Five-axis robot bag arranging machine

Abstract

The utility model discloses a five-axis robot bag arranging machine. According to the technical scheme, the device comprises a device frame, wherein a conveying belt, a five-axis parallel package arranging module located above the conveying belt and a gripper module connected with the five-axis parallel package arranging module are arranged in the device frame; the five-axis parallel package arranging module comprises a fixing seat arranged at the top of the equipment frame, three motor seats are arranged on the fixing seat, a servo motor is arranged on each motor seat, an output shaft of each servo motor is connected with a swing arm, the tail end of each swing arm is rotationally connected with a connecting rod set, and the connecting rod sets are connected with the connecting rod sets. The tail ends of all the connecting rod sets are jointly connected to the chassis in a rotating mode, and a clamping power assembly and a rotating power assembly are arranged on the fixing base. According to the scheme provided by the invention, luggage products can be efficiently and rapidly arranged and combined, and the device is suitable for rapid arrangement before stacking.

Description

Technical Field

[0001] The utility model relates to the technical field of conveying equipment, in particular to a five-axis robot bag unscrambler. Background Art

[0002] The bag unscrambler in the prior art is generally set at the station in front of the palletizer, and its function is to adjust the products to the same direction and position. The Chinese patent No. 202021556473.7 discloses a spider manipulator for food packaging. The advantages of this solution are high efficiency in grabbing and handling, and flexible adjustment methods. The disadvantages are that the product cannot be rotated to adjust the direction, and the product cannot be clamped to achieve grabbing; the overall structure is heavy, which affects the running speed. Utility Model Content

[0003] In view of the shortcomings of the prior art, the main purpose of the utility model is to provide a five-axis robot bag sorting machine that can rotate and clamp products and is more flexible and faster. It can arrange and combine bag products efficiently and quickly and is suitable for rapid sorting before palletizing.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a five-axis robot bag unscrambling machine, comprising an equipment frame, wherein a conveyor belt, a five-axis parallel bag unscrambling module located above the conveyor belt, and a gripper module connected to the five-axis parallel bag unscrambling module are arranged in the equipment frame; the five-axis parallel bag unscrambling module comprises a fixed seat arranged at the top of the equipment frame, three motor seats are arranged on the fixed seat, each motor seat is provided with a servo motor, the output shaft of each servo motor is connected to a swing arm, the end of each swing arm is rotatably connected to a connecting rod group, and all The ends of the connecting rod group are connected to the chassis for rotation together, and a clamping power assembly and a rotating power assembly are arranged on the fixed seat, and the clamping power assembly includes a clamping servo reducer and a clamping shaft arranged in the clamping servo reducer, and the rotating power assembly includes a rotating servo reducer and a rotating shaft arranged in the rotating servo reducer, and the clamping shaft is embedded in the rotating shaft through a ball bearing, and the clamping shaft is connected to a clamping long shaft through an upper universal coupling, and the clamping long shaft is connected to a clamping short shaft through a lower universal coupling, and the lower end of the clamping short shaft is arranged There is a synchronous wheel matched with the gripper module, the rotating shaft is connected to an upper universal seat, the upper universal seat is connected to an upper universal joint, the upper universal joint is connected to a rotating long shaft, a lower universal joint is arranged at the bottom of the rotating long shaft, the lower universal joint is connected to a lower universal seat, the lower universal seat is arranged on a rotating disk, the rotating disk is rotatably connected to the chassis, the rotating long shaft is sleeved on the clamping long shaft, the clamping short shaft is rotatably connected to the rotating disk through a ball bearing, the swing arm and the connecting rod group are made of carbon fiber; the gripper module includes a gripper fixedly connected to the chassis A fixing plate, a pair of slide rails are arranged at the bottom of the gripper fixing plate along the length direction of the gripper fixing plate, a left clamping jaw assembly and a right clamping jaw assembly are arranged on the pair of slide rails, the left clamping jaw assembly and the right clamping jaw assembly respectively include support frames slidably connected to the pair of slide rails through sliders, one of the support frames is provided with a passive shaft and a passive wheel arranged on the passive shaft, a synchronous belt is meshedly connected to the passive wheel, and the synchronous belt is meshedly connected to the synchronous wheel at the same time, a connecting rod is fixedly arranged on the other support frame, and the connecting rod is fixedly connected to the synchronous belt.

[0005] Preferably, the connecting rod group includes two connecting rods, and the two ends of each connecting rod are rotatably connected to the swing arm and the chassis through a pin shaft.

[0006] Preferably, a top cover is provided on the top of the clamping shaft.

[0007] Preferably, the support frame is provided with a plurality of rubber-coated rods capable of contacting the product.

[0008] Compared with the prior art, the utility model has the following advantages: the product enters the conveyor belt of the equipment frame through the conveyor line, and then the visual inspection module of the bag unscrambler can quickly locate the product, and then the five-axis parallel bag unscrambler module starts to move. The five-axis parallel bag unscrambler module is designed based on the spider manipulator, which drives the swing arm to move through three servo motors, and the swing arm is rotatably connected to the connecting rod group. By controlling the rotation angle of the three servo motors, the chassis can move in three directions of the XYZ axis, which is the same as the structure and principle of the spider manipulator in the prior art. The bag unscrambler of this scheme creatively designs a clamping power assembly and a rotating power assembly that are superimposed, wherein the clamping power assembly drives the clamping shaft to rotate through the clamping servo reducer, and the rotating servo reducer of the rotating power assembly drives the rotating shaft to rotate, and the clamping shaft is embedded in the rotating shaft through a ball bearing, so that the rotation of the clamping shaft and the rotation of the rotating shaft do not interfere with each other. The working process of the clamping power assembly is that the clamping shaft is connected to the clamping long shaft through the upper universal coupling, and the clamping long shaft drives the clamping short shaft to rotate through the lower universal coupling. The synchronous wheel on the clamping short shaft cooperates with the synchronous belt of the gripper module, wherein the clamping short shaft is connected to the rotating disk through a ball bearing, so that there is no interference between the clamping short shaft and the chassis. The working process of the rotating power assembly is that the rotating shaft is universally connected to the rotating long shaft through the upper universal joint and the upper universal seat, and the bottom of the rotating long shaft is connected to the rotating disk through the lower universal joint and the lower universal seat, so that the rotating shaft drives the rotating long shaft to rotate, the rotating long shaft drives the rotating disk to rotate, and the rotating disk drives the entire gripper module to rotate, thereby realizing that the gripper module drives the product to rotate and adjust the direction of the product. The clamping long shaft is arranged inside the rotating long shaft, so that the clamping power assembly and the rotating power assembly do not interfere with each other when working.

[0009] The swing arm and connecting rod assembly in this solution are made of carbon fiber material, which has the characteristics of high strength and light weight. It can improve the strength while reducing the overall weight, further improving the flexibility and speed of the five-axis parallel package handling module.

[0010] The working process of the gripper module is that the clamping short shaft drives the synchronous wheel to rotate, and the synchronous wheel drives the synchronous belt, so that the synchronous belt drives the support frame on one side to move along the slide rail. The two support frames are linked by a connecting rod. When one support frame is driven by the synchronous belt, the other support frame moves in the opposite direction synchronously with the forward and reverse rotation of the synchronous wheel, thereby realizing that the product is clamped or released between the two support frames. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic diagram of the overall structure of a five-axis robot bag unscrambler of the utility model;

[0012] Figure 2 This is a schematic diagram of the overall structure of the five-axis parallel bagging module of the utility model;

[0013] Figure 3 It is a front view of the five-axis parallel bagging module of the utility model;

[0014] Figure 4 for Figure 3 Cross-sectional view of the AA section;

[0015] Figure 5 It is a structural schematic diagram of the rotary power assembly of the utility model;

[0016] Figure 6 for Figure 5 Cross-sectional view of the AA section;

[0017] Figure 7 This is a schematic diagram of the overall structure of the gripper module of the utility model;

[0018] Figure 8 It is a top view of the gripper module of the present utility model.

[0019] In the figure: 1. Equipment frame; 2. Conveyor belt; 3. Five-axis parallel packing module; 4. Gripper module; 5. Fixed seat; 6. Motor seat; 7. Servo motor; 8. Swing arm; 9. Connecting rod group; 10. Chassis; 11. Clamping power assembly; 12. Rotating power assembly; 13. Clamping servo reducer; 14. Clamping shaft; 15. Rotating servo reducer; 16. Rotating shaft; 17. Ball bearing; 18. Upper universal joint; 19. Clamping long shaft; 20. Lower universal joint ; 21. Clamping short shaft; 22. Synchronous wheel; 23. Upper universal seat; 24. Upper universal joint; 25. Rotating long shaft; 26. Lower universal joint; 27. Lower universal seat; 28. Rotating disk; 29. ​​Gripper fixing plate; 30. Slide rail; 31. Left clamping jaw assembly; 32. Right clamping jaw assembly; 33. Slider; 34. Support frame; 35. Passive shaft; 36. Passive wheel; 37. Synchronous belt; 38. Connecting rod; 39. Connecting rod; 40. Pin shaft; 41. Top cover; 42. Rubber-coated rod. DETAILED DESCRIPTION

[0020] The utility model will be further described below in conjunction with the accompanying drawings.

[0021] like Figure 1As shown, a five-axis robot bag unscrambling machine includes an equipment frame 1, in which a conveyor belt 2, a five-axis parallel bag unscrambling module 3 located above the conveyor belt 2, and a gripper module 4 connected to the five-axis parallel bag unscrambling module 3 are arranged; the five-axis parallel bag unscrambling module 3 includes a fixed seat 5 arranged on the top of the equipment frame 1, three motor seats 6 are arranged on the fixed seat 5, each motor seat 6 is provided with a servo motor 7, the output shaft of each servo motor 7 is connected to a swing arm 8, the end of each swing arm 8 is rotatably connected to a connecting rod group 9, and the ends of all the connecting rod groups 9 are rotatably connected to a chassis 10 together, and a clamping power assembly 1 is arranged on the fixed seat 5. 1 and a rotating power assembly 12, the clamping power assembly 11 includes a clamping servo reducer 13 and a clamping shaft 14 arranged in the clamping servo reducer 13, the rotating power assembly 12 includes a rotating servo reducer 15 and a rotating shaft 16 arranged in the rotating servo reducer 15, the clamping shaft 14 is embedded in the rotating shaft 16 through a ball bearing 17, the clamping shaft 14 is connected to a clamping long shaft 19 through an upper universal coupling 18, the clamping long shaft 19 is connected to a clamping short shaft 21 through a lower universal coupling 20, the lower end of the clamping short shaft 21 is provided with a synchronous wheel 22 that cooperates with the gripper module 4, the rotating shaft 16 is connected to The upper universal seat 23 is connected to an upper universal joint 24, and the upper universal joint 24 is connected to a rotating long shaft 25. A lower universal joint 26 is provided at the bottom of the rotating long shaft 25, and the lower universal joint 26 is connected to a lower universal seat 27. The lower universal seat 27 is arranged on a rotating disk 28, and the rotating disk 28 is rotatably connected to the chassis 10. The rotating long shaft 25 is sleeved on the clamping long shaft 19, and the clamping short shaft 21 is rotatably connected to the rotating disk 28 through a ball bearing 17. The swing arm 8 and the connecting rod group 9 are both made of carbon fiber; the gripper module 4 includes a gripper fixing plate 29 fixedly connected to the chassis 10, and the gripper fixing plate 2 A pair of slide rails 30 are provided at the bottom of 9 along the length direction of the gripper fixing plate 29, and a left clamping jaw assembly 31 and a right clamping jaw assembly 32 are provided on the pair of slide rails 30, and the left clamping jaw assembly 31 and the right clamping jaw assembly 32 respectively include support frames 34 slidably connected to the pair of slide rails 30 through sliders 33, one of the support frames 34 is provided with a passive shaft 35 and a passive wheel 36 arranged on the passive shaft 35, and a synchronous belt 37 is meshed and connected to the passive wheel 36, and the synchronous belt 37 is meshed and connected to the synchronous wheel 22 at the same time, and a connecting rod 38 is fixedly provided on the other support frame 34, and the connecting rod 38 is fixedly connected to the synchronous belt 37.

[0022] The present invention is a five-axis robot bag unscrambler, and its working principle is that the product enters the conveyor belt 2 of the equipment frame 1 through the conveyor line, and then the visual inspection module of the bag unscrambler can quickly locate the product, and then the five-axis parallel bag unscrambler module 3 starts to move. The five-axis parallel bag unscrambler module 3 is designed based on the spider manipulator, and it drives the swing arm 8 to move through three servo motors 7, and the swing arm 8 is rotatably connected with the connecting rod group 9. By controlling the rotation angle of the three servo motors 7, the chassis 10 can move in three directions of the XYZ axis, which is the same as the structure and principle of the spider manipulator in the prior art. The bag unscrambler of the present invention creatively designs a clamping power assembly 11 and a rotating power assembly 12 that are superimposed, wherein the clamping power assembly 11 drives the clamping shaft 14 to rotate through the clamping servo reducer 13, and the rotating servo reducer 15 of the rotating power assembly 12 drives the rotating shaft 16 to rotate, and the clamping shaft 14 is embedded in the rotating shaft 16 through the ball bearing 17, so that the rotation of the clamping shaft 14 and the rotation of the rotating shaft 16 do not interfere with each other. The working process of the clamping power assembly 11 is that the clamping shaft 14 is connected to the clamping long shaft 19 through the upper universal coupling 18, the clamping long shaft 19 drives the clamping short shaft 21 to rotate through the lower universal coupling 20, the synchronous wheel 22 on the clamping short shaft 21 cooperates with the synchronous belt 37 of the gripper module 4, wherein the clamping short shaft 21 is connected to the rotating disk 28 through the ball bearing 17, so that there is no interference between the clamping short shaft 21 and the chassis 10. The working process of the rotating power assembly 12 is that the rotating shaft 16 is universally connected to the rotating long shaft 25 through the upper universal joint 24 and the upper universal seat 23, and the bottom of the rotating long shaft 25 is connected to the rotating disk 28 through the lower universal joint 26 and the lower universal seat 27, so that the rotating shaft 16 drives the rotating long shaft 25 to rotate, the rotating long shaft 25 drives the rotating disk 28 to rotate, and the rotating disk 28 drives the entire gripper module 4 to rotate, thereby realizing that the gripper module 4 drives the product to rotate and adjust the direction of the product. The clamping long axis 19 is disposed inside the rotating long axis 25 , so that the clamping power assembly 11 and the rotating power assembly 12 do not interfere with each other during operation.

[0023] The swing arm 8 and the connecting rod group 9 in this solution are made of carbon fiber material. The carbon fiber material has the characteristics of high strength and light weight. It can improve the strength while reducing the overall weight, further improving the flexibility and speed of the five-axis parallel bag handling module 3.

[0024] The working process of the gripper module 4 is that the clamping short shaft 21 drives the synchronous wheel 22 to rotate, and the synchronous wheel 22 drives the synchronous belt 37, so that the synchronous belt 37 drives the support frame 34 on one side to move along the slide rail 30, and the two support frames 34 are linked by a connecting rod 38. When one support frame 34 is driven by the synchronous belt 37, the other support frame 34 makes a synchronous reverse movement with the forward and reverse rotation of the synchronous wheel 22, thereby realizing that the product is clamped or released between the two support frames 34.

[0025] Preferably, the connecting rod group 9 includes two connecting rods 39, and the two ends of each connecting rod 39 are rotatably connected to the swing arm 8 and the chassis 10 through a pin 40. Each connecting rod group 9 is designed with two connecting rods 39, which can improve the stability of the action process.

[0026] Preferably, a top cover 41 is provided on the top of the clamping shaft 14. The top cover 41 plays a protective role.

[0027] Preferably, the support frame 34 is provided with a plurality of rubber-coated rods 42 capable of contacting the product. The rubber-coated rods 42 can protect the product from deformation.

[0028] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A five-axis robot bag unscrambler, characterized by: The invention comprises an equipment frame, in which a conveyor belt, a five-axis parallel bag sorting module located above the conveyor belt and a gripper module connected to the five-axis parallel bag sorting module are arranged; the five-axis parallel bag sorting module comprises a fixed seat arranged at the top of the equipment frame, three motor seats are arranged on the fixed seat, each motor seat is arranged on a servo motor, the output shaft of each servo motor is connected with a swing arm, the end of each swing arm is rotatably connected with a connecting rod group respectively, the ends of all the connecting rod groups are rotatably connected to the chassis together, a clamping power assembly and a rotating power assembly are arranged on the fixed seat, the clamping power assembly comprises a clamping servo reducer and a clamping shaft arranged in the clamping servo reducer, the rotating power assembly comprises a rotating servo reducer and a rotating shaft arranged in the rotating servo reducer, the clamping shaft is embedded in the rotating shaft through a ball bearing, the clamping shaft is connected with a clamping long shaft through an upper universal coupling, the clamping long shaft is connected with a clamping short shaft through a lower universal coupling, the lower end of the clamping short shaft is provided with a synchronous wheel cooperating with the gripper module, and the rotating The shaft is connected with an upper universal seat, the upper universal seat is connected with an upper universal joint, the upper universal joint is connected with a rotating long shaft, a lower universal joint is arranged at the bottom of the rotating long shaft, the lower universal joint is connected with a lower universal seat, the lower universal seat is arranged on a rotating disk, the rotating disk is rotatably connected with the chassis, the rotating long shaft is sleeved on the clamping long shaft, the clamping short shaft is rotatably connected with the rotating disk through a ball bearing, the swing arm and the connecting rod group are made of carbon fiber; the gripper module includes a gripper fixing plate fixedly connected to the chassis, the gripper fixed A pair of slide rails are provided at the bottom of the fixed plate along the length direction of the gripper fixing plate, and a left clamping jaw assembly and a right clamping jaw assembly are provided on the pair of slide rails, and the left clamping jaw assembly and the right clamping jaw assembly respectively include support frames slidably connected to the pair of slide rails through sliders, one of the support frames is provided with a passive shaft and a passive wheel provided on the passive shaft, a synchronous belt is meshedly connected to the passive wheel, and the synchronous belt is meshedly connected to the synchronous wheel at the same time, and a connecting rod is fixedly provided on the other support frame, and the connecting rod is fixedly connected to the synchronous belt.

2. The five-axis robot bag unscrambler according to claim 1, characterized in that: The connecting rod group includes two connecting rods, and the two ends of each connecting rod are rotatably connected to the swing arm and the chassis through a pin shaft.

3. The five-axis robot bag unscrambler according to claim 1, characterized in that: A top cover is arranged on the top of the clamping shaft.

4. The five-axis robot bag unscrambler according to claim 1, characterized in that: The support frame is provided with a plurality of rubber-coated rods capable of contacting the product.

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