Stacking manipulator

Abstract

The utility model discloses a stacking manipulator, which relates to the technical field of manipulators, is used for solving the problem that the height of the existing stacking manipulator is inconvenient to adjust, and comprises a vertical rod, a mechanical arm and a mechanical claw, the middle of the vertical rod is movably connected with the mechanical arm, the mechanical arm is movably connected with the mechanical claw, and a metal plate is welded at the bottom of the vertical rod. A sliding groove is formed in the middle of the vertical rod and movably connected with a sliding block, a mechanical arm is arranged at the front end of the sliding block, a two-way motor is fixedly connected to the top of the vertical rod, the output end of the two-way motor is connected with a threaded rod, the threaded rod penetrates through the top end of the vertical rod, and a threaded hole is formed in the middle of the sliding block and penetrates through the threaded hole. According to the stacking manipulator provided by the utility model, the sliding block can move up and down along the vertical rod, so that the mechanical arm and the mechanical claw can be driven to move up and down, adaptive adjustment can be carried out according to the stacking height of goods, and smooth stacking of the goods is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a palletizing manipulator. Background Art

[0002] The palletizing robot can stack (or unstack) packaged goods of different sizes neatly and automatically on a pallet (or production line, etc.).

[0003] After searching, the patent with Chinese patent authorization announcement number CN213622295U discloses a palletizing robot, which relates to the field of robot technology, including a base plate, a mounting frame is fixed on the top of the base plate, a base is arranged on one side of the motor module, a first hydraulic pump is fixed on the other side of the base, a rotating connecting block is arranged on one side of the first hydraulic pump, and a first connecting frame is arranged on the outer surface of the rotating connecting block. Although the prior art arranges a slider on one side of the module motor to facilitate parallel movement of the robot, increase the working space of the robot, and make the robot use less manpower for carrying as much as possible during work, the mounting frame and the base are connected in a fixed connection manner in the prior art, so that the overall height of the robot cannot be adjusted accordingly, so that the robot cannot stack the goods after they accumulate to a certain height, and manual stacking is required later. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a palletizing robot, which solves the problem that the mounting frame and the base are connected in a fixed manner in the prior art proposed in the background technology, so that the overall height of the robot cannot be adjusted accordingly, so that the robot cannot stack the goods after they accumulate to a certain height, and manual stacking is required subsequently.

[0005] To achieve the above objectives, the utility model is implemented through the following technical solutions: a stacking robot, including a vertical rod, a robot arm and a robot claw, the middle part of the vertical rod is movably connected to the robot arm, the robot arm is movably connected to the robot claw, a metal plate is welded at the bottom of the vertical rod, a slide groove is provided in the middle part of the vertical rod, the slide groove is movably connected to a slider, a robot arm is provided at the front end of the slider, a bidirectional motor is fixedly connected to the top of the vertical rod, a threaded rod is connected to the output end of the bidirectional motor, the threaded rod is inserted through the top of the vertical rod, a threaded hole is provided in the middle part of the slider, the threaded rod is inserted through the threaded hole, the above components are used in combination to realize the movement of the slider up and down along the vertical rod, and then can drive the robot arm and the robot claw to move up and down, so that it can be adjusted accordingly according to the stacking height of the goods to ensure the smooth stacking of the goods.

[0006] Preferably, a plurality of anti-skid bumps are fixedly mounted on the mechanical claw, and the anti-skid bumps are arranged equidistantly. The provision of the anti-skid bumps can increase the friction force when the mechanical claw contacts the cargo, thereby preventing the cargo from slipping.

[0007] Preferably, the front portion of the slider is fixedly connected to a C-shaped frame, the length of the lower plate of the C-shaped frame is greater than the length of the upper plate, a first through hole is provided in the middle of the upper and lower plates of the C-shaped frame, a second through hole is provided at the bottom end of the robotic arm, screws are inserted between the first through hole and the second through hole, and nuts are connected to the screws. The above components are used in combination to realize the removal of the robotic arm together with the robotic claw from the vertical rod.

[0008] Preferably, a placement hole is provided at the top end of the vertical rod, and the diameter of the placement hole is larger than the output end of the bidirectional motor and the diameter of the threaded rod. The opening of the placement hole can ensure the smooth rotation of the threaded rod.

[0009] The utility model provides a palletizing robot. It has the following beneficial effects:

[0010] 1. This kind of palletizing robot is achieved by welding a metal plate at the bottom of the vertical rod, opening a slide groove in the middle of the vertical rod, and the slide groove is movably connected to a slider, and a bidirectional motor is fixedly connected to the top of the vertical rod. At the same time, the output end of the bidirectional motor is connected to a threaded rod, and the threaded rod is inserted through the top of the vertical rod, and a threaded hole is opened in the middle of the slider, and the threaded rod is inserted through the threaded hole. With the coordinated use of the above components, the slider can move up and down along the vertical rod, and then the mechanical arm and the mechanical claw can be driven to move up and down, so that it can be adjusted according to the stacking height of the goods to ensure the smooth stacking of the goods.

[0011] 2. This kind of palletizing robot can improve the friction between the mechanical claw and the goods when they come into contact by fixing a number of anti-slip bumps on the mechanical claw, thereby preventing the goods from slipping during the clamping process and protecting the goods from damage.

[0012] 3. This kind of palletizing robot is connected by fixing a C-shaped frame at the front of the slider, and a first through hole is opened in the middle of the upper and lower plates of the C-shaped frame. At the same time, a second through hole is opened at the bottom of the robot arm, and screws are inserted between the first through hole and the second through hole, and then nuts are connected to the screws. The above parts are used in combination to realize the removal of the robot arm together with the mechanical claw from the vertical rod, which is convenient for the later maintenance of the robot arm and the mechanical claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0014] Figure 2 This is a schematic diagram of the threaded rod connection structure of the utility model;

[0015] Figure 3This is a schematic diagram of the C-shaped frame connection structure of the utility model;

[0016] Figure 4 This is a schematic diagram of the structure of the second through hole of the utility model;

[0017] Figure 5 This is a schematic diagram of the installation structure of the anti-skid protrusion of the utility model.

[0018] In the figure, 1. vertical rod; 2. robotic arm; 3. robotic claw; 4. metal plate; 5. slide groove; 6. slider; 7. bidirectional motor; 8. threaded rod; 9. threaded hole; 10. anti-slip bump; 11. C-shaped frame; 12. first through hole; 13. second through hole; 14. screw; 15. nut; 16. placement hole. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] Example 1

[0021] See also Figure 1-5 The embodiment of the utility model provides a technical solution: a stacking robot, including a vertical rod 1, a mechanical arm 2 and a mechanical claw 3, the middle part of the vertical rod 1 is movably connected to the mechanical arm 2, the mechanical arm 2 is movably connected to the mechanical claw 3, the metal plate 4 is welded at the bottom of the vertical rod 1, a slide groove 5 is provided in the middle part of the vertical rod 1, the slide groove 5 is movably connected to the slider 6, and the front end of the slider 6 is provided with a mechanical arm 2, the top of the vertical rod 1 is fixedly connected to a bidirectional motor 7, the output end of the bidirectional motor 7 is connected to a threaded rod 8, the threaded rod 8 is inserted through the top of the vertical rod 1, a threaded hole 9 is provided in the middle part of the slider 6, and the threaded rod 8 is inserted through the threaded hole 9, wherein the setting of the slide groove 5 provides a track for the slider 6 to slide up and down, and at the same time can limit the sliding of the slider 6; the bidirectional motor 7 provides kinetic energy for the bidirectional rotation of the threaded rod 8; the bidirectional rotation of the threaded rod 8 cooperates with the threaded hole 9 to realize the up and down sliding of the slider 6, and then can drive the mechanical arm 2 and the mechanical claw 3 to slide up and down, so that it can be adjusted accordingly according to the stacking height of the goods to ensure the smooth stacking of the goods.

[0022] Example 2

[0023] According to the attached Figure 5 As shown in the figure, a number of anti-skid protrusions 10 are fixedly installed on the mechanical claw 3, and the anti-skid protrusions 10 are arranged equidistantly. The setting of the anti-skid protrusions 10 can increase the friction when the mechanical claw 3 contacts the goods, thereby preventing the goods from slipping during the clamping process.

[0024] Example 3

[0025] See attached Figure 3 And attached Figure 4 In the figure, the front part of the slider 6 is fixedly connected to the C-shaped frame 11, the length of the lower plate of the C-shaped frame 11 is greater than the length of the upper plate, a first through hole 12 is provided in the middle of the upper and lower plates of the C-shaped frame 11, and a second through hole 13 is provided at the bottom end of the robotic arm 2. A screw 14 is inserted between the first through hole 12 and the second through hole 13, and a nut 15 is connected to the screw 14. With the cooperation of the screw 14, the first through hole 12, the second through hole 13 and the nut 15, the robotic arm 2 together with the robotic claw 3 can be disassembled, thereby facilitating the repair and maintenance of the robotic arm 2 and the robotic claw 3.

[0026] Example 4

[0027] According to the attached Figure 2 As shown in the figure, a placement hole 16 is opened at the top of the vertical rod 1, and the diameter of the placement hole 16 is larger than the output end of the bidirectional motor 7 and the diameter of the threaded rod 8. The size setting of the placement hole 16 can ensure the smooth rotation of the threaded rod 8.

[0028] It should be particularly noted that the mechanical arm 2 and the mechanical claw 3 in the present invention are both prior arts and are used in conjunction with each other.

[0029] Working principle: When in use, insert the slider 6 into the slide groove 5 of the vertical rod 1, then weld the metal plate 4 to the bottom of the vertical rod 1, insert the threaded rod 8 into the placement hole 16, and weld the bidirectional motor 7 to the top of the vertical rod 1. Insert the bottom end of the robotic arm 2 into the C-shaped frame 11, and then insert the screw 14 into the first through hole 12 and the second through hole 13, and then tighten the nut 15 on the screw 14, open the robotic arm 2 and the mechanical claw 3 to clamp and stack the goods. When the height of the robotic arm 2 and the mechanical claw 3 needs to be adjusted, turn on the bidirectional motor 7 to drive the threaded rod 8 to rotate, and with the cooperation of the threaded hole 9, drive the slider 6 to slide upward, and then drive the robotic arm 2 and the mechanical claw 3 to clamp the goods and slide upward.

[0030] The components of the utility model, 1, vertical rod; 2, mechanical arm; 3, mechanical claw; 4, metal plate; 5, slide groove; 6, slider; 7, bidirectional motor; 8, threaded rod; 9, threaded hole; 10, anti-slip protrusion; 11, C-shaped frame; 12, first through hole; 13, second through hole; 14, screw; 15, nut; 16, placement hole, are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or through conventional experimental methods.

[0031] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0032] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A palletizing robot, comprising a vertical rod (1), a mechanical arm (2) and a mechanical claw (3), wherein the middle portion of the vertical rod (1) is movably connected to the mechanical arm (2), and the mechanical arm (2) is movably connected to the mechanical claw (3), characterized in that: A metal plate (4) is welded to the bottom of the vertical rod (1); a slide groove (5) is provided in the middle of the vertical rod (1); the slide groove (5) is movably connected to a slider (6); a mechanical arm (2) is provided at the front end of the slider (6); a bidirectional motor (7) is fixedly connected to the top of the vertical rod (1); an output end of the bidirectional motor (7) is connected to a threaded rod (8); the threaded rod (8) is inserted through the top of the vertical rod (1); a threaded hole (9) is provided in the middle of the slider (6); the threaded rod (8) is inserted through the threaded hole (9).

2. A palletizing robot according to claim 1, characterized in that: A plurality of anti-skid protrusions (10) are fixedly mounted on the mechanical claw (3), and the anti-skid protrusions (10) are arranged at equal distances.

3. A palletizing robot according to claim 1, characterized in that: The front of the slider (6) is fixedly connected to a C-shaped frame (11); the length of the lower plate of the C-shaped frame (11) is greater than the length of the upper plate; a first through hole (12) is provided in the middle of the upper and lower plates of the C-shaped frame (11); a second through hole (13) is provided at the bottom end of the mechanical arm (2); a screw (14) is inserted between the first through hole (12) and the second through hole (13); and a nut (15) is connected to the screw (14).

4. A palletizing robot according to claim 1, characterized in that: A placement hole (16) is provided at the top end of the vertical rod (1), and the diameter of the placement hole (16) is larger than the diameter of the output end of the bidirectional motor (7) and the threaded rod (8).

Images