Auxiliary positioning device for robot palletizer

Abstract

The utility model belongs to the technical field of stacking equipment, and particularly relates to an auxiliary positioning device for a stacking robot, which comprises a supporting plate. A plurality of groups of first sliding grooves are formed in the top of the supporting plate; a pair of first spring columns is fixedly connected to the side wall of the inner side of each first sliding groove; the inner sides of the first sliding grooves are slidably connected with moving blocks. One end of the first spring column is connected with the moving block; positioning plates are hinged to the tops of the moving blocks; when the moving block moves, the first spring column is extruded, and the stability of the positioning plate when the positioning plate moves on the inner side of the first sliding groove can be improved through mutual cooperation between the arranged first spring column and the telescopic rod; according to the whole device, the situation that due to the fact that the cargos are directly stacked above the supporting plate layer by layer through a robot, the positions of the cargos are prone to deviation, and consequently the materials shake and topple over in the transportation process is reduced, and the stability of the cargos in the transportation process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing equipment, in particular to an auxiliary positioning device for a palletizing robot. Background Art

[0002] A palletizing robot is an automated device that can stack goods layer by layer on a pallet to reduce labor and time costs. Palletizing robots are widely used in multiple industries, such as the electronics industry, food processing industry, and automobile manufacturing industry.

[0003] In the current existing technology, the palletizing robot is mainly composed of a base, joints, arms, sensors, drivers, servo motors, cameras and other components. Through the coordinated work between these components, the palletizing robot can achieve efficient and accurate grasping, stacking and task scheduling functions.

[0004] When working, the existing palletizing robots will directly stack the goods layer by layer on the pallet through the robot, and transport the goods to other locations. However, directly stacking the goods layer by layer on the pallet can easily cause the position deviation between the goods, resulting in the shaking and tipping of the goods during transportation, thereby reducing the stability of the goods during transportation. Therefore, in order to solve the above problem, an auxiliary positioning device for a palletizing robot is proposed. Utility Model Content

[0005] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology, the utility model proposes an auxiliary positioning device for a palletizing robot.

[0006] The technical solution adopted by the utility model to solve its technical problems is: the auxiliary positioning device for a stacking robot described in the utility model comprises a pallet; a plurality of first slide grooves are arranged on the top of the pallet; a pair of first spring columns are fixedly connected to the inner side walls of the first slide grooves; a moving block is slidably connected to the inner side of the first slide groove; one end of the first spring column is connected to the moving block; a positioning plate is hinged on the top of the moving block; a plurality of fixed blocks are fixed on the top of the pallet; a telescopic rod is hinged on the top of the fixed block; the top of the telescopic rod is hinged to the side wall of one side of the positioning plate; and a plurality of legs are fixedly connected to the bottom of the pallet.

[0007] Preferably, a protective box is fixedly connected to the bottom of the support plate; a servo motor is fixedly connected to the bottom inner side of the protective box; a first bevel gear is fixedly connected to the output end of the servo motor; a plurality of mounting blocks are fixedly connected to the bottom of the support plate; a threaded rod is rotatably connected to the inner side of each mounting block; a second bevel gear is fixedly connected to the other end of the threaded rod; the first bevel gear and the second bevel gear are meshed with each other; the threaded rod and the protective box are rotatably connected; a slider is threadedly connected to the outer side wall of the threaded rod; a plurality of limit grooves are provided on the top of the support plate; a connecting frame is slidably connected to the inner side of each limit groove; one end of the connecting frame is interconnected with the slider; a clamping plate is fixedly connected to the other end of the connecting frame.

[0008] Preferably, a pair of dampers are fixedly connected to the side wall of the mounting block close to the sliding block; buffer springs are sleeved on the outer side walls of the dampers; and a limiting plate is fixedly connected to one end of the buffer spring away from the mounting block.

[0009] Preferably, a pair of second spring columns are fixedly connected to the side wall of the clamping plate close to the positioning plate; and an elastic plate is fixedly connected to one end of the second spring column away from the clamping plate.

[0010] Preferably, a pair of second slide grooves are provided on the inner side wall of the first slide groove; a slide column is slidably connected to the inner side of each of the second slide grooves; and one end of the slide column is interconnected with the moving block.

[0011] Preferably, the outer wall of the slide column is provided with a pair of placement grooves; the inner sides of the placement grooves are rotatably connected with a pair of fitting rotating columns; the outer wall of the fitting rotating column fits with the inner wall of the second slide groove.

[0012] Preferably, the outer side wall of the protection box is provided with a plurality of heat dissipation holes.

[0013] The utility model is beneficial in that:

[0014] The lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts up and lowers the load carrier is moved back and forth, and the lifting mechanism that lifts

[0015] 2. The utility model describes an auxiliary positioning device for a palletizing robot. When the positioning plate clamps and fixes the cargo, the servo motor is started to drive the first bevel gear to rotate, the first bevel gear drives the second bevel gear to rotate, and the second bevel gear drives the threaded rod to rotate on the inner side of the mounting block. Because the connecting frame is respectively connected to the slider and the clamping plate, that is, during the rotation of the threaded rod, the slider, the connecting frame and the clamping plate can be driven to move toward the side close to the positioning plate through the limit groove. When the surface of the clamping plate moves to contact with the surface of the positioning plate and the clamping plate and the positioning plate are in a state of mutual squeezing, the clamping plate can clamp and fix the positioning plate, thereby further improving the stability of the cargo when it is stacked on the top of the pallet, and further avoiding shaking of the cargo during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model 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, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a three-dimensional diagram of the support plate in the utility model;

[0018] Figure 2 It is a three-dimensional diagram of the first spring column in the utility model;

[0019] Figure 3 It is a three-dimensional diagram of the elastic plate in the utility model;

[0020] Figure 4 for Figure 3 A magnified image of point A;

[0021] Figure 5 It is a three-dimensional diagram of the telescopic rod in the utility model;

[0022] Figure 6 for Figure 5 Enlarged view of point B.

[0023] In the figure: 1. support plate; 11. first slide groove; 12. first spring column; 13. moving block; 14. positioning plate; 15. fixing block; 16. telescopic rod; 17. support leg; 2. protection box; 21. servo motor; 22. first bevel gear; 23. mounting block; 24. threaded rod; 25. second bevel gear; 26. slider; 27. connecting frame; 28. clamping plate; 29. ​​limit groove; 3. damper; 31. buffer spring; 32. limit plate; 4. second spring column; 41. elastic plate; 5. second slide groove; 51. slide column; 6. placement groove; 61. fitting rotating column; 7. heat dissipation hole. DETAILED DESCRIPTION

[0024] 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.

[0025] like Figure 1 , Figure 2 and Figure 5As shown, an auxiliary positioning device for a palletizing robot comprises a pallet 1; a plurality of first slide grooves 11 are provided on the top of the pallet 1; a pair of first spring columns 12 are fixedly connected to the inner side walls of the first slide grooves 11; a moving block 13 is slidably connected to the inner side of the first slide grooves 11; one end of the first spring column 12 is mutually connected to the moving block 13; a positioning plate 14 is hingedly connected to the top of the moving block 13; a plurality of fixed blocks 15 are fixedly connected to the top of the pallet 1; a telescopic rod 16 is hingedly provided on the top of the fixed block 15; the top of the telescopic rod 16 is hingedly set to the side wall of one side of the positioning plate 14; a plurality of supporting legs 17 are fixedly connected to the bottom of the pallet 1; during operation: when the goods are stacked on the top of the pallet 1 by the robot, the goods will first contact with the surface of the positioning plate 14 and then slide downward. When the goods slide downward, the positioning plate 14 When the bottom end moves outward, the top end of the positioning plate 14 moves toward the middle. When the bottom end of the positioning plate 14 moves, the moving block 13 is driven to move. When the moving block 13 moves, the first spring column 12 will be squeezed. The first spring column 12 and the telescopic rod 16 cooperate with each other, which can improve the stability of the positioning plate 14 when it moves inside the first slide groove 11. The overall device reduces the situation that the position deviation between the goods is easily caused by stacking the goods layer by layer on the pallet 1 by the robot, resulting in the shaking and tipping of the materials during transportation, thereby improving the stability of the goods during transportation. And through the cooperation between the first spring column 12, the moving block 13 and the positioning plate 14, a buffering effect can be played when the goods slide downward through the surface of the positioning plate 14, thereby avoiding the situation that the goods fall directly and quickly on the top of the pallet 1 and cause damage to the goods.

[0026] like Figure 1 , Figure 2 and Figure 3As shown, a protective box 2 is fixedly connected to the bottom of the support plate 1; a servo motor 21 is fixedly connected to the bottom of the inner side of the protective box 2; a first bevel gear 22 is fixedly connected to the output end of the servo motor 21; a plurality of mounting blocks 23 are fixedly connected to the bottom of the support plate 1; a threaded rod 24 is rotatably connected to the inner side of the mounting block 23; a second bevel gear 25 is fixedly connected to the other end of the threaded rod 24; the first bevel gear 22 and the second bevel gear 25 are meshed with each other; the threaded rod 24 and the protective box 2 are rotatably connected; a slider 26 is threadedly connected to the outer wall of the threaded rod 24; a plurality of limiting grooves 29 are provided on the top of the support plate 1; a connecting frame 27 is slidably connected to the inner side of the limiting grooves 29; one end of the connecting frame 27 is interconnected with the slider 26; the other end of the connecting frame 27 is fixedly connected to a clamping plate 28; during operation: when the positioning plate 1 When the goods are clamped and fixed, the servo motor 21 is started to drive the first bevel gear 22 to rotate, the first bevel gear 22 drives the second bevel gear 25 to rotate, and the second bevel gear 25 drives the threaded rod 24 to rotate inside the mounting block 23. Since the connecting frame 27 is respectively connected with the slider 26 and the clamping plate 28, that is, during the rotation of the threaded rod 24, the slider 26, the connecting frame 27 and the clamping plate 28 can be driven to move toward the side of the positioning plate 14 through the limiting groove 29. When the surface of the clamping plate 28 moves to contact with the surface of the positioning plate 14, and the clamping plate 28 and the positioning plate 14 are in a state of mutual compression, the clamping plate 28 can clamp and fix the positioning plate 14, thereby further improving the stability of the goods when they are stacked on the top of the pallet 1, and further avoiding the shaking of the goods during transportation.

[0027] like Figure 4 As shown, a pair of dampers 3 are fixedly connected to the side wall of the mounting block 23 close to the slider 26; the outer side walls of the dampers 3 are sleeved with buffer springs 31; the buffer springs 31 are fixedly connected to the limiting plate 32 at one end away from the mounting block 23; during operation: the limiting plate 32 is made of elastic material, and when the slider 26 moves toward one end close to the mounting block 23 and the moving position is farther, the surface of the slider 26 will first contact the limiting plate 32, and through the cooperation between the buffer springs 31 and the damper 3, the slider 26 has a buffering effect when it contacts the surface of the limiting plate 32, thereby avoiding the situation where the slider 26 easily collides with the mounting block 23 when the slider 26 moves, resulting in damage to the surface of the slider 26, reducing the probability of failure or deformation between equipment parts due to collision, and thereby improving the stability of the slider 26 when it moves.

[0028] like Figure 1 and Figure 2As shown, the side wall of the clamping plate 28 close to the positioning plate 14 is fixedly connected with a pair of second spring columns 4; the second spring column 4 is fixedly connected with an elastic plate 41 at one end away from the clamping plate 28; when working: the elastic plate 41 is made of elastic material, and when the clamping plate 28 is clamping and fixing the surface of the positioning plate 14, the elastic plate 41 first contacts with the surface of the positioning plate 14, and the second spring column 4 and the elastic plate 41 cooperate with each other, and the elastic plate 41 and the surface of the positioning plate 14 are in a squeezed state, thereby reducing the situation where the surface of the positioning plate 14 is easily damaged due to the clamping and fixing work of the clamping plate 28 on the surface of the positioning plate 14 for a long time, thereby improving the service life of the positioning plate 14.

[0029] like Figure 2 As shown, a pair of second slide grooves 5 are provided on the inner side wall of the first slide groove 11; a slide column 51 is slidably connected to the inner side of each of the second slide grooves 5; one end of the slide column 51 is interconnected with the moving block 13; during operation: when the moving block 13 slides inside the first slide groove 11, the slide column 51 follows the movement, and the slide column 51 has a limiting effect on the sliding moving block 13, thereby improving the stability of the moving block 13 and the positioning plate 14 when moving.

[0030] like Figure 6 As shown, the outer wall of the sliding column 51 is provided with a pair of placement grooves 6; the inner sides of the placement grooves 6 are rotatably connected with a pair of fitting rotating columns 61; the outer walls of the fitting rotating columns 61 fit with the inner walls of the second sliding groove 5; during operation: as the sliding column 51 moves inside the second sliding groove 5, the fitting rotating columns 61 rotate accordingly, and the fitting rotating columns 61 reduce the long-term sliding friction between the outer wall of the sliding column 51 and the inner wall of the second sliding groove 5, which may easily cause serious damage to the surface of the sliding column 51, thereby increasing the working life of the sliding column 51.

[0031] like Figure 2 As shown, the outer wall of the protective box 2 is provided with a plurality of heat dissipation holes 7; during operation, the heat generated by the servo motor 21 can be quickly discharged to the outside through the heat dissipation holes 7, thereby improving the stability of the servo motor 21 when working for a long time and increasing the working life of the servo motor 21.

[0032] Working principle: when the goods are stacked on the top of the pallet 1 by the robot, the goods will first contact with the surface of the positioning plate 14 and then slide downward. When the goods slide downward, the bottom end of the positioning plate 14 moves outward, and the top end of the positioning plate 14 moves toward the middle. When the bottom end of the positioning plate 14 moves, it drives the moving block 13 to move. When the moving block 13 moves, the first spring column 12 will be squeezed. The first spring column 12 and the telescopic rod 16 cooperate with each other to improve the stability of the positioning plate 14 when it moves inside the first slide groove 11. The overall device reduces the deviation of the position of the goods caused by stacking the goods layer by layer on the pallet 1 by the robot, which leads to the shaking and dumping of the materials during transportation. The situation occurs, thereby improving the stability of goods during transportation; and through the cooperation between the first spring column 12, the moving block 13 and the positioning plate 14, a buffer effect can be played when the goods slide downward through the surface of the positioning plate 14 and fall, thereby preventing the goods from falling directly and quickly on the top of the pallet 1, causing damage to the goods; when the positioning plate 14 clamps and fixes the goods, the servo motor 21 is started to drive the first bevel gear 22 to rotate, the first bevel gear 22 drives the second bevel gear 25 to rotate, and the second bevel gear 25 drives the threaded rod 24 to rotate on the inner side of the mounting block 23, because the connecting frame 27 is respectively connected to the slider 26 and the clamping plate 28, that is, during the rotation of the threaded rod 24, the slider 26, the connecting frame 27 and the clamping plate 28 can be driven to pass When the slider 26 moves toward one end of the mounting block 23 and the moving position is far, the surface of the slider 26 will first contact the limit plate 32, and the buffer spring 31 and the damper 3 will cooperate with each other, so that the slider 26 will have a buffering effect when it contacts the surface of the limit plate 32, thereby avoiding slipping. When the block 26 moves, the slider 26 is likely to collide with the mounting block 23, resulting in damage to the surface of the slider 26, thereby reducing the probability of failure or deformation between equipment parts due to collision, thereby improving the stability of the slider 26 when moving; the elastic plate 41 is made of elastic material, and when the clamping plate 28 is clamping and fixing the surface of the positioning plate 14, the elastic plate 41 first contacts the surface of the positioning plate 14, and the second spring column 4 and the elastic plate 41 cooperate with each other, and the elastic plate 41 and the surface of the positioning plate 14 are in a squeezed state, thereby reducing the possibility of damage to the surface of the positioning plate 14 caused by the clamping plate 28 clamping and fixing the surface of the positioning plate 14 for a long time, thereby improving the service life of the positioning plate 14;When the moving block 13 slides inside the first slide groove 11, the slide column 51 moves with it, and the slide column 51 has a limiting effect on the sliding moving block 13, thereby improving the stability of the moving block 13 and the positioning plate 14 when they move; when the slide column 51 moves inside the second slide groove 5, the fitting rotating column 61 rotates with it, and the fitting rotating column 61 reduces the sliding friction between the outer wall of the slide column 51 and the inner wall of the second slide groove 5 for a long time, which may cause the surface of the slide column 51 to be seriously damaged, thereby improving the service life of the slide column 51; the heat generated by the servo motor 21 when working can be quickly discharged to the outside through the heat dissipation hole 7, thereby improving the stability of the servo motor 21 when working for a long time, and improving the service life of the servo motor 21. ;

[0033] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. An auxiliary positioning device for a palletizing robot, comprising a pallet (1); characterized in that: The top of the support plate (1) is provided with a plurality of first slide grooves (11); the inner side walls of the first slide grooves (11) are fixedly connected with a pair of first spring columns (12); the inner sides of the first slide grooves (11) are slidably connected with moving blocks (13); one end of the first spring column (12) is mutually connected with the moving block (13); the top of the moving block (13) is hinged with a positioning plate (14); the top of the support plate (1) is fixedly connected with a plurality of fixed blocks (15); the top of the fixed block (15) is hinged with a telescopic rod (16); the top of the telescopic rod (16) is hingedly arranged with a side wall of one side of the positioning plate (14); the bottom of the support plate (1) is fixedly connected with a plurality of supporting legs (17).

2. The auxiliary positioning device for a palletizing robot according to claim 1, characterized in that: The bottom of the support plate (1) is fixedly connected to a protection box (2); the bottom of the inner side of the protection box (2) is fixedly connected to a servo motor (21); the output end of the servo motor (21) is fixedly connected to a first bevel gear (22); the bottom of the support plate (1) is fixedly connected to a plurality of mounting blocks (23); the inner sides of the mounting blocks (23) are all rotatably connected to threaded rods (24); the other ends of the threaded rods (24) are fixedly connected to a second bevel gear (25); the first bevel gear (22) and the second bevel gear (25) are meshed with each other; the threaded rod (24) and the protection box (2) are rotatably connected; the outer wall of the threaded rod (24) is threadedly connected to a slider (26); the top of the support plate (1) is provided with a plurality of limit grooves (29); the inner sides of the limit grooves (29) are all slidably connected to a connecting frame (27); one end of the connecting frame (27) is mutually connected to the slider (26); the other end of the connecting frame (27) is fixedly connected to a clamping plate (28).

3. The auxiliary positioning device for a palletizing robot according to claim 2, characterized in that: A pair of dampers (3) are fixedly connected to the side wall of the mounting block (23) close to the sliding block (26); the outer side walls of the dampers (3) are sleeved with buffer springs (31); and one end of the buffer spring (31) away from the mounting block (23) is fixedly connected to a limiting plate (32).

4. The auxiliary positioning device for a palletizing robot according to claim 2, characterized in that: A pair of second spring columns (4) are fixedly connected to the side wall of the clamping plate (28) close to the positioning plate (14); and an elastic plate (41) is fixedly connected to one end of the second spring column (4) away from the clamping plate (28).

5. The auxiliary positioning device for a palletizing robot according to claim 1, characterized in that: A pair of second slide grooves (5) are provided on the inner side wall of the first slide groove (11); a slide column (51) is slidably connected to the inner side of each of the second slide grooves (5); and one end of the slide column (51) is interconnected with the moving block (13).

6. The auxiliary positioning device for a palletizing robot according to claim 5, characterized in that: The outer wall of the slide column (51) is provided with a pair of placement grooves (6); the inner sides of the placement grooves (6) are rotatably connected to a pair of fitting rotating columns (61); the outer wall of the fitting rotating columns (61) fits with the inner wall of the second slide groove (5).

7. The auxiliary positioning device for a palletizing robot according to claim 2, characterized in that: The outer side wall of the protection box (2) is provided with a plurality of groups of heat dissipation holes (7).

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