Heavy-load intelligent joint type palletizing robot

Abstract

The utility model discloses a heavy-load intelligent joint type palletizing robot which comprises a base, a balance cylinder, a balance weight, a lower arm, a first lower arm connecting rod, a second lower arm connecting rod, an upper arm, a tripod, an upper arm connecting rod and an electromagnet overturning structure. The palletizing robot moves in the posture of a joint robot, and motion coupling does not exist; and the electromagnet overturning structure can realize the overturning action of the electro-permanent magnet, forward and reverse attraction of the profile steel in the actual action is completed, and the attraction area and the attraction strength can be ensured. The palletizing robot has the advantages of being reasonable in structure, convenient to use and capable of improving precision and palletizing efficiency.

Description

Technical Field

[0001] The utility model relates to the field of palletizing equipment, in particular to a heavy-load intelligent articulated palletizing robot. Background Art

[0002] Palletizing is the last production platform among many production platforms in a steel rolling mill. Palletizing robots are used in the automated production line of steel rolling mills to stack rows of profiles into steel stacks. They can realize automatic stacking and reduce the labor intensity of workers to a certain extent. However, due to the complex structure of existing palletizing robots, workers are inconvenient to use, resulting in low palletizing efficiency, and the cost of palletizing robots is relatively expensive, so they cannot bring better economic benefits. Utility Model Content

[0003] In view of this, the purpose of the utility model is to provide a heavy-load intelligent articulated palletizing robot, which can stack a predetermined number of rows of profiles into tight and orderly steel stacks with certain shape and weight requirements, has the characteristics of reasonable structure and easy use, and can effectively improve the palletizing efficiency.

[0004] In a first aspect, the embodiment of the utility model provides a heavy-load intelligent articulated palletizing robot, characterized in that it includes:

[0005] Base, balancing cylinder, counterweight, lower arm, first lower arm connecting rod, second lower arm connecting rod, upper arm, tripod, upper arm connecting rod, electromagnet turning structure;

[0006] The balancing cylinder, the counterweight, the lower arm and the first lower arm connecting rod are respectively provided on the base, the balancing cylinder is connected to the lower arm, and the lower arm is respectively connected to the upper arm and the tripod; the counterweight is connected to the second lower arm connecting rod, the second lower arm connecting rod is connected to the upper arm, the first lower arm connecting rod is connected to the tripod, the tripod is connected to the upper arm connecting rod, and the upper arm and the upper arm connecting rod are both connected to the electromagnet flipping structure.

[0007] Preferably, the upper arm is of equal length to the upper arm connecting rod, and the lower arm is of equal length to the first lower arm connecting rod and the second lower arm connecting rod, respectively, so that when the heavy-load intelligent articulated palletizing robot is working, parallelogram structures can be formed respectively.

[0008] Preferably, it is characterized in that the load weight of the heavy-load intelligent articulated palletizing robot is less than 800 kg.

[0009] The beneficial effects brought by the utility model are as follows: the disadvantage of uneven force of heavy-load palletizing robots is effectively solved through counterweights and balancing cylinders, and at the same time, torque loss is minimized in the transmission process of driving the lower arm and the upper arm, avoiding processing cumulative errors and assembly errors, ensuring repeated positioning accuracy, and being able to effectively improve palletizing efficiency, thereby increasing economic benefits.

[0010] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by practicing the utility model. The purpose and other advantages of the utility model are realized and obtained by the structures specifically pointed out in the description, claims and drawings.

[0011] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 This is a schematic structural diagram of a heavy-load intelligent articulated palletizing robot provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0015] To facilitate understanding of this embodiment, Figure 1 The heavy-load intelligent articulated palletizing robot disclosed in the embodiment of the utility model is introduced in detail.

[0016] Embodiment 1:

[0017] This embodiment provides a heavy-load intelligent articulated palletizing robot, comprising: a base 1, a balancing cylinder 2, a counterweight 3, a lower arm 4, a first lower arm connecting rod 10, a second lower arm connecting rod 5, an upper arm 6, a tripod 7, an upper arm connecting rod 8, and an electromagnet flip structure 9;

[0018] A balancing cylinder 2, a counterweight 3, a lower arm 4 and a first lower arm connecting rod 10 are respectively provided on the base 1. The balancing cylinder 2 is connected to the lower arm 4 through a bearing, and the lower arm 4 is respectively connected to the upper arm 6 and the tripod 7 through bearings; the counterweight 3 is connected to the second lower arm connecting rod 5 through a bearing, the second lower arm connecting rod 5 is connected to the upper arm 6 through a bearing, the first lower arm connecting rod 10 is connected to the tripod 7 through a bearing, the tripod 7 is connected to the upper arm connecting rod 8 through a bearing, and the upper arm 6 and the upper arm connecting rod 8 are both connected to the electromagnet flip structure 9 through bearings.

[0019] Preferably, the upper arm 6 is equal in length to the upper arm connecting rod 8, and the lower arm 4 is equal in length to the first lower arm connecting rod 10 and the second lower arm connecting rod 5, respectively, so that when the heavy-load intelligent articulated palletizing robot is working, parallelogram structures can be formed respectively.

[0020] Preferably, the load weight of the heavy-load intelligent articulated palletizing robot is less than 800 kg.

[0021] The working principle of the heavy-load intelligent articulated palletizing robot provided in this embodiment is as follows:

[0022] Servo motors are provided at both ends of the base 1, and the servo motor at one end drives the lower arm 4; the servo motor at the other end drives the counterweight 3, thereby driving the second lower arm connecting rod 5, and then realizing the rotation of the upper arm 6, so that the stacking robot moves in the posture of an articulated robot, and there is no motion coupling; and the electromagnet flipping structure 9 can realize the flipping action of the permanent magnet, complete the positive and negative absorption of the steel in the actual action, and can ensure the adsorption area and adsorption strength.

[0023] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the utility model, which are used to illustrate the technical solution of the utility model, rather than to limit it. The protection scope of the utility model is not limited thereto. Although the utility model is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solution recorded in the above-mentioned embodiments within the technical scope disclosed by the utility model, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiment of the utility model, and should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. Heavy-load intelligent articulated palletizing robot, characterized in that: include: Base, balancing cylinder, counterweight, lower arm, first lower arm connecting rod, second lower arm connecting rod, upper arm, tripod, upper arm connecting rod, electromagnet turning structure; The balancing cylinder, the counterweight, the lower arm and the first lower arm connecting rod are respectively provided on the base, the balancing cylinder is connected to the lower arm, and the lower arm is respectively connected to the upper arm and the tripod; the counterweight is connected to the second lower arm connecting rod, the second lower arm connecting rod is connected to the upper arm, the first lower arm connecting rod is connected to the tripod, the tripod is connected to the upper arm connecting rod, and the upper arm and the upper arm connecting rod are both connected to the electromagnet flipping structure.

2. The heavy-load intelligent articulated palletizing robot according to claim 1, characterized in that: The upper arm is equal in length to the upper arm connecting rod, and the lower arm is equal in length to the first lower arm connecting rod and the second lower arm connecting rod, respectively. When the heavy-load intelligent articulated palletizing robot is working, parallelogram structures can be formed respectively.

3. The heavy-load intelligent articulated palletizing robot according to claim 1, characterized in that: The load weight of the heavy-load intelligent articulated palletizing robot is less than 800 kg.

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