Robot hybrid unloading and stacking mechanism

Abstract

The utility model discloses a robot mixed unloading and stacking mechanism which comprises a mechanical arm moving table, a mechanical arm moving table, a lifting mechanism and a lifting mechanism. The mechanical arm moving table comprises third side plates which are symmetrically arranged and cross beams which are symmetrically arranged between the two third side plates. The whole-layer clamping device comprises first side plates which are symmetrically arranged and are respectively arranged on the inner walls of the adjacent sides of the two third side plates in a sliding manner; the product storage and anti-falling device comprises second side plates which are symmetrically arranged and are respectively arranged on the inner walls of the adjacent sides of the two third side plates in a sliding manner; wherein the mechanical arm moving table is provided with a first driving mechanism, the first driving mechanism comprises a driving part which is driven to rotate, and the driving part is in transmission connection with the whole-layer clamping device and the product storage and anti-falling device. The robot hybrid unloading and stacking mechanism is simple in structure, the stroke of the clamping action can be rapidly adjusted according to actual production requirements, and therefore the robot hybrid unloading and stacking mechanism meets different working conditions and is high in universality.

Description

Technical Field

[0001] The utility model relates to a palletizing and unloading machine, in particular to a robot mixed palletizing and unloading mechanism. Background Art

[0002] The existing robot palletizer uses a cylinder as a power element to grab boxes on a conveyor line and stack them on a pallet.

[0003] As disclosed in the publication (announcement) number: CN103496596A, the publication (announcement) date: 2014-01-08, a palletizing robot is disclosed, which is composed of four parts: a clamping device, a clamp rotating device, a balancing lifting device and a frame rotating device. The clamping device is composed of two groups of cylinders, guide rods and clamping plates, one group of cylinders clamps the bricks, and the other group of cylinders controls the spacing between the bricks. The clamp rotating device is driven by a servo motor to rotate the gear, thereby controlling the angle of the clamp as a whole.

[0004] In the prior art based on the above patent, since the stroke of the cylinder is fixed, it cannot quickly adjust its own stroke according to actual production needs, and the range of the clamping action cannot be adjusted to adapt to products of different specifications, which makes the grabbing and stacking action less universal for different products, and the number of boxes grabbed at one time is small, resulting in low production efficiency. Utility Model Content

[0005] The utility model aims to provide a robot mixed unloading and stacking mechanism, which is used to solve the problems of insufficient flexibility, low versatility and low production efficiency of the existing cylinder type robot stacking mechanism.

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

[0007] A robot mixed unloading and stacking mechanism, comprising:

[0008] A robot arm moving platform, comprising symmetrically arranged third side plates and a crossbeam symmetrically arranged between two of the third side plates;

[0009] The whole-layer clamping device comprises first side plates which are symmetrically arranged and slidably disposed on inner walls of adjacent sides of two third side plates;

[0010] A product storage and fall prevention device, comprising second side panels symmetrically arranged and respectively slidably disposed on inner walls of adjacent sides of two third side panels;

[0011] Wherein, the mechanical arm moving platform is equipped with:

[0012] A first driving mechanism, comprising a driven rotating driving part, wherein the driving part is drivingly connected to the whole-layer clamping device and the product storage and anti-falling device to drive the two to maintain relative movement along the x-axis direction;

[0013] The second driving mechanism includes an electric cylinder assembly for driving the two first side plates to maintain relative movement along the Y-axis direction.

[0014] Preferably, it also includes a slider sliding on a slide rail fixedly installed on the third side panel, and the first side panel and the second side panel are respectively fixedly installed on the adjacent two side outer walls of the two sliders.

[0015] Preferably, one end of the second side plate connected to the slider is lower than one end of the first side plate connected to the slider.

[0016] Preferably, the first synchronous belt includes a belt surface and symmetrically arranged synchronous wheels disposed in the belt surface, and the belt surface is divided into an upper belt surface and a lower belt surface by taking the axis connecting the two synchronous wheels as a horizontal plane;

[0017] The two synchronous wheels are both mounted on the driving part and kept synchronously;

[0018] The first side plate is connected to the upper belt surface, and the second side plate is connected to the lower belt surface.

[0019] Preferably, the driving part comprises a gear box, and transmission shafts are fixedly arranged at output ends of opposite sides of the gear box, and the synchronous wheel is axially slidably arranged on the transmission shaft;

[0020] A motor is fixedly mounted on the input end of the gear box.

[0021] Preferably, the transmission shaft is rotatably disposed on a bearing seat of the third side plate.

[0022] Preferably, a second synchronous belt is installed on the robot arm moving platform, the second synchronous belt comprises a belt surface and symmetrically arranged synchronous wheels arranged in the belt surface, and the belt surface is divided into an upper belt surface and a lower belt surface by taking the connecting line of the two synchronous wheel axes as a horizontal plane;

[0023] The first first side plate is connected to the upper belt surface, and the second first side plate is connected to the lower belt surface.

[0024] Preferably, one end of each of the two second side panels is provided with a support plate protruding toward the adjacent side.

[0025] In the above technical scheme, a robot mixed unloading and stacking mechanism provided by the utility model has the following beneficial effects: the first driving mechanism and the second driving mechanism are respectively used to realize the relative movement of the whole layer clamping device and the product storage and anti-falling device on the x-axis and the relative movement of the two first side plates on the y-axis, thereby realizing clamping and anti-falling. The whole layer clamping device can grasp and stack products of the same specifications, and the product storage and anti-falling device is used to realize mixed stacking of products of different types and specifications.

[0026] At the same time, the real-time feedback of position signals by the servo controller makes the tightening action more precise and the operation more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0028] Figure 1 This is a schematic diagram of the closure of the mixed unloading and stacking mechanism;

[0029] Figure 2 This is a schematic diagram of the mixed unloading and stacking mechanism.

[0030] Description of reference numerals:

[0031] 1. Motor; 2. Drive shaft; 3. Synchronous belt; 4. Third side plate; 5. Slide rail; 6. Slider; 7. First side plate; 8. Electric cylinder assembly; 9. Second side plate; 10. Gear box; 11. Second synchronous belt. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0033] like Figure 1-2 As shown, a robot mixed unloading and stacking mechanism comprises:

[0034] A robot arm moving platform, comprising symmetrically arranged third side plates 4 and a crossbeam symmetrically arranged between two third side plates 4;

[0035] The whole layer clamping device comprises first side plates 7 which are symmetrically arranged and slidably disposed on inner walls of adjacent sides of two third side plates 4;

[0036] A product storage and anti-falling device, comprising second side panels 9 symmetrically arranged and respectively slidably arranged on inner walls of adjacent sides of two third side panels 4;

[0037] Among them, the robot arm moving platform is equipped with:

[0038] A first driving mechanism, comprising a driven rotating driving part, the driving part being in driving connection with the whole layer clamping device and the product storage and anti-falling device to drive the two to maintain relative movement along the x-axis direction;

[0039] The second driving mechanism includes an electric cylinder assembly 8 for driving the two first side plates 7 to maintain relative movement along the Y-axis direction.

[0040] Specifically, in the above embodiment, one end of the two second side plates 9 is provided with a support plate protruding toward the adjacent side, Figure 1 It can be seen that the pallet is located on the outside of the robot arm moving platform.

[0041] Furthermore, the driving part in the embodiment may be a double-ended threaded rod; or a reciprocating screw rod; or any driving mechanism known to those skilled in the art.

[0042] Furthermore, the electric cylinder assembly 8 in the embodiment drives the two first side plates 7 to move relative to each other, and the two ends are equal in length and are respectively rotatably arranged on the first side plates 7, and the output end of the electric cylinder assembly 8 can be connected to any first side plate 7; or a movable pulley group is used, and the output end of the electric cylinder assembly 8 is connected to the steel cable of the movable pulley group, and the movement of the two first side plates 7 is achieved by pulling; or any driving mechanism known to those skilled in the art can be used.

[0043] In addition, the mixed unloading and stacking mechanism provided in this embodiment needs to be installed on a robot arm for use, and combined with Figure 1 It can be seen that in the embodiment, a flange mounting plate is fixedly mounted on the robot arm moving platform.

[0044] In the above technology, the first driving mechanism and the second driving mechanism are used to respectively realize the relative movement of the whole-layer clamping device and the product storage and anti-falling device on the x-axis and the relative movement of the two first side plates 7 on the y-axis, thereby realizing clamping and anti-falling. The whole-layer clamping device can grasp and stack products of the same specifications, and the product storage and anti-falling device is used to realize mixed stacking of products of different types and specifications.

[0045] At the same time, the real-time feedback of position signals by the servo controller makes the tightening action more precise and the operation more reliable.

[0046] As an embodiment further provided by the utility model, it also includes a slider 6 sliding on a slide rail 5 fixedly installed on the third side plate 4, and the first side plate 7 and the second side plate 9 are respectively fixedly installed on the adjacent two side outer walls of the two sliders 6.

[0047] It should be noted that, in the above embodiment, one end of the second side plate 9 connected to the slider 6 is lower than one end of the first side plate 7 connected to the slider 6 .

[0048] Furthermore, the above embodiment further includes a first synchronous belt 3, the first synchronous belt 3 includes a belt surface and symmetrically arranged synchronous wheels disposed in the belt surface, and the belt surface is divided into an upper belt surface and a lower belt surface by taking the axis connecting the two synchronous wheels as a horizontal plane;

[0049] The two synchronous wheels are assembled on the driving part and keep synchronization;

[0050] The first side plate 7 is connected to the upper belt surface, and the second side plate 9 is connected to the lower belt surface.

[0051] Specifically, the driving part drives the synchronous wheels to rotate respectively, and then when the synchronous wheels drive the belt surface to move, as the transmission directions of the upper belt surface and the lower belt surface are opposite, the first side plate 7 and the second side plate 9 are driven to move out of phase.

[0052] As another embodiment further provided by the present invention, the driving unit includes a gear box 10, and the output ends of the gear box 10 on opposite sides are fixedly provided with a transmission shaft 2, and the synchronous wheel is axially slidably provided on the transmission shaft 2;

[0053] The motor 1 is fixedly mounted on the input end of the gear box 10 .

[0054] Specifically, the gear box 10 in the embodiment is provided with a gear set which is bonded and connected and has a U-shaped structure. The motor 1 is fixed to one gear in the gear set, and the two transmission shafts 2 arranged along the axial direction are fixed to the two gears respectively.

[0055] Secondly, the synchronous wheel in the embodiment cooperates with the transmission shaft 2 through a keyway, so as to limit the independent movement of the synchronous wheel, so that the synchronous wheel and the transmission shaft 2 can rotate coaxially.

[0056] It should be noted that, combined with Figure 1 It can be known that the transmission shaft 2 is rotatably disposed on the bearing seat of the third side plate 4 .

[0057] As another embodiment further provided by the utility model, a second synchronous belt 11 is installed on the robot arm moving platform, and the second synchronous belt 11 includes a belt surface and symmetrically arranged synchronous wheels arranged in the belt surface, and the belt surface is divided into an upper belt surface and a lower belt surface by taking the connecting line of the two synchronous wheel axes as a horizontal plane;

[0058] The first first side plate 7 is connected to the upper belt surface, and the second first side plate 7 is connected to the lower belt surface.

[0059] Specifically, in the above embodiment, the output end of the electric cylinder assembly 8 is fixedly connected to one of the first side plates 7, and the two are distributed in a T-shaped structure. Figure 1and Figure 2 It can be seen that when the electric cylinder assembly 8 is extended or retracted, the first side plate 7 moves to drive the upper belt surface to move, and then the second side plate 7 moves with the lower belt surface to achieve clamping.

[0060] It should be noted that, in the embodiment, a slide groove part is arranged on the upper belt surface of the first synchronous belt 3, and a fixing part which slides with the slide groove part is fixedly installed on the first side plate 7, so that when the two first side plates 7 are close to each other, the first synchronous belt 3 can still drive the entire layer of clamping devices and the product storage and anti-falling device to move; or the upper belt surface of the first synchronous belt 3 and the first side plate 7 are connected by a telescopic part, so that when the two first side plates 7 are close to each other, the first synchronous belt 3 can still drive the entire layer of clamping devices and the product storage and anti-falling device to move; or any other connection method known to those skilled in the art.

[0061] The above only describes some exemplary embodiments of the present invention by way of illustration. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robot mixed unloading and stacking mechanism, characterized in that: include: A robot arm moving platform, comprising symmetrically arranged third side plates (4) and a crossbeam symmetrically arranged between two of the third side plates (4); A whole-layer clamping device, comprising first side plates (7) which are symmetrically arranged and slidably disposed on inner walls of adjacent sides of two third side plates (4); The product storage and fall prevention device comprises a second side plate (9) which is symmetrically arranged and slidably disposed on inner walls of adjacent sides of two third side plates (4); Wherein, the mechanical arm moving platform is equipped with: A first driving mechanism, comprising a driven rotating driving part, wherein the driving part is drivingly connected to the whole-layer clamping device and the product storage and anti-falling device to drive the two to maintain relative movement along the x-axis direction; The second driving mechanism comprises an electric cylinder assembly (8) for driving the two first side plates (7) to maintain relative movement along the Y-axis direction.

2. A robot mixed unloading and stacking mechanism according to claim 1, characterized in that: It also includes a slider (6) that slides on a slide rail (5) that is fixedly mounted on the third side plate (4); the first side plate (7) and the second side plate (9) are respectively fixedly mounted on the adjacent outer walls of the two sliders (6).

3. The robot mixed unloading and stacking mechanism according to claim 2, characterized in that: One end of the second side plate (9) connected to the slider (6) is lower than one end of the first side plate (7) connected to the slider (6).

4. The robot mixed unloading and stacking mechanism according to claim 1, characterized in that: It also includes a first synchronous belt (3), the first synchronous belt (3) including a belt surface and symmetrically arranged synchronous wheels arranged in the belt surface, and the belt surface is divided into an upper belt surface and a lower belt surface by taking the connecting line of the axes of the two synchronous wheels as a horizontal plane; The two synchronous wheels are both mounted on the driving part and kept synchronously; The first side plate (7) is connected to the upper belt surface, and the second side plate (9) is connected to the lower belt surface.

5. The robot mixed unloading and stacking mechanism according to claim 4, characterized in that: The driving part comprises a gear box (10), output ends of the gear box (10) on opposite sides are fixedly provided with transmission shafts (2), and the synchronous wheel is axially slidably provided on the transmission shaft (2); The input end of the gear box (10) is fixedly mounted with a motor (1).

6. The robot mixed unloading and stacking mechanism according to claim 5, characterized in that: The transmission shaft (2) is rotatably arranged on a bearing seat of the third side plate (4).

7. The robot mixed unloading and stacking mechanism according to claim 1, characterized in that: A second synchronous belt (11) is installed on the robot arm moving platform, the second synchronous belt (11) comprising a belt surface and synchronous wheels arranged symmetrically on the belt surface, and the belt surface is divided into an upper belt surface and a lower belt surface by taking the connecting line of the axes of the two synchronous wheels as a horizontal plane; The first of the first side panels (7) is connected to the upper belt surface, and the second of the first side panels (7) is connected to the lower belt surface.

8. The robot mixed unloading and stacking mechanism according to claim 1, characterized in that: One end of the two second side plates (9) is provided with a supporting plate protruding toward the adjacent side.

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