Stacking manipulator and I-shaped disc stacking equipment

Abstract

The utility model relates to the technical field of clamping devices, in particular to a stacking mechanical arm and I-shaped disc stacking equipment, which are used for stacking disc-shaped objects with center holes and comprise a multi-dimensional moving device and a material taking shaft. The material taking shaft is horizontally arranged so that the material taking shaft can be inserted into a center hole of a disc-shaped object to lift the disc-shaped object. The output end of the multi-dimensional moving device is connected with the material taking shaft so as to drive the material taking shaft to move, and actions such as material taking, transplanting, stacking and abutting of the disc-shaped objects are achieved. The first end of the material taking shaft is provided with a stop piece, and the stop piece can exceed the outer circumferential face of the material taking shaft. The outer diameter of the material taking shaft is matched with the central hole in the disc-shaped object, namely the outer diameter of the material taking shaft is close to the inner diameter of the central hole so as to penetrate through the central hole; after the material taking shaft drives the stopping piece to penetrate through the center hole, the stopping piece exceeds the material taking shaft, and the outer diameter of the material taking shaft is matched with the inner diameter of the center hole, so that the stopping piece exceeds the radial direction of the center hole to prevent the disc-shaped object from being separated from the material taking shaft in the transplanting process.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping devices, in particular to a palletizing manipulator and an I-shaped tray palletizing device. Background Art

[0002] At present, after the production of finished enameled flat electromagnetic wires is completed, the coils are packaged according to the order sequence and the specified delivery requirements. Several coils are combined into a pallet, assembled on the pallet, and then transported to the manufacturer after being bundled and palletized. Several coils are combined into a pallet, and currently they are mainly transported to the pallet by manual operation of a crane or forklift, and the pallet is slightly moved by manpower to make the sides of the I-shaped tray as close together as possible, so as to bundle the nylon belt for palletizing. This is time-consuming and labor-intensive, and employees are prone to lumbar muscle strain when using waist strength, and their happiness index is not high. In order to realize the automatic transfer of the coil and the automatic closing of the sides of the coil after being placed on the bracket, reduce the time of the coil on the pallet, reduce manual intervention and make the coil automatically close, improve the efficiency of coil delivery and palletizing, and improve the happiness index of employees, this device was invented. Utility Model Content

[0003] In order to solve the problem of difficulty in stacking wire reels, the utility model provides a stacking robot and an I-shaped reel stacking device.

[0004] The technical solution of the utility model is:

[0005] On the one hand, the utility model provides a palletizing robot and an I-shaped plate palletizing device, which are used to palletize a plate-shaped object with a center hole, and are characterized in that they include:

[0006] Multi-dimensional mobile device;

[0007] A material taking shaft, connected to the output end of the multi-dimensional moving device and arranged horizontally;

[0008] A stopper connected to the first end of the material taking shaft and adapted to extend beyond the outer circumference of the material taking shaft;

[0009] The outer diameter of the material taking shaft matches the inner diameter of the central hole on the disc, and the material taking shaft is suitable for driving the stopper to pass through the central hole.

[0010] Furthermore, a first rotating driving member is installed on the multi-dimensional moving device, and the output end of the first rotating driving member is drivingly connected to the second end of the material picking shaft; the inner wall of the center hole is provided with a through groove with openings at both ends along its axial direction; the stop member is suitable for moving through the through groove along the axial direction of the center hole.

[0011] Furthermore, the stopper is connected to the first end of the material taking shaft via a reset guide assembly, and the stopper is suitable for guiding movement along the radial direction of the material taking shaft; the stopper has a wedge-shaped surface on one side facing the center hole.

[0012] Furthermore, the multi-dimensional moving device includes a plane moving module for controlling the movement of the material picking shaft on a plane; a rotation driving module for controlling the rotation of the material picking shaft in a horizontal direction; and a lifting driving module for controlling the lifting of the material picking shaft.

[0013] Furthermore, the output end of the planar moving module is connected to the rotation driving module, the output end of the rotation driving module is connected to the lifting driving module; and the output end of the lifting driving module is connected to the material taking shaft.

[0014] Furthermore, the planar moving module includes an X-axis moving module and a Y-axis moving module; the X-axis moving module includes a first truss connecting plate and an X-axis sliding assembly connected thereto.

[0015] Furthermore, the Y-axis moving module includes a second truss connecting plate and a Y-axis sliding assembly connected thereto; the second truss connecting plate and the first truss connecting plate pass through and are connected to the same fixed axis at the center, and the X-axis sliding assembly and the Y-axis sliding assembly are relatively arranged in the axial direction of the fixed axis.

[0016] Furthermore, the rotation drive module includes

[0017] The second rotating driving member is fixed on the fixed shaft and an output end thereof is driven and connected to the lifting driving module through a transmission assembly.

[0018] Furthermore, the lifting drive module includes

[0019] A lifting drive component connected to the output end of the rotation drive module;

[0020] A lead screw connected to the output end of the lifting drive member;

[0021] A slider assembly, cooperatively connected to the lead screw;

[0022] A movable plate connected to the slider group;

[0023] Wherein, the material taking shaft is connected to the movable plate.

[0024] According to another aspect of the utility model, an I-shaped palletizing device is provided, which is characterized by comprising a truss and the above-mentioned palletizing robot connected to the truss.

[0025] The beneficial effects achieved by the utility model are:

[0026] The stacking robot provided in the embodiment of the present application is used for stacking disk-shaped objects with a center hole, and includes a multi-dimensional moving device and a material-picking shaft; the material-picking shaft is arranged horizontally so as to be inserted into the center hole of the disk-shaped object and thus realize the lifting of the disk-shaped object; the output end of the multi-dimensional moving device is connected to the material-picking shaft to drive it to move, so as to realize the actions of picking up, transplanting, stacking, and pressing the disk-shaped object; a stopper is arranged at the first end of the material-picking shaft, and the stopper can exceed the outer peripheral surface of the material-picking shaft; the outer diameter of the material-picking shaft matches the disk-shaped object. The center hole on the feeding shaft, that is, the outer diameter of the feeding shaft is close to the inner diameter of the center hole so as to pass through the center hole; after the feeding shaft drives the stopper to pass through the center hole, since the stopper exceeds the feeding shaft, then since the outer diameter of the feeding shaft matches the inner diameter of the center hole, the stopper will also exceed from the radial direction of the center hole to prevent the disc-shaped object from escaping from the feeding shaft during the transplanting process; finally, the feeding shaft is used to transport the disc-shaped object to the designated position for stacking and drive the disc-shaped objects to move closer to each other, so as to improve the palletizing efficiency and reduce the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the description, are used to explain the principles of the present application.

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0029] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0030] Figure 1 is a three-dimensional diagram of the first embodiment of the present application;

[0031] Figure 2 This is a front view of the first embodiment of the present application;

[0032] Figure 3 is a side view of the first embodiment of the present application;

[0033] Figure 4 yes Figure 3 A magnified image of point A;

[0034] Figure 5 It is a schematic diagram of the coordination structure between the material taking shaft and the disc-loaded object in an embodiment of the present application.

[0035] In the figure,

[0036] 100, multi-dimensional moving device; 200, material picking shaft; 300, stopper; 400, first rotating drive member; 110, planar moving module; 111, first truss connecting plate; 112, X-axis sliding assembly; 113, second truss connecting plate; 114, Y-axis sliding assembly; 115, fixed shaft; 120, rotating drive module; 121, second rotating drive member; 122, transmission assembly; 130, lifting drive module; 131, lifting drive member; 132, lead screw; 133, slider group; 134, movable plate; 135, mounting plate. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0038] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0039] For ease of description, spatial relative terms may be used in the text to describe the relative positional relationship or movement of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation other than the orientation depicted in the figure. For example, if the device in the figure undergoes a position flip or a posture change or a motion state change, then these directional indications also change accordingly, for example: an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below ······" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0040] Embodiment 1:

[0041] The palletizing robot provided in the embodiment of the present application is used for palletizing a disk-shaped object 500 having a center hole, and is characterized in that it includes a multi-dimensional moving device 100; a material picking shaft 200, which is connected to the output end of the multi-dimensional moving device 100 and is horizontally arranged; a stopper 300, which is connected to the first end of the material picking shaft 200 and is suitable for exceeding the outer peripheral surface of the material picking shaft 200; wherein the outer diameter of the material picking shaft 200 matches the center hole on the disk-shaped object 500, and the material picking shaft 200 is suitable for driving the stopper 300 to pass through the center hole

[0042] In this embodiment, the palletizing robot is used to palletize the disk-shaped object 500 with a center hole, and includes a multi-dimensional moving device 100 and a material picking shaft 200; the material picking shaft 200 is horizontally arranged so as to be inserted into the center hole of the disk-shaped object 500 and thus realize the lifting of the disk-shaped object 500; the output end of the multi-dimensional moving device 100 is connected to the material picking shaft 200 to drive it to move freely in multiple directions, so as to realize the material picking, transplanting, stacking, and pressing of the disk-shaped object 500; the first end of the material picking shaft 200 is provided with a stopper 300, and the stopper 300 is suitable for (can) exceed the outer peripheral surface of the material picking shaft 200; the outer diameter of the material picking shaft 200 Matching the center hole on the object, that is, the outer diameter of the feeding shaft 200 is close to the inner diameter of the center hole so as to pass through the center hole; after the feeding shaft 200 drives the stopper 300 to pass through the center hole, since the stopper 300 exceeds the feeding shaft 200, then since the outer diameter of the feeding shaft 200 matches the inner diameter of the center hole, the stopper 300 will also exceed the center hole in the radial direction of the center hole to prevent the disc 500 from escaping from the feeding shaft 200 during the transplanting process; finally, the disc 500 is transported to the designated position for stacking by the feeding shaft 200 and the discs 500 are driven to move closer to each other to improve the palletizing efficiency and reduce the labor intensity of workers.

[0043] In an optional embodiment, a first rotating driving member 400 is installed on the multi-dimensional moving device 100, and the output end of the first rotating driving member 400 drives the second end of the material picking shaft 200; the inner wall of the center hole is provided with a through groove with openings at both ends along its axial direction; the stop member 300 is suitable for moving through the through groove along the axial direction of the center hole.

[0044] like Figure 4 , 5As shown, in this embodiment, the inner wall of the center hole of the disk 500 is provided with a through groove with two ends opened along the axial direction of the center hole. When in use, the first rotary driving member 400 is rotated by a certain angle to align the stopper 300 with the open end of the through groove, and then the multi-dimensional moving device 100 drives the material taking shaft 200 and the stopper 300 on the material taking shaft 200 to pass through the center hole and the through groove thereon; after the stopper 300 completely passes through the through groove on the center hole, the first rotary driving member 400 is controlled to drive the material taking shaft 200 to pass through the center hole and the through groove thereon. The moving stopper 300 rotates a certain angle so that the stopper 300 is offset from the opening end of the through slot, thereby preventing the disc 500 from axially displacing on the material-collecting shaft 200 during the transplanting process; after the disc 500 is placed at the specified position, the first rotating drive member 400 is controlled to drive the material-collecting shaft 200 to drive the stopper 300 to rotate until it is aligned with the through slot opening again, thereby facilitating the material-collecting shaft 200 to withdraw from the center hole; optionally, the first rotating drive member 400 includes but is not limited to an electric motor.

[0045] In an optional embodiment, the stopper 300 is connected to the first end of the material taking shaft 200 via a reset guide assembly, and the stopper 300 is suitable for guiding movement along the radial direction of the material taking shaft 200; the stopper 300 has a wedge-shaped surface on the side facing the center hole.

[0046] In this embodiment, the inner wall of the center hole on the disk 500 does not need to be provided with a through groove; when the stopper 300 needs to pass through the center hole, the wedge surface on the stopper 300 first contacts the inner wall of the center hole, and the inner wall of the center hole squeezes the stopper 300 toward the center of the feeding shaft 200, and the reset member in the reset guide assembly is compressed, so that the feeding shaft 200 and the stopper 300 can pass through the center hole smoothly; when the stopper 300 passes over the center hole, the stopper 300 is reset, thereby preventing the disk 500 from moving along the axial direction of the feeding shaft 200; optionally, the reset guide assembly can be a combination of a spring and a guide sleeve.

[0047] In an optional embodiment, the multi-dimensional moving device 100 includes a plane moving module 110 for controlling the movement of the material picking shaft 200 on the plane; a rotation drive module 120 for controlling the rotation of the material picking shaft 200 in the horizontal direction; and a lifting drive module 130 for controlling the lifting of the material picking shaft 200.

[0048] In an optional embodiment, the output end of the plane moving module 110 is connected to the rotation driving module 120, and the output end of the rotation driving module 120 is connected to the lifting driving module 130; the output end of the lifting driving module 130 is connected to the material picking shaft 200; the plane moving module 110 drives the rotation driving module 120 to move freely on the plane; the rotation driving module 120 drives the lifting driving module 130 to rotate in the horizontal direction; the lifting driving module 130 drives the material picking shaft 200 to be lifted and lowered.

[0049] In an optional implementation, the planar moving module 110 includes an X-axis moving module and a Y-axis moving module; the X-axis moving module includes a first truss connecting plate 111 and an X-axis sliding assembly 112 connected thereto.

[0050] In this embodiment, the plane moving module 110 can move along the X-axis and Y-axis on the plane, and move obliquely through the coordinated movement of the X-axis and Y-axis; at the same time, it is connected to the truss through the first truss connecting plate 111; and the X-axis sliding component 112 performs active displacement in the X direction.

[0051] In an optional embodiment, the Y-axis moving module includes a second truss connecting plate 113 and a Y-axis sliding assembly 114 connected thereto; the second truss connecting plate 113 and the first truss connecting plate 111 pass through and are connected to the same fixed axis 115 at the center, and the X-axis sliding assembly 112 and the Y-axis sliding assembly 114 are arranged relatively to each other in the axial direction of the fixed axis 115.

[0052] In this embodiment, if the axial direction of the fixed shaft 115 is the up-down direction; then one of the first truss connecting plate 111 and the second truss connecting plate 113 is distributed on the upper side, and the other is distributed on the lower side, and the X-axis sliding component 112 and the Y-axis sliding component 114 are relatively arranged in the axial direction of the fixed shaft 115; the first truss connecting plate 111 and the second truss connecting plate 113 are fixed to the truss together; and the active displacement in the X direction is achieved through the X-axis sliding component 112; the active displacement in the Y direction is achieved through the Y-axis sliding component 114; for ease of understanding, the X direction and the Y direction can be understood as the front-to-back direction and the left-to-right direction, respectively, which are not shown in the figure.

[0053] In an optional embodiment, the rotation drive module 120 includes a second rotation drive member 121, which is fixed on the fixed shaft 115 and whose output end is driven and connected to the lifting drive module 130 through a transmission assembly 122; optionally, the transmission assembly 122 is a gear transmission assembly, and the driving gear in the gear transmission assembly is connected to the output end of the second rotation drive member 121, and the first side of the driven gear in the gear transmission assembly is connected to the lifting drive module 130 to drive it to rotate, and the second side of the driven gear is connected to the fixed shaft 115 through a bearing; the bearing can be a plane ball bearing; optionally, the second rotation drive member 121 includes but is not limited to an electric motor.

[0054] In an optional embodiment, the lifting drive module 130 includes a mounting plate 135, which is connected to the first side of the driven gear in the transmission assembly 122; the lifting drive member 131 is installed on the mounting plate 135 and is connected to the output end of the rotation drive module 120; the lead screw 132 is connected to the output end of the lifting drive member 131; the slider group 133 is cooperatively connected to the lead screw 132; and the movable plate 134 is connected to the slider group 133; wherein the movable plate 134 is connected to the material picking shaft 200.

[0055] In this embodiment, the lifting drive component 131 includes but is not limited to an electric motor; the lifting drive component 131 drives the lead screw 132 to rotate, so that the slider group 133 moves up and down to drive the movable plate 134 to lift and lower; the material picking shaft 200 is passed through the movable plate 134; the aforementioned first rotating drive component 400 is fixedly arranged on the movable plate 134, and the first rotating drive component 400 drives the material picking shaft 200 to rotate.

[0056] In an optional embodiment, the slider group 133 includes one or more sliders; optionally, the slider group 133 may also include a vertically arranged rotating plate, and the plurality of sliders are mounted on the rotating plate; the rotating plate is connected to the mounting plate 135 .

[0057] In an optional embodiment, the lifting drive module 130 may also include a lifting cylinder, the output shaft of the cylinder is connected to the movable plate 134; the lifting and lowering of the movable plate 134 and the material picking shaft 200 thereon are controlled by controlling the extension and retraction of the output shaft of the cylinder.

[0058] Embodiment 2

[0059] The I-shaped palletizing equipment comprises a truss and the above-mentioned palletizing robot connected to the truss; the robot is connected to the truss via a first truss connecting plate 111 and a second truss connecting plate 113 .

[0060] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0061] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0062] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A palletizing robot for palletizing a disk-shaped object (500) having a central hole, characterized in that: include Multi-dimensional mobile device (100); A material taking shaft (200), connected to the output end of the multi-dimensional moving device (100) and arranged horizontally; A stopper (300) connected to the first end of the material taking shaft (200) and adapted to extend beyond the outer circumference of the material taking shaft (200); The outer diameter of the material taking shaft (200) matches the inner diameter of the central hole on the disc (500), and the material taking shaft (200) is suitable for driving the stopper (300) to pass through the central hole.

2. The palletizing robot according to claim 1, characterized in that: A first rotating driving member (400) is installed on the multi-dimensional moving device (100), and the output end of the first rotating driving member (400) is drivingly connected to the second end of the material picking shaft (200); the inner wall of the center hole is provided with a through groove with two ends opened along its axial direction; the stop member (300) is suitable for moving along the axial direction of the center hole and passing through the through groove.

3. The palletizing robot according to claim 1, characterized in that: The stopper (300) is connected to the first end of the material taking shaft (200) via a reset guide assembly, and the stopper (300) is suitable for guiding movement along the radial direction of the material taking shaft (200); the stopper (300) has a wedge-shaped surface on one side facing the central hole.

4. The palletizing robot according to any one of claims 1 to 3, characterized in that: The multi-dimensional moving device (100) comprises a plane moving module (110) for controlling the material taking shaft (200) to move on a plane; a rotation driving module (120) for controlling the material taking shaft (200) to rotate in a horizontal direction; and a lifting driving module (130) for controlling the material taking shaft (200) to lift and lower.

5. The palletizing robot according to claim 4, characterized in that: The output end of the planar moving module (110) is connected to the rotating driving module (120), and the output end of the rotating driving module (120) is connected to the lifting driving module (130); the output end of the lifting driving module (130) is connected to the material taking shaft (200).

6. The palletizing robot according to claim 4, characterized in that: The planar moving module (110) comprises an X-axis moving module and a Y-axis moving module; the X-axis moving module comprises a first truss connecting plate (111) and an X-axis sliding assembly (112) connected thereto.

7. The palletizing robot according to claim 6, characterized in that: The Y-axis moving module comprises a second truss connecting plate (113) and a Y-axis sliding assembly (114) connected thereto; the second truss connecting plate (113) and the first truss connecting plate (111) pass through and are connected to the same fixed axis (115) at the center thereof, and the X-axis sliding assembly (112) and the Y-axis sliding assembly (114) are arranged opposite to each other in the axial direction of the fixed axis (115).

8. The palletizing robot according to claim 7, characterized in that: The rotation driving module (120) comprises The second rotating driving member (121) is fixed on the fixed shaft (115) and its output end is driven and connected to the lifting driving module (130) through a transmission assembly (122).

9. The palletizing robot according to claim 8, characterized in that: The lifting drive module (130) comprises A lifting drive component (131) connected to the output end of the rotation drive module (120); A lead screw (132) connected to the output end of the lifting drive member (131); A slider group (133) is cooperatively connected to the lead screw (132); A movable plate (134) connected to the slider group (133); Wherein, the movable plate (134) is connected to the material taking shaft (200).

10. I-shaped palletizing equipment, comprising a truss and a palletizing robot according to any one of claims 1 to 9 connected to the truss.

Images