Positioning mechanism of robot stacker crane

Abstract

The utility model is applicable to the technical field of stackers, and provides a robot stacker positioning mechanism, which comprises a base and a mechanical arm body, and is characterized in that the mechanical arm body is mounted on the base, a worker rotates an equipment rod to move a distance sensor to a specified position, the worker rotates a fastening bolt, and the mechanical arm body is mounted on the base. A limiting piece is tightly attached to the outer wall of a second ring sleeve, so that the position of an equipment rod is limited, displacement of a distance sensor is prevented, rotation of a mechanical arm body enables an arm rod to pass through the position above the distance sensor, and the arm rod passing through the position above is detected through the distance sensor; when the arm rod of the mechanical arm body moves to the position above the distance sensor, the distance sensor sends a signal to the controller, the controller receives the signal of the distance sensor, and the controller controls the mechanical arm body to stop rotating, so that the rotating angle of the mechanical arm body is guaranteed, and the rotating precision of the mechanical arm body is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizers, and in particular relates to a positioning mechanism for a robot palletizer. Background Art

[0002] During production, processing and packaging, a palletizer is required to palletize the packaging boxes. Existing palletizing devices mostly use gantries for palletizing, and the number of stacking layers is low. Manual assistance is required for high-level palletizing, which is labor-intensive and has low production efficiency.

[0003] After searching, the Chinese patent application number is: 202321678824.5, which discloses a robot palletizer, including a load-bearing base and a mechanical arm for robot palletizing, the mechanical arm is installed on the load-bearing base, and an adjustment component is arranged at one end of the mechanical arm away from the load-bearing base, and the outer wall of the adjustment component is provided with a clamping component for clamping the packaging box, and the outer walls on both sides of the bottom of the clamping component are provided with a lifting support component; when the height size of the packaging box of the utility model changes, the hydraulic rod controls the clamping plate to slide on the sliding frame to adjust the height, and can simultaneously rotate in the horizontal and longitudinal directions to adjust the angle of the clamping structure, and the clamping application range is wider. When clamping, it is not only clamped from both sides, but also has a corresponding structure at the bottom to support it more stably and will not fall, and it is convenient to adjust the length of the clamping structure according to the size of the packaging box, thereby improving the use efficiency of the palletizer. However, the robot palletizer can only rely on its internal motor to drive the robot palletizer to adjust the direction when working. During the long-term use of the robot, its use accuracy will gradually decrease, resulting in the problem of poor accuracy of the robot palletizer. Utility Model Content

[0004] The utility model provides a positioning mechanism for a robot palletizer, aiming to solve the problem in the prior art that a robot palletizer can only be driven by its own internal motor to adjust its direction during operation, and the accuracy of the robot will gradually decrease during long-term use, thereby causing poor accuracy of the robot palletizer.

[0005] The utility model is implemented as follows: a robot palletizer positioning mechanism comprises a base and a mechanical arm body, characterized in that the mechanical arm body is installed on the base, the end of the mechanical arm body away from the base is connected to a clamping assembly, and the upper surface of the base is respectively fixedly connected to a first ring sleeve and a second ring sleeve, the outer wall of the first ring sleeve is rotatably connected to a device rod, and the lower surface of the device rod is slidably connected to a limit plate, the outer wall of the device rod is threadedly connected to a fastening bolt, and the left end of the fastening bolt is rotatably connected between the limit plates, the upper surface of the device rod is provided with a distance sensor, and the upper surface of the base is fixedly connected to a controller, and the distance sensor and the mechanical arm body and the controller are electrically connected.

[0006] Preferably, the outer walls of the limiting plate and the second ring sleeve are respectively provided with anti-slip grooves.

[0007] Preferably, a clamping plate is provided below the clamping assembly, and a rubber pad is fixedly connected to the inner wall of the clamping plate.

[0008] Preferably, a support plate is fixedly connected to the inner wall of the lower end of the clamping plate.

[0009] Preferably, a socket matching the distance sensor is provided on the upper surface of the equipment rod.

[0010] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0011] The personnel rotates the equipment rod to move the distance sensor to the specified position, and rotates the fastening bolt to make the limit plate fit tightly with the outer wall of the second ring sleeve, thereby limiting the position of the equipment rod to prevent the distance sensor from being displaced. The rotation of the mechanical arm body will cause the arm rod to pass over the distance sensor, and the distance sensor will detect the arm rod passing over. When the arm rod of the mechanical arm body moves over the distance sensor, the distance sensor sends a signal to the controller, and the controller receives the signal of the distance sensor. The controller controls the mechanical arm body to stop rotating, thereby ensuring the rotation angle of the mechanical arm body and improving the rotation accuracy of the mechanical arm body. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0013] Figure 2 For the utility model Figure 1 The enlarged structural diagram at A in the middle;

[0014] Figure 3 For the utility model Figure 1 The enlarged structural diagram at B in the middle;

[0015] In the figure: 1. base; 2. robot arm body; 3. clamping assembly; 301. clamping plate; 302. support plate; 303. rubber pad; 4. first ring sleeve; 5. second ring sleeve; 6. equipment rod; 7. limit plate; 8. fastening bolt; 9. distance sensor; 10. controller. DETAILED DESCRIPTION

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0017] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0018] The utility model embodiment provides a robot palletizer positioning mechanism, such as Figure 1-3 As shown, it includes a base 1 and a robot body 2, and is characterized in that the robot body 2 is installed on the base 1, and the end of the robot body 2 away from the base 1 is connected to a clamping assembly 3, and the upper surface of the base 1 is respectively fixedly connected with a first ring sleeve 4 and a second ring sleeve 5, the outer wall of the first ring sleeve 4 is rotatably connected with a device rod 6, and the lower surface of the device rod 6 is slidably connected with a limit plate 7, the outer wall of the device rod 6 is threadedly connected with a fastening bolt 8, and the left end of the fastening bolt 8 is rotatably connected between the limit plate 7, the upper surface of the device rod 6 is provided with a distance sensor 9, and the upper surface of the base 1 is fixedly connected with a controller 10, and the distance sensor 9 and the robot body 2 and the controller 10 are electrically connected.

[0019] It should be noted that, since the robot palletizer in the prior art can only rely on its own internal motor to drive the robot palletizer to adjust its direction when working, the robot's accuracy will gradually decrease during long-term use, resulting in poor accuracy of the robot palletizer. Therefore, in order to solve the problem that the robot palletizer in the prior art can only rely on its own internal motor to drive the robot palletizer to adjust its direction when working, the robot's accuracy will gradually decrease during long-term use, resulting in poor accuracy of the robot palletizer, the personnel of this solution rotate the equipment rod 6 to move the distance sensor 9 to the specified position, and the personnel The fastening bolt 8 is rotated to make the limit plate 7 fit tightly against the outer wall of the second ring sleeve 5, thereby limiting the position of the equipment rod 6 and preventing the distance sensor 9 from being displaced. The rotation of the robot arm body 2 will cause the arm to pass above the distance sensor 9. The distance sensor 9 detects the arm passing above. When the arm of the robot arm body 2 moves above the distance sensor 9, the distance sensor 9 sends a signal to the controller 10. The controller 10 receives the signal from the distance sensor 9 and controls the robot arm body 2 to stop rotating, thereby ensuring the rotation angle of the robot arm body 2 and improving the rotation accuracy of the robot arm body 2.

[0020] In a further preferred embodiment of the present invention, Figure 3 As shown, the outer wall of the limiting piece 7 and the second ring sleeve 5 are respectively provided with anti-slip grooves.

[0021] In this embodiment, the anti-slip grooves improve the friction force when the limiting plate 7 contacts the second ring sleeve 5 , thereby preventing the limiting plate 7 from slipping on the outer wall of the second ring sleeve 5 .

[0022] In a further preferred embodiment of the present invention, Figure 2 As shown, a clamping plate 301 is disposed below the clamping assembly 3 , and a rubber pad 303 is fixedly connected to the inner wall of the clamping plate 301 .

[0023] In this embodiment, the rubber pad 303 improves the flexibility of the inner wall of the clamping plate 301 .

[0024] In a further preferred embodiment of the present invention, Figure 2 As shown, a support plate 302 is fixedly connected to the inner wall of the lower end of the clamping plate 301 .

[0025] In this embodiment, the bottom of the cargo is supported by the pallet 302 to prevent the cargo from falling during transportation.

[0026] In a further preferred embodiment of the present invention, Figure 1 As shown, a socket matching the distance sensor 9 is provided on the upper surface of the equipment rod 6 .

[0027] In this embodiment, the distance sensor 9 is plug-connected to the equipment pole 6 , which facilitates the disassembly and assembly of the distance sensor 9 .

[0028] It should be noted that, for the above-mentioned embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the utility model is not limited by the described action sequence, because according to the utility model, some steps may be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the utility model.

[0029] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic, such as the division of the above-mentioned units. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunication or other forms.

[0030] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0031] The above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit the protection scope of the utility model. Obviously, the described embodiments are only some embodiments of the utility model, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. Although the utility model has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the utility model according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the utility model in essence, and these technical solutions also belong to the scope of protection of the utility model.

Claims

1. A robot palletizer positioning mechanism, comprising a base (1) and a robot arm body (2), characterized in that: The mechanical arm body (2) is mounted on a base (1); one end of the mechanical arm body (2) away from the base (1) is connected to a clamping assembly (3); and the upper surface of the base (1) is respectively fixedly connected to a first ring sleeve (4) and a second ring sleeve (5); the outer wall of the first ring sleeve (4) is rotatably connected to a device rod (6); and the lower surface of the device rod (6) is slidably connected to a limit plate (7); the outer wall of the device rod (6) is threadedly connected to a fastening bolt (8), and the left end of the fastening bolt (8) is rotatably connected to the limit plate (7); a distance sensor (9) is provided on the upper surface of the device rod (6), and a controller (10) is fixedly connected to the upper surface of the base (1); and the distance sensor (9) and the mechanical arm body (2) and the controller (10) are electrically connected.

2. A robot palletizer positioning mechanism as claimed in claim 1, characterized in that: The outer walls of the limiting plate (7) and the second ring sleeve (5) are respectively provided with anti-slip patterns.

3. A robot palletizer positioning mechanism as claimed in claim 1, characterized in that: A clamping plate (301) is provided below the clamping assembly (3), and a rubber pad (303) is fixedly connected to the inner wall of the clamping plate (301).

4. A robot palletizer positioning mechanism as claimed in claim 3, characterized in that: The inner wall of the lower end of the clamping plate (301) is fixedly connected to a supporting plate (302).

5. A robot palletizer positioning mechanism as claimed in claim 1, characterized in that: The upper surface of the equipment rod (6) is provided with a socket matching the distance sensor (9).

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