Collaborative robot for stacking

Abstract

The utility model relates to the technical field of stacking machines, and discloses a stacking collaborative robot which comprises a balance weight base, a lifting column is fixedly arranged in the middle of the top end of the balance weight base, containing grooves are formed in the two sides of the balance weight base, and rotating shafts are rotationally arranged at the front ends and the rear ends of the two containing grooves. And supporting blocks are fixedly arranged on the opposite sides of the four rotating shafts correspondingly, and screw rods are arranged at one ends of the four supporting blocks in a threaded mode correspondingly. According to the cooperative robot, the balancing weight is arranged at the bottom of the cooperative robot, the containing grooves are formed in the two sides of the bottom of the balancing weight, the supporting blocks in the containing grooves are pulled out, and the screw rods are controlled to rotate, so that the supporting discs make contact with the ground, the whole device is supported, fixing is achieved, and the supporting blocks and the supporting discs can be contained in the containing grooves when moving is needed; therefore, the device can be used more flexibly, and position adjustment in the later period is facilitated.

Description

Technical Field

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

[0002] Palletizing refers to stacking goods according to certain rules, usually used for storage and handling of goods in warehouses. Collaborative robots are robots that can work with humans, and usually have the characteristics of high safety, strong flexibility, and easy operation. Compared with traditional manual palletizing, using collaborative robots for palletizing can greatly improve work efficiency and accuracy, while reducing labor costs and work risks. It is a very effective automation solution.

[0003] Traditional collaborative palletizing robots are installed by connecting to the ground with bolts at the bottom. This installation method is not convenient for later position adjustment. The installation is too rigid, resulting in poor flexibility in use and inconvenient height adjustment. It has great limitations and may not be able to work when picking and placing products that are too high.

[0004] Therefore, those skilled in the art provide a collaborative robot for palletizing to solve the problems raised in the above background technology. Utility Model Content

[0005] The purpose of the utility model is to solve the shortcomings existing in the prior art, and a collaborative robot for palletizing is proposed. A counterweight block is arranged at the bottom of the collaborative robot, and receiving grooves are opened on both sides of the bottom of the counterweight block. The support block inside the receiving groove is pulled out, and the screw is controlled to rotate so that the support plate contacts the ground and the whole device is propped up to achieve fixation. When it is necessary to move, the support block and the support plate can be stored in the receiving groove, so that the device can be used more flexibly and is convenient for position adjustment at a later time.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A collaborative robot for palletizing comprises a counterweight base, a lifting column is fixedly arranged at the middle part of the top of the counterweight base, storage grooves are opened on both sides of the counterweight base, rotating shafts are rotatably arranged at the front and rear ends of the two storage grooves, support blocks are fixedly arranged on the opposite sides of the four rotating shafts, screws are threadedly arranged at one end of the four support blocks, control disks are fixedly arranged on the tops of the four screws, and support disks are fixedly arranged on the bottoms of the four screws.

[0008] Through the above technical solution, the support block is rotated out, and the control plate is controlled to rotate the screw so that the support plate supports the ground. The support block can expand the distance between the multiple support plates at the bottom, thereby being more stable, thereby fixing the device and making it more convenient to use. The universal wheels at the bottom can facilitate movement, and when the device needs to be moved, it can be stored in the receiving slot to avoid area occupation.

[0009] Furthermore, pulleys are rotatably arranged at both the upper and lower ends of the lifting column, a first motor is fixedly arranged at one side of the bottom end of the lifting column, an output end of the first motor is fixedly connected to the bottom pulley, a lifting belt is arranged on the two pulleys, a lifting slide is fixedly arranged at the front end of the lifting belt, and slide grooves are opened on both sides of the front end of the lifting column, and the lifting slide is slidably connected to the two slide grooves;

[0010] Through the above technical solution, the motor drives the pulley to rotate, thereby driving the lifting slide to move up and down under the guidance of the slide slot, realizing the up and down position adjustment of the mechanical arm, so that the palletizer can be used in working conditions of various heights.

[0011] Furthermore, a first mechanical arm is fixedly arranged on the front end surface of the lifting slide, a second motor is fixedly arranged on the top of the front end of the first mechanical arm, a second mechanical arm is rotatably arranged on the bottom of the front end surface of the first mechanical arm, an output end of the second motor is fixedly connected to the second mechanical arm, and a grabbing suction cup is fixedly arranged on the bottom of the front end surface of the second mechanical arm;

[0012] Through the above technical solution, the second robotic arm can be controlled to rotate through the second motor to control the grabbing suction cup to grab the product.

[0013] Furthermore, four universal wheels are fixedly arranged at the bottom end of the counterweight base;

[0014] Through the above technical solution, universal wheels are arranged at the bottom to facilitate position adjustment.

[0015] Furthermore, a handle is fixedly provided on one side wall of the lifting column;

[0016] Through the above technical solution, the device can be easily pulled by the handle, which can better exert force.

[0017] Furthermore, a controller is fixedly arranged on the rear end surface of the lifting column;

[0018] Through the above technical solution, the operation of the device can be controlled by a controller.

[0019] Furthermore, a power socket is provided at the bottom of the rear end surface of the controller;

[0020] Through the above technical solution, the power supply can be connected through the power socket to enable the device to work.

[0021] The utility model has the following beneficial effects:

[0022] 1. The collaborative robot for palletizing proposed in the utility model has a counterweight block at the bottom, and receiving grooves are provided on both sides of the bottom of the counterweight block. The support block inside the receiving groove is pulled out, and the screw is controlled to rotate so that the support plate contacts the ground and the whole device is propped up to achieve fixation. When it is necessary to move, the support block and the support plate can be stored in the receiving groove, so that the device can be used more flexibly and is convenient for position adjustment at a later time.

[0023] 2. The collaborative robot for palletizing proposed in the utility model controls the rotation of the pulley through a motor to drive the pulley to rotate forward and reversely. The lifting slide is arranged inside the slide slot, and the slide slot guides it, thereby realizing the up and down position adjustment of the lifting slide slot, driving the mechanical arm to adjust the up and down position, which can facilitate the picking and placing of products that are too high. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a right side axonometric view of the collaborative robot for palletizing proposed in the utility model;

[0025] Figure 2 This is a left side expanded view of the collaborative robot for palletizing proposed in the utility model;

[0026] Figure 3 This is a right rear side expansion diagram of the collaborative robot for palletizing proposed in the utility model;

[0027] Figure 4 This is a diagram showing the internal structure of the lifting column of the collaborative robot for palletizing proposed in the utility model.

[0028] Legend:

[0029] 1. Counterweight base; 2. Storage slot; 3. Controller; 4. Lifting column; 5. Lifting belt; 6. Pulley; 7. Slide; 8. First motor; 9. Lifting slide; 10. First robotic arm; 11. Second motor; 12. Second robotic arm; 13. Grasping suction cup; 14. Rotating shaft; 15. Control panel; 16. Support block; 17. Screw; 18. Support plate; 19. Handle; 20. Power socket; 21. Universal wheel. DETAILED DESCRIPTION

[0030] 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. In the description of this application, it should be noted that the terms used here are only for describing specific implementations, and are not intended to limit the exemplary implementations according to the present application. For ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0031] Reference Figure 1-4 , an embodiment provided by the utility model:

[0032] A collaborative robot for palletizing comprises a counterweight base 1, a lifting column 4 is fixedly arranged at the middle of the top of the counterweight base 1, storage grooves 2 are opened on both sides of the counterweight base 1, rotating shafts 14 are rotatably arranged at the front and rear ends of the two storage grooves 2, support blocks 16 are fixedly arranged on the opposite sides of the four rotating shafts 14, screws 17 are threadedly arranged at one end of the four support blocks 16, control disks 15 are fixedly arranged on the tops of the four screws 17, and support disks 18 are fixedly arranged at the bottoms of the four screws 17. The support blocks 16 are rotated out, and the control disk 15 is controlled to rotate the screws 17 so that the support disks 18 support the ground. The support blocks 16 can expand the distance between the multiple support disks 18 at the bottom, thereby making it more stable, fixing the device, and making it more convenient to use. The bottom universal wheels 21 can be used to facilitate movement, and when the device needs to be moved, it can be stored through the accommodating groove to avoid area occupation.

[0033] Pulleys 6 are rotatably provided at both upper and lower ends of the lifting column 4, a first motor 8 is fixedly provided on one side of the bottom end of the lifting column 4, the output end of the first motor 8 is fixedly connected to the bottom pulley 6, a lifting belt 5 is provided on the two pulleys 6, a lifting slide 9 is fixedly provided at the front end of the lifting belt 5, slide grooves 7 are provided on both sides of the front end of the lifting column 4, the lifting slide 9 is slidably connected to the two slide grooves 7, the motor drives the pulley 6 to rotate when working, thereby driving the lifting slide 9 to move up and down under the guidance of the slide groove 7, realizing the up and down position adjustment of the mechanical arm, so that the stacker can be used in working conditions of various heights, a first mechanical arm 10 is fixedly provided on the front end surface of the lifting slide 9, a second motor 11 is fixedly provided on the top of the front end of the first mechanical arm 10, and a second motor 11 is fixedly provided on the front end of the first mechanical arm 10. A second mechanical arm 12 is rotatably provided at the bottom of the end surface, and an output end of a second motor 11 is fixedly connected to the second mechanical arm 12. A grabbing suction cup 13 is fixedly provided at the bottom of the front end surface of the second mechanical arm 12. The second mechanical arm 12 can be controlled to rotate by the second motor 11, and the grabbing suction cup 13 is controlled to grab the product. Four universal wheels 21 are fixedly provided at the bottom end of the counterweight base 1, and the universal wheels 21 are provided at the bottom to facilitate position adjustment. A handle 19 is fixedly provided on one side wall of the lifting column 4, and the handle can be used to facilitate pulling the device, so as to better exert force. A controller 3 is fixedly provided on the rear end surface of the lifting column 4, and the device can be controlled to work by the controller 3. A power socket 20 is provided at the bottom of the rear end surface of the controller 3, and a power supply can be connected through the power socket 20 for the device to work.

[0034] Working principle: Rotate out the support block 16, control the control disk 15 to rotate the screw 17, so that the support disk 18 supports the ground, the support block 16 can expand the distance between the multiple support disks 18 at the bottom, so as to be more stable, fix the device, and make it more convenient to use. The bottom universal wheel 21 can be used for easy movement, and when the device is moved, it can be stored in the receiving groove to avoid area occupation. The motor drives the pulley 6 to rotate, thereby driving the lifting slide 9 to move up and down under the guidance of the slide 7, realizing the up and down position adjustment of the robot arm, so that the stacker can be used in working conditions of various heights.

[0035] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A collaborative robot for palletizing, comprising a counterweight base (1), characterized in that: A lifting column (4) is fixedly arranged at the middle of the top of the counterweight base (1), and storage grooves (2) are provided on both sides of the counterweight base (1). Rotating shafts (14) are rotatably arranged at the front and rear ends of the two storing grooves (2), and supporting blocks (16) are fixedly arranged on the opposite sides of the four rotating shafts (14). Screws (17) are threadedly arranged at one end of the four supporting blocks (16), and control disks (15) are fixedly arranged on the tops of the four screws (17), and supporting disks (18) are fixedly arranged at the bottoms of the four screws (17).

2. The collaborative robot for palletizing according to claim 1, characterized in that: Belt pulleys (6) are rotatably arranged at both the upper and lower ends of the lifting column (4), a first motor (8) is fixedly arranged on one side of the bottom end of the lifting column (4), an output end of the first motor (8) is fixedly connected to the bottom belt pulley (6), a lifting belt (5) is arranged on the two belt pulleys (6), a lifting slide plate (9) is fixedly arranged at the front end of the lifting belt (5), and sliding grooves (7) are provided on both sides of the front end of the lifting column (4), and the lifting slide plate (9) is slidably connected to the two sliding grooves (7).

3. The collaborative robot for palletizing according to claim 2, characterized in that: A first mechanical arm (10) is fixedly arranged on the front end surface of the lifting slide plate (9), a second motor (11) is fixedly arranged on the top of the front end of the first mechanical arm (10), a second mechanical arm (12) is rotatably arranged on the bottom of the front end surface of the first mechanical arm (10), an output end of the second motor (11) is fixedly connected to the second mechanical arm (12), and a grabbing suction cup (13) is fixedly arranged on the bottom of the front end surface of the second mechanical arm (12).

4. The collaborative robot for palletizing according to claim 1, characterized in that: Four universal wheels (21) are fixedly arranged at the bottom end of the counterweight base (1).

5. The collaborative robot for palletizing according to claim 1, characterized in that: A handle (19) is fixedly provided on one side wall of the lifting column (4).

6. The collaborative robot for palletizing according to claim 1, characterized in that: A controller (3) is fixedly arranged on the rear end surface of the lifting column (4).

7. The collaborative robot for palletizing according to claim 6, characterized in that: A power socket (20) is provided at the bottom of the rear end surface of the controller (3).

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