Manipulator for stacking

Abstract

The utility model discloses a manipulator for stacking, which relates to the technical field of manipulators and comprises a fixing plate, a fixing seat is mounted above the fixing plate, a mounting seat is fixedly connected to the lower surface of the fixing plate, a connecting plate is slidably connected to the inner wall of the mounting seat, and a control plate is fixedly connected to the outer surface of the connecting plate. A movable plate is slidably connected to the inner wall of the control plate, a movable clamping plate is fixedly connected to the lower surface of the movable plate, a toothed plate is fixedly connected to the upper surface of the movable plate, a control mechanism is installed outside the toothed plate, and a fixed clamping plate is fixedly connected to the lower portion of the control plate. According to the carton grabbing device, the toothed plate, the fixed clamping plate, the movable clamping plate and the control mechanism are matched, a carton can be grabbed through the fixed clamping plate and the movable clamping plate, the toothed plate and the control mechanism can drive the movable clamping plate to move, the carton is prevented from sliding off, and grabbing of the long carton is achieved.

Description

Technical Field

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

[0002] A robot is a mechanical device that can replace manpower. It can be used for the transfer and palletizing of items such as cartons and packaging bags. By installing a palletizing robot on the production line, manpower can be saved.

[0003] When palletizing cartons, a palletizing robot can be used to operate. When in use, the splint on the robot can fix both sides of the carton and control the movement. When the carton is too long, only fixing the center position will cause the carton to sag on both sides. When in use, various products are usually installed inside the carton, and the center of gravity of these products is distributed differently. When these products are installed inside the carton, the overall center of gravity of the carton will not be in the center position, and the robot usually directly grabs the center of the carton when grabbing. At this time, since the center of gravity of the carton is located near the edge, it is very troublesome for the robot to grab longer cartons. At this time, since the position of the splint on the robot cannot be moved, a new robot needs to be replaced to meet the needs of grabbing longer cartons, which is more troublesome to use. Since the center of gravity of the longer carton is located at the edge, the carton will tilt when the robot splint is clamped, which will cause the carton to fall or the surface to be damaged. For this reason, we provide a palletizing robot to solve the above problems. Utility Model Content

[0004] The utility model aims to make up for the deficiencies of the prior art and provides a palletizing robot.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a palletizing robot comprises a fixed plate, a fixed seat is installed above the fixed plate, a mounting seat is fixedly connected to the lower surface of the fixed plate, a connecting plate is slidably connected to the inner wall of the mounting seat, a control plate is fixedly connected to the outer surface of the connecting plate, a movable plate is slidably connected to the inner wall of the control plate, a movable splint is fixedly connected to the lower surface of the movable plate, a tooth plate is fixedly connected to the upper surface of the movable plate, a control mechanism is installed on the outside of the tooth plate, a fixed splint is fixedly connected to the lower side of the control plate, and a suction cup is installed below the fixed plate.

[0006] Furthermore, the outer surface of the fixing plate is fixedly connected to a mounting plate, a No. 1 electric hydraulic push rod is installed outside the mounting plate, and an output end of the No. 1 electric hydraulic push rod is fixedly connected to the outer surface of the connecting plate.

[0007] Furthermore, the outer surface of the tooth plate is slidably connected to the inner wall of the movable plate, a slide groove is provided inside the control plate, the outer surface of the movable plate is fixedly connected to a limiting rod 1, and the outer surface of the limiting rod 1 is slidably connected to the inside of the slide groove.

[0008] Furthermore, the control mechanism includes a gear, the teeth of the gear are meshed with the teeth of the gear plate, the upper surface of the control plate is fixedly connected to a support seat, and the outer surface of the gear rotating shaft is rotatably connected to the inside of the support seat.

[0009] Furthermore, an electric motor is installed outside the control panel, and an output end of the electric motor is fixedly connected to an outer surface of the gear rotating shaft.

[0010] Furthermore, a No. 2 electric hydraulic push rod is installed on the outside of the fixed plate, an output end of the No. 2 electric hydraulic push rod is fixedly connected to a cross plate, and the base of the suction cup is installed on the outside of the cross plate.

[0011] Furthermore, the outer surface of the connecting plate is fixedly connected to the second limiting rod, and the outer surface of the second limiting rod is slidably connected to the inside of the mounting seat.

[0012] Compared with the prior art, the palletizing robot has the following beneficial effects:

[0013] The utility model can grab cartons through the coordination among the tooth plate, the fixed splint, the movable splint and the control mechanism, and can drive the movable splint to move through the tooth plate and the control mechanism, at which time the distance between the movable splint and the fixed splint will change, and when the center of gravity of a longer carton is offset, the movable splint can be controlled to move, and at this time the center and both sides of the longer carton can be grabbed, avoiding the carton from tilting due to the fact that the splint of the manipulator cannot move and can only grab the center of the carton, and avoiding the carton from slipping, thereby realizing the grabbing of longer cartons and avoiding the carton from slipping or tilting due to the center of gravity offset of the longer carton.

[0014] The utility model provides components such as a suction cup and a No. 2 electric hydraulic push rod. The No. 2 electric hydraulic push rod can be used to control the position of the suction cup to move up and down. When grabbing a carton of a lower height, the suction cup can be controlled to move downward, so that the suction cup can be fitted with the upper surface of the carton. The upper part of the carton can be fixed with negative pressure through the suction cup. When grabbing the carton through a movable splint and a fixed splint, the suction cup can increase the fixing effect of the carton and improve the stability during fixation. By providing components such as a slide groove and a limit rod, the limit rod can limit the position of the movable plate to prevent the movable splint from being out of contact with the control plate or the moving stroke from being too large. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is the overall structure diagram of the utility model;

[0016] Figure 2 This is a structural diagram of the main components of the utility model;

[0017] Figure 3 This is a front view of the fixing plate component of the utility model;

[0018] Figure 4 This is a structural diagram of the mounting seat components of the utility model;

[0019] Figure 5 It is a partial enlarged view A of the utility model;

[0020] Figure 6 This is a structural diagram of the suction cup components of the utility model.

[0021] In the figure: 1. fixed plate; 2. fixed seat; 3. mounting seat; 4. connecting plate; 5. control plate; 6. movable plate; 7. movable clamping plate; 8. tooth plate; 9. control mechanism; 901. gear; 902. support seat; 903. motor; 10. fixed clamping plate; 11. suction cup; 12. mounting plate; 13. No. 1 electric hydraulic push rod; 14. slide slot; 15. limit rod 1; 16. No. 2 electric hydraulic push rod; 17. cross plate; 18. limit rod 2. DETAILED DESCRIPTION

[0022] 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.

[0023] like Figure 1 - Figure 6 As shown, the utility model provides a technical solution: a palletizing robot, comprising a fixed plate 1, a fixed seat 2 is installed above the fixed plate 1, and the fixed plate 1 can be connected to the robot arm through the fixed seat 2, so as to facilitate the connection and control of the robot.

[0024] The lower surface of the fixed plate 1 is fixedly connected with a mounting seat 3, and the mounting seat 3 is provided with two groups installed on both sides of the fixed plate 1. The inner wall of the mounting seat 3 is slidably connected with a connecting plate 4, and the outer surface of the fixed plate 1 is fixedly connected with a mounting plate 12. An electric hydraulic push rod No. 1 is installed on the outside of the mounting plate 12, and the output end of the electric hydraulic push rod No. 1 is fixedly connected to the outer surface of the connecting plate 4. The connecting plate 4 can be controlled to move by the electric hydraulic push rod No. 1, and the grasping action of the manipulator can be further controlled.

[0025] The outer surface of the connecting plate 4 is fixedly connected to the control plate 5, and the inner wall of the control plate 5 is slidably connected to the movable plate 6. A slide groove 14 is opened inside the control plate 5. The outer surface of the movable plate 6 is fixedly connected to the limit rod 15, and the outer surface of the limit rod 15 is slidably connected to the inside of the slide groove 14. The position of the movable plate 6 can be limited by the limit rod 15, and the movable plate 6 can be moved inside the control plate 5. The lower surface of the movable plate 6 is fixedly connected to the movable splint 7, and the position of the movable splint 7 can be controlled by the movement of the movable plate 6. The position of the movable splint 7 can be limited by the cooperation of the limit rod 15 and the slide groove 14.

[0026] A tooth plate 8 is fixedly connected to the upper surface of the movable plate 6, and the outer surface of the tooth plate 8 is slidably connected to the inner wall of the movable plate 6. A control mechanism 9 is installed on the outside of the tooth plate 8, and the tooth plate 8 can be controlled to move by the control mechanism 9. At this time, the tooth plate 8 can drive the movable plate 6 to move. A limiting groove corresponding to the tooth plate 8 is opened inside the control plate 5, which can improve the stability of the tooth plate 8 when moving and avoid shaking of the tooth plate 8 when moving.

[0027] The control mechanism 9 includes a gear 901, the teeth of which mesh with the teeth of the toothed plate 8. The meshing of the gear 901 and the toothed plate 8 can further drive the movable plate 6 to move. The upper surface of the control plate 5 is fixedly connected to a support seat 902. The outer surface of the rotating shaft of the gear 901 is rotationally connected to the inner part of the support seat 902. The two sides of the rotating shaft of the gear 901 can be fixed by the support seat 902, which can increase the stability of the gear 901 during rotation and improve the overall stability during operation.

[0028] A motor 903 is installed on the outside of the control board 5. The output end of the motor 903 is fixedly connected to the outer surface of the rotating shaft of the gear 901. The motor 903 is installed corresponding to the gear 901. The motor 903 can control multiple groups of movable splints 7 to move toward both sides of the fixed plate 1. The movable splints 7 can be controlled to adjust to the size of longer cartons.

[0029] A fixed splint 10 is fixedly connected to the bottom of the control panel 5. The two sides of the carton can be clamped by cooperating with the movable splint 7 and the fixed splint 10, and the carton can be fixed and moved. The position of the movable splint 7 can be adjusted to adapt to different lengths of cartons. When the carton is long or the carton is filled with products whose center of gravity is not at the center, the position of the movable splint 7 can be adjusted to facilitate better stacking of cartons of different lengths. The outer surface of the connecting plate 4 is fixedly connected to a limiting rod 18, and the outer surface of the limiting rod 18 is slidably connected to the inside of the mounting seat 3. The connecting plate 4 can be auxiliary supported by the limiting rod 18 to improve the stability of the connecting plate 4 when driving the movable splint 7 and the fixed splint 10.

[0030] A suction cup 11 is installed below the fixed plate 1, and a No. 2 electric hydraulic push rod 16 is installed outside the fixed plate 1. The output end of the No. 2 electric hydraulic push rod 16 is fixedly connected to a cross plate 17. The base of the suction cup 11 is installed outside the cross plate 17. The position of the suction cup 11 can be controlled by the No. 2 electric hydraulic push rod 16. When fixing cartons of different heights, the position of the suction cup 11 can be adjusted, so that the suction cup 11 can be better fitted with the upper surface of the carton. When grabbing the carton, the suction cup 11 can assist in fixing the carton, which can improve the fixing effect of the carton. In the text, the motor 903, the No. 1 electric hydraulic push rod 13, and the No. 2 electric hydraulic push rod 16 are all electrically connected to the external power supply through the control panel. The motor 903, the No. 1 electric hydraulic push rod 13, and the No. 2 electric hydraulic push rod 16 are all prior art. Their specific structures, working principles, and electrical connection relationships are not described in detail here.

[0031] Working principle: When in use, first adjust the position of the movable splint 7 according to the length of the carton, and the motor 903 can control the gear 901 to rotate. At this time, the gear 901 can control the tooth plate 8 to move, and the tooth plate 8 can further drive the movable splint 7 to move. The position of the movable splint 7 can be adjusted to adapt to the length of the carton. The No. 1 electric hydraulic push rod 13 can control the fixed splint 10 and the movable splint 7 to fix the two sides of the carton. When fixing, the suction cup 11 can be used to adsorb the upper surface of the carton to assist in fixing the carton. For cartons of different heights, the position of the suction cup 11 can be controlled by the No. 2 electric hydraulic push rod 16 to make the suction cup 11 better fit and fix the carton.

Claims

1. A palletizing robot, comprising a fixed plate (1), characterized in that: A fixing seat (2) is installed above the fixing plate (1), a mounting seat (3) is fixedly connected to the lower surface of the fixing plate (1), a connecting plate (4) is slidably connected to the inner wall of the mounting seat (3), a control plate (5) is fixedly connected to the outer surface of the connecting plate (4), a moving plate (6) is slidably connected to the inner wall of the control plate (5), a moving clamping plate (7) is fixedly connected to the lower surface of the moving plate (6), a tooth plate (8) is fixedly connected to the upper surface of the moving plate (6), a control mechanism (9) is installed on the outside of the tooth plate (8), a fixing clamping plate (10) is fixedly connected to the lower side of the control plate (5), and a suction cup (11) is installed below the fixing plate (1).

2. A palletizing robot according to claim 1, characterized in that: The outer surface of the fixing plate (1) is fixedly connected to a mounting plate (12), a No. 1 electric hydraulic push rod (13) is mounted outside the mounting plate (12), and an output end of the No. 1 electric hydraulic push rod (13) is fixedly connected to the outer surface of the connecting plate (4).

3. A palletizing robot according to claim 1, characterized in that: The outer surface of the tooth plate (8) is slidably connected to the inner wall of the movable plate (6); a slide groove (14) is provided inside the control plate (5); a limiting rod (15) is fixedly connected to the outer surface of the movable plate (6); and the outer surface of the limiting rod (15) is slidably connected to the inside of the slide groove (14).

4. A palletizing robot according to claim 1, characterized in that: The control mechanism (9) comprises a gear (901), the gear teeth of the gear (901) meshing with the gear teeth of the gear plate (8), the upper surface of the control plate (5) being fixedly connected to a support seat (902), and the outer surface of the rotating shaft of the gear (901) being rotatably connected to the inside of the support seat (902).

5. A palletizing robot according to claim 4, characterized in that: An electric motor (903) is installed outside the control panel (5), and an output end of the electric motor (903) is fixedly connected to the outer surface of the rotating shaft of the gear (901).

6. A palletizing robot according to claim 1, characterized in that: A second electric hydraulic push rod (16) is installed outside the fixed plate (1), an output end of the second electric hydraulic push rod (16) is fixedly connected to a transverse plate (17), and a base of the suction cup (11) is installed outside the transverse plate (17).

7. A palletizing robot according to claim 1, characterized in that: The outer surface of the connecting plate (4) is fixedly connected to a second limiting rod (18), and the outer surface of the second limiting rod (18) is slidably connected to the interior of the mounting seat (3).

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