 11, bottom clamping box; 12, rolling rubber ball; 13, rotating frame gear; 14, limiting ball holder; 15, rolling rubber ball groove; 16, limiting rolling ball; 17, driving arc frame; 18, driving belt; 19, rotating motor; 20, driving gear; 21, driving belt limiting box; 22, driving belt limiting chain; 23, sliding cavity; 24, side sliding block; 25, rubber roller. DETAILED DESCRIPTION

[0025] Reference Figures 1-6 An industrial robot with rapid stacking function, comprising a moving base 1, a vertically arranged fixed top frame 2 is fixed on the top of the moving base 1 through bolts, four moving mechanisms are installed on the bottom of the moving base 1, a vertically sliding elevator box 3 is installed on the outside of the fixed top frame 2, a vertically arranged side box 5 is fixed on one side of the elevator box 3 through bolts, and a clamping mechanism is installed on both sides of the side box 5.

[0026] The clamping mechanism comprises two first holes opened at one end of the side box 5, an electric push rod 8 is nested and installed in each of the two first holes, a vertically arranged side extension frame 7 is fixed at one end of the two electric push rods 8 through bolts, a top clamping assembly is installed in the middle position of the side extension frame 7 through bearings, the top clamping assembly comprises four top clamping boxes 10, two adjacent top clamping boxes 10 are installed through bearings, and a vertically arranged bottom clamping box 11 is installed at the bottom of each of the four top clamping boxes 10 through bearings.

[0027] Further, a first steering wheel is installed inside the side extension frame 7 and the top clamping box 10, and the output shafts of the first steering wheel are respectively installed with fixed shafts of the four top clamping boxes 10.

[0028] Further, a horizontally arranged second steering wheel is nested and installed in the inner position at the bottom of the top clamping box 10, and the output shaft of the second steering wheel is fixedly installed with the rotating shaft of the bottom clamping box 11.

[0029] Further, the two sides of the fixed top frame 2 are provided with vertically arranged fixed top frame side sliding grooves 4, and the middle position of the elevator box 3 is provided with a vertically penetrating sliding cavity 23 which is inserted and installed between the fixed top frame 2, and the inner walls of the two sides of the elevator box 3 are provided with side sliding blocks 24.

[0030] Further, the vertical limiting rods 9 are slidingly and sleevedly installed between the top and bottom of the fixed top frame side sliding groove 4 on one side, and the lifting lead screws 6 are installed through bearings between the top and bottom of the fixed top frame side sliding groove 4 on the other side, the lifting lead screws 6 are threadedly and sleevedly installed between the side sliding blocks 24, the bottom of the lifting lead screw 6 is fixed with a first driving motor, and the first driving motor is internally nested and fixedly installed on the moving base 1.

[0031] Further, the one side of the top clamping machine box 10 and the bottom clamping machine box 11 is provided with a rubber roller 25 through a bearing, the circumferential outer wall of the rubber roller 25 is fixed with an array of protruding rubber blocks, the inside of the top clamping machine box 10 and the bottom clamping machine box 11 is provided with a second driving motor, and the output shaft of the second driving motor is connected with the transmission gear set of the rotating shaft of the rubber roller 25.

[0032] Further, the moving mechanism includes a rolling rubber ball groove 15 formed at the bottom of the moving base 1, a driving cavity is formed at the top of the rolling rubber ball groove 15, a vertically arranged rotating motor 19 is nested and installed in the driving cavity, the output shaft of the rotating motor 19 is located at the bottom, and a driving gear 20 is fixed at the bottom of the output shaft of the rotating motor 19, a rotating frame gear 13 is installed through a medium thick hum at the top middle position of the rolling rubber ball groove 15, and the rotating frame gear 13 is engaged and matched with the driving gear 20.

[0033] Further, the bottom of the rotating frame gear 13 is fixed with a ball frame assembly, the ball frame assembly includes a limiting ball frame 14 and a driving arc frame 17, the limiting ball frame 14 and the driving arc frame 17 are designed as an integral structure, a ball groove is formed in the inner wall of the limiting ball frame 14, the ball grooves in the inner wall of the limiting ball frame 14 are arrayed, and a rolling limiting ball 16 is installed in the ball groove of the limiting ball frame 14.

[0034] Further, the bottom of the ball frame assembly is installed with a rolling rubber ball 12, and the surface of the rolling rubber ball 12 is provided with protruding rubber blocks.

[0035] Further, the bottom inner wall of the driving arc frame 17 is provided with a driving belt groove, and the driving arc frame 17 is fixed at both sides of the driving belt groove, and driving belt limiting cabinets 21 are installed at both sides of the driving arc frame 17, and a driving belt 18 is installed between the driving belt limiting cabinets 21 at both sides, and driving belt limiting chains 22 are arranged at both sides of the driving belt 18, and the driving belt limiting chains 22 at both sides are respectively connected with the driving belt limiting cabinets 21 at both sides, and the surface of the driving belt 18 is provided with rubber protrusions, and the rubber protrusions on the outer wall of the driving belt 18 are in extrusion contact with the protruding rubber blocks on the surface of the rolling rubber ball 12, and the third driving motor is fixed in the driving arc frame 17, and the output shaft of the third driving motor is connected with the rotating shaft of the driving belt 18 through a gear set.

[0036] When the present application is used: when used, the four moving mechanisms at the bottom of the mobile base 1 are adjusted to move and adjust the position of the entire stacking industrial robot, when moving, the fourth driving motor rotates to drive the rotation of the driving belt 18, and the forward and backward rotation adjustment of the bottom rolling rubber ball 12 is realized through the forward and reverse rotation of the driving belt 18, and the rotation of the bottom rotating frame gear 13 is driven by the driving gear 20 at the bottom of the top rotating motor 19 to make the ball frame assembly at the bottom deflect in the left and right directions, and then the rolling rubber ball 12 generates directional deflection when rolling; the elevator cabinet 3 moves up and down through the lifting lead screw 6, and the material clamping mechanism extends to the material position by the extension of the electric push rod 8 at both sides during the process of clamping the material stacking, and the top clamping cabinet 10 is pushed to the material position, and the material clamping is realized by the contraction of the electric push rod 8, and the material is transferred to the stacking position for stacking, and during the work of the clamping mechanism clamping the material, the size of the material can be adjusted, and during the material handling, the clamping position does not need to be adjusted, and after directly reaching the clamping position, the angle position of the top clamping cabinet 10 and the bottom clamping cabinet 11 is adjusted through the first steering wheel and the second steering wheel respectively to realize the wrapping type taking and placing stacking mode and the direct clamping type taking and placing stacking of materials of different sizes, and for materials of different weights, the second steering wheel at the bottom can also lift the bottom clamping cabinet 11 to be horizontal, and the material is supported and lifted at the bottom to ensure the stability of the material taking and placing stacking process; the rubber roller 25 rotates through the driving of the second driving motor, and the material clamped between the top clamping cabinet 10 and the bottom clamping cabinet 11 can move up and down in the vertical direction, and the material stacking has high adjustability.

[0037] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, and any person skilled in the art can make equivalent replacement or change within the technical range disclosed by the present application according to the technical solution and the inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. An industrial robot with rapid palletizing function, comprising a mobile base (1), wherein a vertically arranged fixed top frame (2) is bolted to the top of the mobile base (1), characterized in that, The bottom of the movable base (1) is equipped with four moving mechanisms. The fixed top frame (2) is equipped with a vertically sliding lifting box (3). A vertically arranged side box (5) is fixed to one side of the lifting box (3) by bolts. A clamping mechanism is installed on both sides of the side box (5). Clamping mechanism: includes two first holes opened at one end of the side housing (5), and electric push rods (8) are nested in the two first holes. One end of the two electric push rods (8) is fixed with a vertically arranged side extension frame (7) by bolts. A top clamping assembly is installed in the middle of the side extension frame (7) by bearings. The top clamping assembly includes four top clamping housings (10). Two adjacent top clamping housings (10) are installed by bearings. A vertically arranged bottom clamping housing (11) is installed at the bottom of each of the four top clamping housings (10) by bearings. The fixed top frame (2) has vertically arranged fixed top frame side sliding grooves (4) on both sides. The elevator box (3) has a vertically penetrating sliding cavity (23) in the middle. The sliding cavity (23) is inserted and installed with the fixed top frame (2). The inner walls of both sides of the elevator box (3) are provided with side sliders (24). On one side, a vertically arranged limiting rod (9) is fixed between the top and bottom of the fixed top frame side sliding groove (4). The limiting rod (9) is slidably sleeved with the side slider (24). On the other side, a lifting screw is installed between the top and bottom of the fixed top frame side sliding groove (4) through a bearing. (6) The lifting screw (6) and the side slider (24) are threaded together and installed. The bottom of the lifting screw (6) is fixed with a first drive motor. The first drive motor is nested and fixed inside the movable base (1). Rubber rollers (25) are installed on one side of the top clamping box (10) and the bottom clamping box (11) through bearings. The outer circumference of the rubber roller (25) is fixed with arrayed protruding rubber blocks. The top clamping box (10) and the bottom clamping box (11) are both installed with a second drive motor. The output shaft of the second drive motor and the rotating shaft of the rubber roller (25) are connected by a gear set for transmission.

2. An industrial robot with rapid palletizing function according to claim 1, characterized in that, The first servo motor is installed inside the side extension frame (7) and the top clamping housing (10), and the output shaft of the first servo motor is respectively installed with the fixed shaft of the four top clamping housings (10).

3. An industrial robot with rapid palletizing function according to claim 2, characterized in that, The top clamping housing (10) has a horizontally arranged second servo motor nested inside its bottom position, and the output shaft of the second servo motor is fixedly installed with the rotating shaft of the bottom clamping housing (11).

4. An industrial robot with rapid palletizing function according to claim 1, characterized in that, The moving mechanism includes a rolling rubber ball groove (15) at the bottom of the moving base (1). A drive chamber is provided at the top of the rolling rubber ball groove (15). A vertically arranged rotating motor (19) is nested inside the drive chamber. The output shaft of the rotating motor (19) is located at the bottom, and a drive gear (20) is fixed at the bottom of the output shaft of the rotating motor (19). A rotating frame gear (13) is installed at the middle position of the top of the rolling rubber ball groove (15) through a medium-coarse humb. The rotating frame gear (13) and the drive gear (20) are meshed and matched.

5. An industrial robot with rapid palletizing function according to claim 4, characterized in that, The bottom of the rotating frame gear (13) is fixed with a ball frame assembly, which includes a limiting ball frame (14) and a driving arc frame (17). The limiting ball frame (14) and the driving arc frame (17) are designed as an integral structure. The inner wall of the limiting ball frame (14) is provided with a ball groove, and the ball grooves on the inner wall of the limiting ball frame (14) are arranged in an array. A rolling limiting ball (16) is installed in the ball groove of the limiting ball frame (14).

6. An industrial robot with rapid palletizing function according to claim 5, characterized in that, A rolling rubber ball (12) is installed at the bottom of the ball frame assembly, and the surface of the rolling rubber ball (12) is provided with protruding rubber blocks.

7. An industrial robot with rapid palletizing function according to claim 6, characterized in that, The bottom inner wall of the drive arc frame (17) is provided with a drive belt groove. Drive belt limit boxes (21) are fixed on both sides of the drive arc frame (17) located in the drive belt groove. Drive belts (18) are installed between the drive belt limit boxes (21) on both sides. Drive belt limit chains (22) are provided on both sides of the drive belt (18). The drive belt limit chains (22) on both sides are snapped and installed between the drive belt limit boxes (21) on both sides respectively. Rubber ridges are provided on the surface of the drive belt (18). The rubber ridges on the outer wall of the drive belt (18) are pressed and contacted with the protruding rubber blocks on the surface of the rolling rubber ball (12). A third drive motor is fixed inside the drive arc frame (17). The output shaft of the third drive motor is connected to the rotating shaft of the drive belt (18) through a gear set.

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