Manipulator for robot palletizer

Abstract

The utility model belongs to the technical field of palletizing robots, and discloses a manipulator for a palletizing robot, which comprises a bottom plate, a stand column is fixedly connected to the center position of the top of the bottom plate, a rotating column is in sliding contact with the top of the stand column, a rotating driving assembly is arranged at the joint of the stand column and the rotating column, and an extension cylinder is fixedly connected to one side wall of the upper end of the rotating column. The other side wall of the upper end of the rotating column is connected with a manipulator assembly, and an inner cavity of the side, away from the rotating column, of the extending cylinder is slidably sleeved with an extending arm. Through the arranged bottom plate, the stand column and the rotating column, main body bearing can be conducted on the structure on the device, and meanwhile through cooperation of the arranged extending cylinder, extending arms, balancing weights, tooth grooves, through grooves, first gears and first motors, the horizontal acting position of the balancing weights can be adjusted and positioned when needed; therefore, the effective balance effect can be maintained according to different requirements of two sides of the stand column and the rotating column.

Description

Technical Field

[0001] The present application relates to the technical field of palletizing robots, and more specifically, to a manipulator for a palletizing robot. Background Art

[0002] The palletizing robot can stack (or unstack) packaged goods of different sizes neatly and automatically on a pallet (or production line, etc.). In order to make full use of the pallet area and the stability of the stacked materials, the robot has a material stacking sequence and arrangement setter, which can meet the needs from low speed to high speed, from packaging bags to cartons, from stacking one product to stacking multiple different products. It is used for product handling, palletizing, etc., and is widely used in different fields such as automobiles, logistics, home appliances, medicine, food and beverages, etc.

[0003] After searching the publication number: CN218706935U, a manipulator for a palletizing robot is disclosed, including a base plate, a column is fixedly connected to the middle of the upper end surface of the base plate, a rotating sleeve is rotatably connected to the upper end of the column, and a driving component for driving the rotating sleeve to rotate is provided on the upper end of the column; this application can be suitable for grabbing goods of different shapes, is easy to use, and avoids a series of problems brought about by traditional replaceable or switchable grabbing mechanisms.

[0004] However, during use of this application, since the counterweight block is in a fixed state on one side of the rotating sleeve, its balancing effect range on both sides of the rotating sleeve is limited. At the same time, due to the extended adjustment of the effective length range between the mounting arm and the telescopic frame, it is easy to cause imbalance problems on both sides of the rotating sleeve when the overall cargo is grabbed and moved.

[0005] In order to solve the above problems, the present application provides a manipulator for a palletizing robot. Utility Model Content

[0006] The present application provides a manipulator for a palletizing robot using the following technical solution:

[0007] A manipulator for a palletizing robot comprises a base plate, a column is fixedly connected to the center position of the top of the base plate, the top of the column is in sliding contact with a rotating column, and a rotating drive assembly is provided at the connection between the column and the rotating column, a side wall of the upper end of the rotating column is fixedly connected to an extension cylinder, and the other side wall of the upper end of the rotating column is connected to a manipulator assembly, an extension arm is slidably sleeved on an inner cavity of a side of the extension cylinder away from the rotating column, one end of the extension arm passes through the interior of the extension cylinder, and one end of the extension arm is fixedly connected to a counterweight block, and a plurality of tooth grooves are uniformly opened horizontally on the top of the extension arm, a through groove is opened on the top of the side of the extension cylinder away from the rotating column, a first gear is penetrated on the inner side of the through groove, the bottom end of the first gear is meshed with part of the tooth grooves, and the center position of one end face of the first gear is connected to a first motor through a first rotating shaft.

[0008] Through the above technical solution, the through groove can accommodate part of the bottom end of the first gear.

[0009] Furthermore, a pad is provided below the first motor, the pad is fixedly mounted on an outer wall of one side of the extension tube, and the outer wall of the first motor is fixedly mounted on the top of the pad via a first mounting seat.

[0010] Through the above technical solution, the pad is convenient for supporting and fixing the first motor.

[0011] Furthermore, both side walls of the inner cavity of the extension tube are provided with sliding grooves, and the inner walls on one side of the two sliding grooves are slidably sleeved with sliders, and the two sliders are respectively fixedly installed on the two side walls of the end of the extension arm away from the counterweight block.

[0012] Through the above technical solution, the slide groove and the slider realize the limiting work of the active position of the extension arm.

[0013] Furthermore, the rotation drive assembly includes a second gear fixedly sleeved on the lower outer wall of the rotating column, a third gear is meshed on one side end of the second gear, the bottom of the third gear is connected to a second motor via a second rotating shaft, and the outer wall of the second motor is fixedly mounted on the outer wall of the upper side of the column via a second mounting base.

[0014] Furthermore, the rotary drive assembly also includes a T-slot opened at the center position of the top of the column, the inner wall of the T-slot is slidably sleeved with a T-shaft, the top of the T-shaft passes through the top of the T-slot and is fixedly connected to the center position of the bottom of the rotating column.

[0015] Through the above technical solution, the rotary drive assembly realizes the sliding limit between the rotating column and the column, and also facilitates the driving effect of the rotating column when the top of the column is in a rotating state.

[0016] Furthermore, the base plate has a square plate structure, and four corners of the bottom of the base plate are fixedly connected with supporting feet.

[0017] Through the above technical solution, the supporting legs can achieve a stable supporting function at the bottom of the base plate.

[0018] Furthermore, four reinforcement plates are evenly fixedly connected to the circumference of the outer wall of the bottom end of the column, and the bottoms of the four reinforcement plates are fixedly connected to the top of the base plate.

[0019] Through the above technical solution, the four reinforcement plates can improve the stability of the bottom end of the column.

[0020] In summary, this application includes the following beneficial technical effects:

[0021] Through the provided base plate, columns and rotating columns, the upper structure can be mainly supported, and at the same time, in conjunction with the provided extension tube, extension arm, counterweight block, tooth groove, through groove, first gear and first motor, it is beneficial to adjust and position the horizontal action position of the counterweight block when needed, so as to maintain an effective balance effect to meet the different needs of the columns and rotating columns on both sides, thereby preventing imbalance problems on both sides. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of this application;

[0023] Figure 2 For this application Figure 1 A magnified view of the structure at center;

[0024] Figure 3 This is the first partial semi-exploded view of the present application;

[0025] Figure 4 This is the second partial semi-exploded view of this application.

[0026] Description of the numbers in the figure:

[0027] 1. Base plate; 2. Vertical column; 3. Rotating column; 4. Extension tube; 5. Extension arm; 6. Counterweight block; 7. Tooth groove; 8. Through groove; 9. First gear; 10. First motor; 11. Pad; 12. Slide groove; 13. Sliding block; 14. Second gear; 15. Third gear; 16. Second motor; 17. T-slot; 18. T-shaft; 19. Support foot; 20. Reinforcement plate. DETAILED DESCRIPTION

[0028] The technical solutions 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 only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0029] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0030] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] Example:

[0032] The present application embodiment discloses a manipulator for a palletizing robot, see Figure 1 , Figure 2 and Figure 3 , including a bottom plate 1, a column 2 is fixedly connected to the center position of the top of the bottom plate 1, a rotating column 3 is slidably contacted with the top of the column 2, and a rotating drive component is arranged at the connection between the column 2 and the rotating column 3, an extension cylinder 4 is fixedly connected to one side wall of the upper end of the rotating column 3, and a manipulator component is connected to the other side wall of the upper end of the rotating column 3, an extension arm 5 is slidably sleeved on the inner cavity of the extension cylinder 4 on the side away from the rotating column 3, one end of the extension arm 5 passes through the interior of the extension cylinder 4, and a counterweight 6 is fixedly connected to one end of the extension arm 5, and a plurality of tooth grooves 7 are uniformly opened horizontally on the top of the extension arm 5, a through groove 8 is opened on the top of the side of the extension cylinder 4 away from the rotating column 3, a first gear 9 is penetrated on the inner side of the through groove 8, the bottom end of the first gear 9 is meshed with part of the tooth groove 7, and the center position of one end face of the first gear 9 is connected to a first motor 10 through a first rotating shaft;

[0033] A pad 11 is provided under the first motor 10, and the pad 11 is fixedly installed on the outer wall of one side of the extension tube 4, and the outer wall of the first motor 10 is fixedly installed on the top of the pad 11 through a first mounting seat, and both side walls of the inner cavity of the extension tube 4 are provided with sliding grooves 12, and the inner walls on one side of the two sliding grooves 12 are slidably sleeved with sliders 13, and the two sliders 13 are respectively fixedly installed on the two side walls of the extension arm 5 away from the counterweight block 6, wherein, under the sliding cooperation between the two sets of sliding grooves 12 and the sliders 13, the passive adjustment and limiting effect of the extension arm 5 in the inner cavity of the extension tube 4 can be facilitated, thereby effectively preventing the two from slipping off.

[0034] See also Figure 1 and Figure 4 The rotation driving assembly includes a second gear 14 fixedly sleeved on the outer wall of the lower side of the rotating column 3, a third gear 15 is meshed with one side end of the second gear 14, a second motor 16 is connected to the bottom of the third gear 15 through a second rotating shaft, and the outer wall of the second motor 16 is fixedly mounted on the outer wall of the upper side of the column 2 through a second mounting seat;

[0035] The rotary drive assembly also includes a T-shaped slot 17 opened at the center position of the top of the column 2, and a T-shaped shaft 18 is slidably sleeved on the inner wall of the T-shaped slot 17. The top of the T-shaped shaft 18 passes through the top of the T-shaped slot 17 and is fixedly connected to the center position of the bottom of the rotating column 3.

[0036] See also Figure 1 The base plate 1 has a square plate structure, and the four corners of the bottom of the base plate 1 are fixedly connected with supporting feet 19, and the outer wall circumference of the bottom end of the column 2 is evenly fixedly connected with four reinforcing plates 20, and the bottoms of the four reinforcing plates 20 are fixedly connected to the top of the base plate 1.

[0037] The implementation principle of this embodiment is as follows: wherein the manipulator assembly (not fully shown in the attached drawings) is summarized as the prior art with the same structure and principle as the comparative document publication number: CN218706935U, and includes "installation arm, first electric cylinder, telescopic frame, hollow plate, second electric cylinder, V-groove block, first drive motor, connecting plate, third electric cylinder, worm gear reducer, slide rail, center plate, side plate, limit column, threaded rod, brake motor and U-shaped frame", and the summarized manipulator assembly can realize the grabbing of goods of different shapes, avoiding the disadvantages of traditional switching of different grabbing mechanisms. The specific use process can refer to the content in the comparative document, and no further elaboration is made here. Moreover, under the passive extension effect between the "installation arm" and the "telescopic frame", the horizontal extension of the overall cargo grabbing position can be realized;

[0038] When in use, the grabbing action of the manipulator assembly on the goods, and the cooperation of the second motor 16, the third gear 15, and the second gear 14, realize the passive rotation of the rotating column 3 as a whole on the top of the column 2, so as to facilitate the grabbing of goods in different directions by the overall palletizing robot, and during the passive rotation of the rotating column 3, the T-shaped shaft 18 performs limited sliding cooperation on the inner wall of the T-shaped groove 17;

[0039] When the "mounting arm" and the "telescopic frame" in the manipulator assembly need to be extended horizontally, the column 2 and the rotating column 3 will be unbalanced to one side of the manipulator assembly during the overall cargo grabbing and moving process. At this time, the first motor 10 can be started to make the first gear 9 rotate slowly, and the meshing action of the first gear 9 and the multiple tooth grooves 7 on the extension arm 5 can be used to indirectly make the extension arm 5 slide horizontally on the inner wall of the extension tube 4, so as to adjust the horizontal position of the counterweight block 6 on one side of the rotating column 3, thereby indirectly maintaining the relative balance of gravity on both sides of the column 2 and the rotating column 3, preventing the problem of unbalanced tilting, thereby ensuring the overall working stability.

[0040] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A manipulator for a palletizing robot, comprising a base plate (1), characterized in that: A column (2) is fixedly connected to the center position of the top of the base plate (1), a rotating column (3) is slidably contacted at the top of the column (2), and a rotating drive component is provided at the connection between the column (2) and the rotating column (3), an extension cylinder (4) is fixedly connected to one side wall of the upper end of the rotating column (3), and a manipulator component is connected to the other side wall of the upper end of the rotating column (3), an extension arm (5) is slidably sleeved on the inner cavity of one side of the extension cylinder (4) away from the rotating column (3), and one end of the extension arm (5) penetrates The extension arm (5) passes through the interior of the extension tube (4), and one end of the extension arm (5) is fixedly connected to a counterweight (6), and the top of the extension arm (5) is evenly and horizontally provided with a plurality of tooth grooves (7), and the top of the extension tube (4) away from the rotating column (3) is provided with a through groove (8), and the inner side of the through groove (8) is provided with a first gear (9), the bottom end of the first gear (9) is meshed with a part of the tooth groove (7), and the center position of one end surface of the first gear (9) is connected to a first motor (10) through a first rotating shaft.

2. A manipulator for a palletizing robot according to claim 1, characterized in that: A pad (11) is provided below the first motor (10), the pad (11) is fixedly mounted on an outer wall of one side of the extension tube (4), and the outer wall of the first motor (10) is fixedly mounted on the top of the pad (11) via a first mounting seat.

3. A manipulator for a palletizing robot according to claim 1, characterized in that: The two side walls of the inner cavity of the extension tube (4) are provided with sliding grooves (12), and the inner walls of one side of the two sliding grooves (12) are slidably sleeved with sliders (13), and the two sliders (13) are respectively fixedly installed on the two side walls of the end of the extension arm (5) away from the counterweight block (6).

4. A manipulator for a palletizing robot according to claim 1, characterized in that: The rotary drive assembly comprises a second gear (14) fixedly sleeved on the lower outer wall of the rotating column (3); a third gear (15) is meshed at one end of the second gear (14); the bottom of the third gear (15) is connected to a second motor (16) via a second rotating shaft; the outer wall of the second motor (16) is fixedly mounted on the outer wall of the upper side of the column (2) via a second mounting seat.

5. A manipulator for a palletizing robot according to claim 4, characterized in that: The rotary drive assembly also includes a T-shaped slot (17) opened at the center position of the top end of the column (2), a T-shaped shaft (18) slidably sleeved on the inner wall of the T-shaped slot (17), and the top of the T-shaped shaft (18) passes through the top of the T-shaped slot (17) and is fixedly connected to the center position of the bottom of the rotating column (3).

6. The manipulator for a palletizing robot according to claim 1, characterized in that: The base plate (1) is a square plate structure, and four corners of the bottom of the base plate (1) are fixedly connected with supporting feet (19).

7. The manipulator for a palletizing robot according to claim 1, characterized in that: Four reinforcement plates (20) are evenly and fixedly connected to the outer wall circumference of the bottom end of the column (2), and the bottoms of the four reinforcement plates (20) are fixedly connected to the top of the bottom plate (1).

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