Three-axis unstacking manipulator

Abstract

The utility model provides a three-axis unstacking manipulator which is used for mounting, unstacking and transferring axial flow fans and comprises a supporting frame, a grabbing manipulator, a suction cup manipulator, a turnover manipulator, a transfer loading table and an axial flow fan stacking table, and an X-axis cross beam and a Y-axis cross beam are arranged at the top of the supporting frame; a Y-axis rail is mounted on the Y-axis cross beam, and a grabbing manipulator is mounted on the Y-axis rail in a sliding manner; the two sides of the X-axis cross beam are transversely provided with two parallel X-axis rails, the two parallel X-axis rails are provided with a sliding plate in a crossing and sliding mode, and the sliding plate is provided with a suction cup hand. The axial flow fan stacking table is located in an abdominal cavity of the supporting frame and located below the suction cup hand, and a transfer carrying table is arranged at the front end of the axial flow fan stacking table and located below the grabbing mechanical hand. An overturning mechanical arm is arranged on the side of the transfer object carrying table and used for overturning and transferring the axial flow fan grabbed by the grabbing mechanical arm. According to the device, unstacking and quick transfer of axial flow fan installation are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transfer and matching, in particular to a three-axis depalletizing robot. Background Art

[0002] The cooling fan mainly includes a fan body and a motor. The traditional fan assembly method is to manually assemble the fan body and its motor, which requires a large amount of manpower to operate, has low production efficiency, and the assembly quality cannot be guaranteed. The current axial flow fan adopts mechanized automatic assembly. The automatic assembly line needs to first destacker the axial flow fan frame and then transfer it. The existing transfer method is to clamp the axial flow fan with a mechanical gripper, transfer it through the track after clamping, and then transfer it manually or other equipment after transfer. The whole process requires multiple equipment to participate, and the efficiency of clamping the axial flow fan with the gripper is low. The circular axial flow fan may fall. In order to improve the above situation, simplify the process, and improve the efficiency of destacking and transfer, we propose a three-axis destacking robot. Utility Model Content

[0003] In view of the problems existing in the prior art, the utility model provides a three-axis destacking robot. The technical solution of the utility model realizes the rapid transfer of the destacking installation of the axial flow fan, ensures that the axial flow fan does not fall during the transfer process, and realizes the rapid lateral transfer of the installation of the axial flow fan.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A three-axis depalletizing robot is used for installing, depalletizing and transferring axial-flow fans, comprising a supporting frame, a grabbing robot, a suction cup hand and a flipping robot, a middle transfer platform and an axial-flow fan stacking platform, wherein an X-axis beam and a Y-axis beam are arranged on the top of the supporting frame; a Y-axis track is installed on the Y-axis beam, and a grabbing robot is slidably installed on the Y-axis track; two parallel X-axis tracks are horizontally installed on both sides of the X-axis beam, and a sliding plate is slidably installed across the two parallel X-axis tracks, and a suction cup hand is installed on the sliding plate; the axial-flow fan stacking platform is located in the abdominal cavity of the supporting frame, the axial-flow fan stacking platform is located below the suction cup hand, a middle transfer platform is provided at the front end of the axial-flow fan stacking platform, and the middle transfer platform is located below the grabbing robot; a flipping robot is provided on the side of the middle transfer platform, and the flipping robot flips and transfers the axial-flow fan grabbed by the grabbing robot.

[0006] Furthermore, lifting cylinders are installed on the grabbing robot arm and the suction cup arm.

[0007] Furthermore, the flip robot includes a lifting arm, a transverse track and a transverse drive servo; the lifting arm is slidably installed on the transverse track, and the transverse drive servo provides power to push the lifting arm to move along the transverse track.

[0008] Furthermore, a plurality of axial-flow fan components to be taken are stacked and placed on the intermediate transfer platform, a take-up rack is slidably arranged across the upper portion of the intermediate transfer platform, and a plurality of suction cups are installed on the take-up rack.

[0009] Furthermore, the lifting and lowering arm includes two “┎”-shaped brackets, and the two “┎”-shaped brackets are arranged in parallel and at intervals.

[0010] Furthermore, a discharging conveyor is provided at the rear of the axial flow fan stacking platform.

[0011] Furthermore, a suction nozzle is provided below the suction cup arm, and a "П"-shaped clamp is provided below the grasping robot arm.

[0012] Compared with the prior art, the utility model has the following beneficial effects: the utility model places the axial flow fan under the support frame through the axial flow fan stacking platform, first adsorbs the axial flow fan to the intermediate transfer platform through the Y-axis and X-axis tracks and the suction cup hands and grabbing manipulators installed thereon, then flips it to the position preset by the grabbing manipulator through the flipping manipulator, and finally transports it to the discharge conveyor through the grabbing manipulator. The whole process is automated in multiple directions, first adsorbing, then flipping, and then grabbing, realizing the rapid transfer of the axial flow fan installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The utility model is further described below in conjunction with the accompanying drawings.

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 This is a side view of the structure of the utility model;

[0016] Figure 3 It is a right side structural schematic diagram of the utility model;

[0017] Figure 4 It is a schematic diagram of the structure of the turning manipulator and the intermediate transfer platform of the utility model.

[0018] Markings in the figure: 1-support frame, 2-grabbing robot, 3-suction cup arm, 4-flipping robot, 5-intermediate transfer platform; 6-axial flow fan stacking platform, 7-discharging conveyor, 11-X-axial beam, 12-Y-axial beam, 21-Y-axial rail, 22-gripper; 31-X-axial rail, 32-sliding plate, 33-suction nozzle, 41-lifting and lifting arm, 42-lateral rail, 43-lateral drive servo, 51-picking rack; 52-suction cup. DETAILED DESCRIPTION

[0019] 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.

[0020] Example 1

[0021] like Figure 1-4 As shown, this embodiment provides a three-axis depalletizing robot for installing, depalletizing and transferring axial flow fans, including a support frame 1, a grabbing robot 2, a suction cup hand 3, a flipping robot 4, an intermediate transfer platform 5, an axial flow fan stacking platform 6, and a discharge conveyor 7 is also provided behind the axial flow fan stacking platform 6. A suction nozzle 33 is provided below the suction cup hand 3, and a "П"-shaped clamping claw 22 is provided below the grabbing robot 2.

[0022] An X-axis beam 11 and a Y-axis beam 12 are arranged on the top of the support frame 1; a Y-axis rail 21 is installed on the Y-axis beam 12, and a grabbing manipulator 2 is slidably installed on the Y-axis rail 21; two parallel X-axis rails 31 are horizontally installed on both sides of the X-axis beam 11, and a sliding plate 32 is slidably installed across the two parallel X-axis rails 31, and a driving component is arranged outside the sliding plate 32 to drive the sliding plate 32 to move along the X-axis rail 31, and a suction cup hand 3 is installed on the sliding plate 32; an axial flow fan stacking platform 6 is located in the abdominal cavity of the support frame 1, and the axial flow fan stacking platform 6 is located below the suction cup hand 3, and a middle transfer platform 5 is arranged at the front end of the axial flow fan stacking platform 6, and the middle transfer platform 5 is located below the grabbing manipulator 2; a flipping manipulator 4 is arranged on the side of the middle transfer platform 5, and the flipping manipulator 4 flips and transfers the axial flow fan grabbed by the grabbing manipulator 2.

[0023] The gripping manipulator 2 and the sucker hand 3 are both provided with lifting cylinders, and are moved up and down by their respective cylinders.

[0024] See you next time Figure 4The flip robot 4 includes a lifting arm 41, a transverse track 42 and a transverse drive servo 43; the lifting arm 41 is slidably installed on the transverse track 42, and the transverse drive servo 43 provides power to push the lifting arm 41 to move along the transverse track 2.

[0025] A plurality of axial flow fan components to be taken are stacked on the middle transfer platform 5 , and a take-out rack 51 is slidably arranged across the upper portion of the middle transfer platform 5 , and a plurality of suction cups 52 are installed on the take-out rack 51 .

[0026] The lifting arm 41 includes two “┎”-shaped brackets, and the two “┎”-shaped brackets are arranged in parallel and at intervals.

[0027] During specific operation, the axial-flow fan frames are stacked together on the axial-flow fan stacking platform 6. When it is necessary to unstack and transfer, the suction cup hand 3 is first driven by the driving component on the sliding plate 32 to move to the specified preset position along the X-axis track 31. After reaching the position, the suction cup hand 3 descends through the cylinder to absorb the axial-flow fan frame. Then, the suction cup hand 3 transfers the absorbed axial-flow fan frame to the intermediate loading platform 5; the axial-flow fan frame is placed on the intermediate loading platform 5 and sucked to the top of the lifting and lifting hand 41 by the suction cup 52; the lifting and lifting hand 41 is lifted. The limit strips on the lowering and lifting arm 41 limit the placement of the axial flow fan frame to prevent the axial flow fan from falling; after the placement is completed, the lateral drive servo 43 pushes the lifting and lifting arm 41 to move to a preset position on the lateral track 42 and completes the flipping action; after the flipping action is completed, the lifting and lifting arm 41 hands over the axial flow fan frame to the grasping robot 2, and the grasping robot 2 grasps the axial flow fan frame through the "П"-shaped clamp 22, and after being lifted by the cylinder, the transfer position is lowered to the top of the discharge conveyor 7 for transfer.

[0028] The axial fan stacking platform is used to place the axial fan under the support frame. The Y-axis and X-axis tracks and the suction cups and grabbing manipulators installed thereon first adsorb the axial fan to the intermediate transfer platform, then flip it to the position preset by the grabbing manipulator, and finally transport it to the discharge conveyor by the grabbing manipulator. The whole process is automated in multiple directions, first adsorbing, then flipping, and finally grabbing, realizing the rapid transfer of the axial fan installation.

[0029] The above contents are merely examples of the structure of the present utility model. The technical personnel in the relevant technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the present utility model or exceed the scope defined in the claims, they should all fall within the protection scope of the present utility model.

Claims

1. A three-axis depalletizing robot for installing, depalletizing and transferring axial flow fans, comprising a support frame (1), a grabbing robot (2), a suction cup arm (3), a flipping robot (4), an intermediate transfer platform (5), and an axial flow fan stacking platform (6), characterized in that: An X-axis crossbeam (11) and a Y-axis crossbeam (12) are arranged on the top of the support frame (1); a Y-axis rail (21) is installed on the Y-axis crossbeam (12), and a grabbing manipulator (2) is slidably installed on the Y-axis rail (21); two parallel X-axis rails (31) are installed horizontally on both sides of the X-axis crossbeam (11), a sliding plate (32) is slidably installed across the two parallel X-axis rails (31), and a suction cup hand (3) is installed on the sliding plate (32); an axial fan stacking platform (6) is located in the abdominal cavity of the support frame (1), the axial fan stacking platform (6) is located below the suction cup hand (3), and a middle transfer platform (5) is arranged at the front end of the axial fan stacking platform (6), and the middle transfer platform (5) is located below the grabbing manipulator (2); a flipping manipulator (4) is arranged on the side of the middle transfer platform (5), and the flipping manipulator (4) flips and transfers the axial fan grabbed by the grabbing manipulator (2).

2. The three-axis depalletizing robot according to claim 1, characterized in that: The grabbing manipulator (2) and the suction cup arm (3) are both equipped with lifting cylinders.

3. The three-axis depalletizing robot according to claim 1, characterized in that: The flipping robot (4) comprises a lifting arm (41), a transverse track (42) and a transverse driving servo (43); the lifting arm (41) is slidably mounted on the transverse track (42), and the transverse driving servo (43) provides power to push the lifting arm (41) to move along the transverse track (42).

4. The three-axis depalletizing robot according to claim 1, characterized in that: A plurality of axial flow fan components to be taken are stacked and placed on the middle transfer platform (5), and a take-out rack (51) is slidably arranged across the upper part of the middle transfer platform (5), and a plurality of suction cups (52) are installed on the take-out rack (51).

5. The three-axis depalletizing robot according to claim 3, characterized in that: The lifting and lifting arm (41) comprises two brackets in a "┎" shape, and the two brackets in the "┎" shape are arranged in parallel and at intervals.

6. The three-axis depalletizing robot according to claim 1, characterized in that: A discharge conveyor (7) is also provided behind the axial flow fan stacking platform (6).

7. The three-axis depalletizing robot according to claim 1, characterized in that: A suction nozzle (33) is provided below the suction cup hand (3), and a "П"-shaped clamping claw (22) is provided below the grasping manipulator (2).

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