Base lifting device of robot palletizer

Abstract

The utility model discloses a base lifting device of a palletizing robot, which comprises a bottom frame, a frame body assembly vertically mounted on the bottom frame and a supporting assembly sliding on the side wall of the frame body assembly, and a lifting assembly in transmission connection with the supporting assembly is further mounted in the frame body assembly. By means of the design, the problem that due to the fixity of the arm length of the palletizing robot, when a large palletizing work area is processed or articles are stacked at a higher position, work limitation of the palletizing robot is caused can be solved.

Description

Technical Field

[0001] The utility model relates to a technical field, in particular to a base lifting device of a palletizing robot. Background Art

[0002] Palletizing robots are automated devices used to stack goods into neat arrangements, often used in warehousing and logistics. These robots are usually composed of multi-axis robotic arms, sensors, vision systems, and control systems, and can perform operations such as grabbing, positioning, and stacking goods.

[0003] In the field of robot palletizing, the existing robot base height is fixed, and the palletizing height depends on the arm length of the robot body; however, in order to expand the palletizing working area or to stack items higher, it is usually necessary to select a palletizing robot with a longer arm length. Therefore, when the arm length of the palletizing robot is fixed, the existing palletizing robot will have limitations when working;

[0004] The above problems need to be solved urgently by those skilled in the art. Utility Model Content

[0005] In order to solve the technical defects raised in the above-mentioned background technology, the purpose of the utility model is to provide a base lifting device for a palletizing robot, which can solve the limitations of the palletizing robot's operation caused by the fixed arm length of the palletizing robot when processing a larger palletizing work area or stacking items higher.

[0006] The utility model adopts the following technical solutions:

[0007] A base lifting device for a palletizing robot comprises a base frame, a frame assembly vertically mounted on the base frame, and a lifting assembly sliding on a side wall of the frame assembly; a lifting assembly drivingly connected to the lifting assembly is also mounted in the frame assembly.

[0008] Optionally, the frame assembly includes a first frame and a second frame mounted parallel to each other on the base frame, a slider is provided on the same side and adjacent side walls of the first frame and the second frame, and the lifting assembly is fixedly connected to the slider.

[0009] Optionally, a mounting vertical bar and a guide rail bar screwed to the mounting vertical bar are fixedly mounted on the same side and adjacent side walls of the first frame and the second frame, and the sliding block slides on the guide rail bar.

[0010] Optionally, a first bearing and a second bearing are fixedly installed between the first frame and the second frame, and the lifting assembly includes a driving motor installed on the side wall of the first bearing, and a screw rod that is transmission-connected to the output shaft of the driving motor and vertically penetrates the first bearing and the second bearing, and a lifting block is provided on the screw rod, and the lifting block is threadedly matched with the screw rod, and the lifting assembly is fixedly connected to the lifting block and the slider.

[0011] Optionally, the output shaft of the driving motor is provided with a driving gear, and the end of the screw rod facing the top of the frame is provided with a driven gear, and the driving gear is drivingly connected to the driven gear.

[0012] Optionally, the lifting assembly includes a back plate screwed to the slider, and two side plates fixed to the edge positions of both sides of the back plate, and a support plate screwed to the slider is also fixedly installed between the two side plates, and the support plate is used to install the palletizing robot.

[0013] Optionally, the base frame includes at least two pads, at least two of the pads are arranged parallel to the ground, and at least two support rods for supporting the frame body are arranged between the at least two pads.

[0014] Optionally, protective plates are provided on two opposite side surfaces of the frame and on a side opposite to the supporting assembly.

[0015] Optionally, an anti-collision beam is fixedly connected between the first frame and the second frame, and the anti-collision beam is arranged at the top position of the first frame and the second frame to prevent the sliding block from sliding out of the guide rail.

[0016] Optionally, the drive motor is a servo motor.

[0017] In summary, the beneficial effects of the utility model are:

[0018] The frame assembly is installed on the base frame, so that the frame assembly is vertically fixed, and at the same time, a lifting assembly is slidably installed on the frame assembly, and a lifting assembly is installed in the frame assembly and is transmission-connected to the lifting assembly. Since the lifting assembly and the frame assembly are slidingly connected, the lifting assembly is driven by the lifting assembly, so that the lifting assembly can slide up and down on the frame assembly, thereby achieving the lifting function, enabling the palletizing robot to lift and lower, avoiding the palletizing robot from being unable to palletize a larger working area and to palletize items higher due to insufficient arm length, thereby improving the scalability of the utility model.

[0019] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0021] Figure 2 It is an exploded view of an embodiment of the utility model;

[0022] Figure 3 It is an embodiment of the utility model Figure 2 A magnified image of area A;

[0023] Figure 4 It is a schematic diagram of the structure of the base frame, frame assembly and lifting assembly of an embodiment of the utility model;

[0024] Figure 5 It is a schematic diagram of the structure of the lifting assembly of an embodiment of the utility model;

[0025] Figure 6 It is a schematic diagram of the structure of the lifting component of an embodiment of the utility model.

[0026] Description of reference numerals in the figures:

[0027] 1. Base frame; 11. Pad rod; 12. Support rod; 2. Frame assembly; 21. First frame; 22. Second frame; 23. Slider; 24. Vertical mounting bar; 25. Guide bar; 26. First bearing; 27. Second bearing; 3. Lifting assembly; 31. Back plate; 32. Side plate; 33. Support plate; 4. Lifting assembly; 41. Drive motor; 411. Active gear; 42. Screw rod; 421. Driven gear; 43. Lifting block; 5. Protective plate; 6. Anti-collision beam. DETAILED DESCRIPTION

[0028] In order to make the content of the utility model more clearly understood, the utility model is further described below based on specific embodiments in combination with the accompanying drawings.

[0029] It should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc. used in this text is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. Unless otherwise specified, the meaning of "a plurality of" is two or more.

[0030] Unless otherwise clearly specified and limited, the terms "mounted", "connected", and "coupled" shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood through specific circumstances.

[0031] As Figures 1 to 6 shown, an embodiment of the present application provides a base lifting device for a palletizing robot, including a chassis 1, a frame assembly 2 vertically mounted on the chassis 1, and a lifting component 3 slidably disposed on the side wall of the frame assembly 2. An elevating assembly 4 drivingly connected to the lifting component 3 is further mounted in the elevating frame.

[0032] In the embodiment of the present application, the above-mentioned frame assembly 2 can be screwed to the chassis 1 or welded to the chassis 1. The above-mentioned frame assembly 2 is composed of a first frame 21 and a second frame 22 in a "day" shape. The first frame 21 and the second frame 22 are oppositely arranged and vertically parallel to each other on the chassis 1. The first frame 21 and the second frame 22 can be fixedly connected by first bearings 26 and first bearings 26, or can also be fixed by connecting rods. By fixing the first frame 21 and the second frame 22, the two side walls of the first frame 21 and the second frame 22 can be kept parallel, so that the lifting component 3 can slide up and down on the same side wall of the frame assembly 2 under the drive of the elevating assembly 4. The above-mentioned elevating assembly 4 is mounted in the frame assembly 2. Since the lifting component 3 slides on the side wall of the frame assembly 2, the elevating assembly 4 is drivingly connected to the frame assembly 2, so that the lifting component 3 can be lifted, thereby driving the palletizing robot to lift, avoiding the situation that the palletizing working area cannot be expanded due to the insufficient arm length of the palletizing robot, and improving the working range and palletizing height of the palletizing robot.

[0033] Optionally, as Figure 4As shown in the figure, the frame assembly 2 includes a first frame 21 and a second frame 22 that are parallel to each other and installed on the chassis 1. Sliders 23 are provided on the same side and adjacent side walls of the first frame 21 and the second frame 22, and the lifting assembly 3 is fixedly connected to the sliders 23.

[0034] In the embodiment of the present application, the above-mentioned frame assembly 2 can be composed of a first frame 21 and a second frame 22 in the shape of a "day". On the same side of the first frame 21 and the second frame 22, and on two adjacent side walls, sliders 23 are provided. The number of sliders 23 can be four. Every two sliders 23 are respectively arranged on the first frame 21 and the second frame 22. One back surface of the above-mentioned lifting assembly 3 can be fixedly connected to the sliders 23 or can be connected by screws. By arranging the sliders 23 on the first frame 21 and the second frame 22 and fixedly connecting them to the lifting assembly 3, the lifting assembly 3 can slide up and down on the first frame 21 and the second frame 22, thereby realizing the lifting function. Since a palletizing robot is installed on the lifting assembly 3, through the above scheme, the palletizing robot can move up and down, so that the palletizing range can be expanded without extending the arm length of the palletizing robot.

[0035] Further, as Figure 4 shown, mounting vertical bars 24 are fixedly installed on the same side and adjacent side walls of the first frame 21 and the second frame 22, and guide rail bars 25 screwed to the mounting vertical bars 24, and the sliders 23 slide on the guide rail bars 25.

[0036] In the embodiment of the present application, guide rail bars 25 are provided on the sliding sections of the first frame 21 and the second frame 22 and the sliders 23. The number of the above-mentioned guide rail bars 25 is two, which are respectively installed on the side walls on the same side of the first frame 21 and the second frame 22. By sliding the sliders 23 on the guide rail bars 25, it is convenient for the sliders 23 to slide up and down better.

[0037] Optionally, as Figure 4 shown, a first bearing 26 and a second bearing 27 are also fixedly installed between the first frame 21 and the second frame 22. The lifting assembly 4 includes a driving motor 41 installed on the side wall of the first bearing 26, and a lead screw 42 that is in transmission connection with the output shaft of the driving motor 41 and vertically penetrates through the first bearing 26 and the second bearing 27. A lifting block 43 is provided on the lead screw 42, and the lifting block 43 is in threaded cooperation with the lead screw 42. The lifting assembly 3 is fixedly connected to the lifting block 43 and the sliders 23.

[0038] In the embodiment of the present application, the first bearing 26 is fixedly connected to the first frame 21 and the second frame 22, so that the first frame 21 and the second frame 22 can be fixed, and by installing the first bearing 26, the motor 41 can be driven to be installed and fixed, and the second bearing 27 is axially the same as the first bearing 26, and is installed at the bottom of the first frame 21 and the second frame 22. By installing the first bearing 26 and the second bearing 27, the screw rod 42 can be fixed and installed, and the screw rod 42 is passed through and rotated between the first bearing 26 and the second bearing 2 7, in this way, the screw rod 42 can be rotated vertically, and a lifting block 43 is provided on the screw rod 42, and the lifting block 43 has an internal thread, which is threadedly matched with the external thread on the screw rod 42. At the same time, the lifting block 43 is fixedly connected to the support plate 33 in the lifting component 3, and the back plate 31 in the lifting component 3 is screwed to the slider 23, and when the driving motor 41 drives the screw rod 42, the screw rod 42 can be rotated forward and reverse, so that the lifting component 3 can slide up and down on the frame component 2, thereby achieving the lifting function.

[0039] Optional, such as Figure 5 As shown, the output shaft of the driving motor 41 is provided with a driving gear 411 , and the end of the screw rod 42 facing the top of the frame is provided with a driven gear 421 , and the driving gear 411 is drivingly connected with the driven gear 421 .

[0040] In the embodiment of the present application, the above-mentioned driving gear 411 is fixedly connected to the output shaft of the driving motor 41. Since the screw rod 42 is vertically arranged and a driven wheel is arranged on the top of the screw rod 42, the driving gear 411 and the driven gear 421 are chain-driven by a chain, which can drive the screw rod 42 to rotate, thereby driving the lifting component 3 to be lifted and lowered, and at the same time, it can also prevent slippage between the driving gear 411 and the driven gear 421, thereby enriching this embodiment.

[0041] Further, such as Figure 2 and Figure 6 As shown, the lifting assembly 3 includes a back plate 31 screwed to the slider 23, and two side plates 32 fixed at the edge positions of both sides of the back plate 31, and a support plate 33 screwed to the slider 23 is fixedly installed between the two side plates 32, and the support plate 33 is used to install the stacking robot.

[0042] In the embodiment of the present application, the back plate 31 is in a "butterfly" shape, and is fixedly connected to the slider 23 on the same side and adjacent side walls of the first frame 21 and the second frame 22. The two side plates 32 are fixedly installed on both sides of the back plate 31, and the two side plates 32 are in a triangular shape. One end of the support plate 33 is in contact with the back plate 31, and at the same time, the two sides of the support plate 33 are fixedly arranged on the two opposite sides of the two side plates 32. The bottom of the support plate 33 is fixedly connected to the lifting block 43, and can also be screwed. By installing a stacking robot on the support plate 33, the support plate 33 can be moved up and down under the drive of the lifting block 43 to complete the lifting function.

[0043] Optional, such as Figure 1 and Figure 4 As shown, the base frame 1 includes at least two pad rods 11, and the at least two pad rods 11 are arranged parallel to the ground. At least two support rods 12 for supporting the frame body are also arranged between the at least two pad rods 11.

[0044] In the embodiment of the present application, the number of the above-mentioned pad rods 11 can be two or three. The three pad rods 11 are distributed in a parallel array, and each of the above-mentioned pad rods 11 is fixedly connected by two support rods 12. The above-mentioned first frame 21 and the second frame 22 are respectively installed on the support rods 12. By arranging the pad rods 11 and the support rods 12, and by arranging a pad rod 11 away from the base frame 1 (the frontmost pad rod 11), it is possible to prevent the base lifting device of the present embodiment from collapsing during palletizing by the palletizing robot, thereby enriching the present embodiment.

[0045] Optional, such as Figure 2 As shown, protective plates 5 are provided on two opposite side surfaces of the frame and on a side opposite to the supporting assembly 3 .

[0046] In the embodiment of the present application, the above-mentioned protective plate 5 is arranged on three surfaces of the frame component 2, including two side surfaces and a back surface. It should be understood that since there is a supporting component 3 sliding on the front surface, a protective plate 5 is not arranged on this surface. At the same time, a protective plate 5 can also be arranged on the top surface of the frame component 2. By setting the protective plate 5, the internal components and related components can be protected, and dust can be prevented from entering, thereby improving the service life of this embodiment.

[0047] Optional, such as Figure 2 As shown, an anti-collision beam 6 is fixedly connected between the first frame 21 and the second frame 22 . The anti-collision beam 6 is arranged at the top position of the first frame 21 and the second frame 22 to prevent the slider 23 from sliding out of the guide rail 25 .

[0048] In the embodiment of the present application, the above-mentioned anti-collision beam 6 is arranged at the top position of the first frame 21 and the second frame 22, and is connected to the first frame 21 and the second frame 22. By setting the anti-collision beam 6, it is possible to prevent the slider 23 from sliding out of the guide bar 25, thereby preventing the supporting component 3 from sliding out of the frame component 2, thereby improving the operating safety of the present embodiment.

[0049] Optional, such as Figure 3 and Figure 4 As shown, the drive motor 41 is a servo motor.

[0050] In the embodiment of the present application, the driving motor 41 may be a servo motor, which can achieve more precise control and positioning. Since the servo motor can monitor the rotor position in real time through a built-in position feedback device (such as an encoder), precise control of the motor position, speed and torque can be achieved.

[0051] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A base lifting device for a palletizing robot, characterized in that: The invention comprises a base frame (1), a frame assembly (2) vertically mounted on the base frame (1), and a lifting assembly (3) sliding on the side wall of the frame assembly (2); a lifting assembly (4) drivingly connected to the lifting assembly (3) is also mounted in the frame assembly (2).

2. The base lifting device of a palletizing robot according to claim 1, characterized in that: The frame assembly (2) comprises a first frame (21) and a second frame (22) which are mounted on the base frame (1) in parallel with each other, a slider (23) being provided on the same side and adjacent side walls of the first frame (21) and the second frame (22), and the lifting assembly (3) is fixedly connected to the slider (23).

3. The base lifting device of a palletizing robot according to claim 2, characterized in that: A mounting vertical bar (24) and a guide rail bar (25) screwed to the mounting vertical bar (24) are fixedly mounted on adjacent side walls on the same side of the first frame (21) and the second frame (22), and the sliding block (23) slides on the guide rail bar (25).

4. The base lifting device of a palletizing robot according to claim 2, characterized in that: A first bearing (26) and a second bearing (27) are also fixedly installed between the first frame (21) and the second frame (22); the lifting assembly (4) comprises a driving motor (41) installed on the side wall of the first bearing (26); and a screw rod (42) drivingly connected to the output shaft of the driving motor (41) and vertically penetrated into the first bearing (26) and the second bearing (27); a lifting block (43) is arranged on the screw rod (42); the lifting block (43) is threadedly matched with the screw rod (42); and the lifting assembly (3) is fixedly connected to the lifting block (43) and the slider (23).

5. The base lifting device of a palletizing robot according to claim 4, characterized in that: The output shaft of the driving motor (41) is provided with a driving gear (411), and the end of the screw rod (42) facing the top of the frame is provided with a driven gear (421), and the driving gear (411) is transmission-connected with the driven gear (421).

6. The base lifting device of a palletizing robot according to claim 4, characterized in that: The lifting assembly (3) comprises a back plate (31) screwed to the slider (23), and two side plates (32) fixed to the edge positions of both sides of the back plate (31); a support plate (33) screwed to the slider (23) is also fixedly installed between the two side plates (32); the support plate (33) is used to install a palletizing robot.

7. The base lifting device of a palletizing robot according to claim 1, characterized in that: The base frame (1) comprises at least two pads (11), the at least two pads (11) are arranged in parallel on the ground, and at least two support rods (12) for supporting the frame body are arranged between the at least two pads (11).

8. The base lifting device of a palletizing robot according to claim 1, characterized in that: Protective plates (5) are provided on two opposite side surfaces of the frame and on a side opposite to the supporting assembly (3).

9. The base lifting device of a palletizing robot according to claim 3, characterized in that: An anti-collision beam (6) is also fixedly connected between the first frame (21) and the second frame (22); the anti-collision beam (6) is arranged at the top of the first frame (21) and the second frame (22) and is used to prevent the slider (23) from sliding out of the guide rail (25).

10. The base lifting device of a palletizing robot according to claim 4, characterized in that: The driving motor (41) is a servo motor.

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