Programming-free four-axis servo actuating mechanism for carton stacking

Abstract

The utility model relates to the technical field of carton stacking executing mechanisms, in particular to a carton stacking programming-free four-axis servo executing mechanism which comprises a mounting frame, a mounting head is welded to the top of the mounting frame, a driving assembly is arranged on the surface of the mounting frame and comprises a threaded rod, and the bottom of the threaded rod is rotationally connected with a connecting block. The device is mounted on a mechanical arm through the mounting head, the movable plate and the detection probe are driven to move back and forth through the telescopic movement of the third electric telescopic rod, the position of the detection probe is adjusted, and after the detection probe is adjusted to a proper position, the threaded rod, the belt pulley and the driving belt are driven to rotate through the transmission shaft of the servo motor; and after a second clamping block and a second infrared sensor are adjusted to proper positions, a second electric telescopic rod does telescopic motion to drive the second clamping block and the second infrared sensor to do transverse motion, the distance between the second clamping block and the carton is detected through the second infrared sensor, and the second clamping block clamps the carton.

Description

Technical Field

[0001] The utility model relates to the technical field of carton palletizing actuators, in particular to a programming-free four-axis servo actuator for carton palletizing. Background Art

[0002] The palletizer automatically stacks cartons that have been loaded into containers on pallets or pallets in a certain arrangement. It can stack multiple layers and then push them out to facilitate forklift transportation to the warehouse for storage. The actuator of the palletizer is usually a mechanical claw.

[0003] During use, the existing palletizer actuator usually clamps stacked cartons of different sizes, and the clamping size of the clamping mechanism is usually fixed, which is not convenient for clamping cartons of different sizes and not convenient for staff to use. In order to solve the above technical problems, we designed a programming-free four-axis servo actuator for carton palletizing. Utility Model Content

[0004] The utility model aims to provide a programming-free four-axis servo actuator for carton palletizing, which has the advantage of conveniently clamping carton pallets of different sizes, and solves the problem that the existing palletizer actuator usually clamps pallets of cartons of different sizes during use, and the clamping size of the clamping mechanism is usually fixed, which is inconvenient to clamp cartons of different sizes and inconvenient for staff to use.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a programming-free four-axis servo actuator for carton palletizing, comprising a mounting frame, a mounting head welded on the top of the mounting frame, a driving assembly arranged on the surface of the mounting frame, the driving assembly comprising a threaded rod, a connecting block rotatably connected to the bottom of the threaded rod, a first electric telescopic rod is penetrated on the opposite side of the connecting block, a first clamping block is bolted to the opposite side of the first electric telescopic rod, a movable block is threadedly sleeved on the surface of the threaded rod, a second electric telescopic rod is penetrated on the opposite side of the movable block, a second clamping block is bolted to the opposite side of the second electric telescopic rod, a detection assembly is arranged on the top of the movable block, a fixing plate is bolted to the top of the mounting frame, and a servo motor is bolted to the surface of the fixing plate.

[0006] Preferably, the detection assembly includes a vertical plate, the bottom of the vertical plate is connected to the movable block by bolts, the surface of the vertical plate is connected to the third electric telescopic rod by bolts, the surface of the third electric telescopic rod is connected to the movable plate by bolts, and the opposite side of the movable plate and the opposite side of the vertical plate are both connected to detection probes by bolts.

[0007] Preferably, the surface of the threaded rod is rotatably connected to the mounting frame, the top of the threaded rod is connected to a belt pulley via bolts, the surface of the belt pulley is transmission-connected to a driving belt, and the drive shaft of the servo motor is connected to the belt pulley via bolts.

[0008] Preferably, the top of the mounting frame is rotatably connected to a guide roller, and the surface of the guide roller is in contact with the driving belt.

[0009] Preferably, a first infrared sensor is embedded on one side opposite to the first clamping block, and a second infrared sensor is embedded on one side opposite to the second clamping block.

[0010] Preferably, a first anti-slip groove is formed on one side opposite to the first clamping block, and a second anti-slip groove is formed on one side opposite to the second clamping block.

[0011] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0012] 1. The utility model is installed on the mechanical arm through the installation head, and the movable plate and the detection probe are driven to move forward and backward by the third electric telescopic rod to make telescopic movement, and the position of the detection probe is adjusted. After adjusting to the appropriate position, the threaded rod, the belt pulley and the driving belt are driven to rotate by the transmission shaft of the servo motor, and the movable block, the vertical plate, the third electric telescopic rod, the movable plate and the detection probe are driven to move up and down by the rotation of the threaded rod. The surface of the carton is detected by the detection probe. After the detection is completed, the movable block, the second electric telescopic rod, the second clamping block and the second infrared sensor are driven to move up and down by the rotation of the threaded rod to adjust the position of the second clamping block;

[0013] 2. After the utility model adjusts the second clamping block and the second infrared sensor to the appropriate position, the second electric telescopic rod performs telescopic movement to drive the second clamping block and the second infrared sensor to perform lateral movement, the second infrared sensor detects the distance between the second clamping block and the carton, so that the second clamping block clamps the carton, and after clamping, the second electric telescopic rod is controlled to lock, and the first electric telescopic rod drives the first clamping block and the first infrared sensor to perform lateral movement, the first infrared sensor detects the distance between the first clamping block and the carton, so that the first clamping block clamps the carton, and after clamping, the first electric telescopic rod is controlled to lock, and cartons of different sizes are clamped by the first clamping block and the second clamping block. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is the axonometric drawing of the structure of the utility model;

[0015] Figure 2 It is a three-dimensional diagram of the vertical plate and the detection probe of the utility model;

[0016] Figure 3It is a three-dimensional diagram of the mounting frame and guide roller of the utility model;

[0017] Figure 4 It is a stereoscopic diagram of the belt pulley and the second infrared sensor of the utility model.

[0018] In the figure: 1. mounting frame; 2. mounting head; 3. threaded rod; 4. belt pulley; 5. driving belt; 6. fixing plate; 7. servo motor; 8. guide roller; 9. connecting block; 10. first electric telescopic rod; 11. first clamping block; 12. first infrared sensor; 13. movable block; 14. second electric telescopic rod; 15. second clamping block; 16. second infrared sensor; 17. vertical plate; 18. third electric telescopic rod; 19. movable plate; 20. detection probe; 21. detection component; 22. driving component. DETAILED DESCRIPTION

[0019] See also Figure 1-Figure 4 , a programming-free four-axis servo actuator for carton palletizing includes a mounting frame 1, a mounting head 2 is welded on the top of the mounting frame 1, a driving assembly 22 is arranged on the surface of the mounting frame 1, and the driving assembly 22 includes a threaded rod 3, a connecting block 9 is rotatably connected to the bottom of the threaded rod 3, a first electric telescopic rod 10 is penetrated on the opposite side of the connecting block 9, a first clamping block 11 is bolted to the opposite side of the first electric telescopic rod 10, a movable block 13 is threadedly sleeved on the surface of the threaded rod 3, a second electric telescopic rod 14 is penetrated on the opposite side of the movable block 13, a second clamping block 15 is bolted to the opposite side of the second electric telescopic rod 14, a detection assembly 21 is arranged on the top of the movable block 13, a fixing plate 6 is bolted to the top of the mounting frame 1, and a servo motor 7 is bolted to the surface of the fixing plate 6.

[0020] See also Figure 1 and Figure 2 The detection component 21 includes a vertical plate 17, the bottom of the vertical plate 17 is connected to the movable block 13 by bolts, and the surface of the vertical plate 17 is connected to the third electric telescopic rod 18 by bolts. By setting the third electric telescopic rod 18, the positions of the movable plate 19 and the detection probe 20 can be easily adjusted, and the detection probe 20 can be effectively prevented from contacting the carton. The surface of the third electric telescopic rod 18 is connected to the movable plate 19 by bolts, and the opposite side of the movable plate 19 and the opposite side of the vertical plate 17 are both connected to the detection probe 20 by bolts.

[0021] See also Figure 1 and Figure 4The surface of the threaded rod 3 is rotatably connected to the mounting frame 1, the top of the threaded rod 3 is connected to a belt pulley 4 by bolts, and the surface of the belt pulley 4 is transmission-connected to a driving belt 5. By setting the driving belt 5, the four belt pulleys 4 can be easily connected, and the four belt pulleys 4 can be easily rotated synchronously. The transmission shaft of the servo motor 7 is connected to the belt pulley 4 by bolts.

[0022] See also Figure 1 and Figure 3 The top of the mounting frame 1 is rotatably connected to a guide roller 8. By setting the guide roller 8, the driving belt 5 can be limited, the surface of the driving belt 5 can be contacted with the belt pulley 4, and the surface of the guide roller 8 can be contacted with the driving belt 5.

[0023] See also Figure 1 A first infrared sensor 12 is embedded on the side opposite to the first clamping block 11, and a second infrared sensor 16 is embedded on the side opposite to the second clamping block 15. By setting the first infrared sensor 12, it is easy to detect the distance between the first clamping block 11 and the carton, and by setting the second infrared sensor 16, it is easy to detect the distance between the second clamping block 15 and the carton, so that the carton can be clamped easily.

[0024] See also Figure 1 A first anti-slip groove is provided on the side opposite to the first clamping block 11, and a second anti-slip groove is provided on the side opposite to the second clamping block 15. By providing the first anti-slip groove and the second anti-slip groove, the friction between the first clamping block 11 and the second clamping block 15 and the carton can be increased, so that the carton can be clamped firmly.

[0025] When in use, the device is controlled by an external controller, installed on the robotic arm through the mounting head 2, and the movable plate 19 and the detection probe 20 are driven to move forward and backward by the third electric telescopic rod 18 to perform telescopic movement, and the position of the detection probe 20 is adjusted. After adjusting to a suitable position, the transmission shaft of the servo motor 7 drives the threaded rod 3, the belt pulley 4 and the driving belt 5 to rotate, and the threaded rod 3 is rotated to drive the movable block 13, the vertical plate 17, the third electric telescopic rod 18, the movable plate 19 and the detection probe 20 to move up and down, and the surface of the carton is detected by the detection probe 20. After the detection is completed, the threaded rod 3 is rotated to drive the movable block 13, the second electric telescopic rod 14, the second clamping block 15 and the second infrared sensor 16 to move up and down to adjust the position of the second clamping block 15 After the second clamping block 15 and the second infrared sensor 16 are adjusted to the appropriate position, the second electric telescopic rod 14 is used to make a telescopic movement to drive the second clamping block 15 and the second infrared sensor 16 to make a lateral movement, and the second infrared sensor 16 is used to detect the distance between the second clamping block 15 and the carton, so that the second clamping block 15 clamps the carton, and after clamping, the second electric telescopic rod 14 is controlled to lock, and the first clamping block 11 and the first infrared sensor 12 are driven to make a lateral movement through the first electric telescopic rod 10, and the distance between the first clamping block 11 and the carton is detected by the first infrared sensor 12, so that the first clamping block 11 clamps the carton, and after clamping, the first electric telescopic rod 10 is controlled to lock, and cartons of different sizes are clamped by the first clamping block 11 and the second clamping block 15 respectively.

[0026] In summary: the programming-free four-axis servo actuator for carton palletizing, through the vertical plate 17, the third electric telescopic rod 18, the movable plate 19, the detection probe 20, the detection component 21 and the drive component 22, solves the problem that the existing palletizer actuator usually clamps the stacking of cartons of different sizes during use, and the clamping size of the clamping mechanism is usually fixed, which is inconvenient to clamp cartons of different sizes and inconvenient for staff to use.

Claims

1. A programming-free four-axis servo actuator for carton palletizing, comprising a mounting frame (1), characterized in that: A mounting head (2) is welded to the top of the mounting frame (1); a driving assembly (22) is arranged on the surface of the mounting frame (1); the driving assembly (22) comprises a threaded rod (3); a connecting block (9) is rotatably connected to the bottom of the threaded rod (3); a first electric telescopic rod (10) is penetrated on the opposite side of the connecting block (9); a first clamping block (11) is connected to the opposite side of the first electric telescopic rod (10) by bolts; a movable block (13) is threadedly sleeved on the surface of the threaded rod (3); a second electric telescopic rod (14) is penetrated on the opposite side of the movable block (13); a second clamping block (15) is connected to the opposite side of the second electric telescopic rod (14) by bolts; a detection assembly (21) is arranged on the top of the movable block (13); a fixing plate (6) is connected to the top of the mounting frame (1) by bolts; a servo motor (7) is connected to the surface of the fixing plate (6) by bolts.

2. The programming-free four-axis servo actuator for carton palletizing according to claim 1 is characterized in that: The detection assembly (21) comprises a vertical plate (17), the bottom of the vertical plate (17) is connected to the movable block (13) by bolts, the surface of the vertical plate (17) is connected to a third electric telescopic rod (18) by bolts, the surface of the third electric telescopic rod (18) is connected to a movable plate (19) by bolts, and the opposite side of the movable plate (19) and the opposite side of the vertical plate (17) are both connected to a detection probe (20) by bolts.

3. The programming-free four-axis servo actuator for carton palletizing according to claim 1 is characterized in that: The surface of the threaded rod (3) is rotatably connected to the mounting frame (1); the top of the threaded rod (3) is connected to a belt pulley (4) via bolts; the surface of the belt pulley (4) is transmission-connected to a driving belt (5); and the transmission shaft of the servo motor (7) is connected to the belt pulley (4) via bolts.

4. The programming-free four-axis servo actuator for carton palletizing according to claim 3 is characterized in that: The top of the mounting frame (1) is rotatably connected to a guide roller (8), and the surface of the guide roller (8) is in contact with the driving belt (5).

5. The programming-free four-axis servo actuator for carton palletizing according to claim 1 is characterized in that: A first infrared sensor (12) is embedded on one side opposite to the first clamping block (11), and a second infrared sensor (16) is embedded on one side opposite to the second clamping block (15).

6. The programming-free four-axis servo actuator for carton palletizing according to claim 1 is characterized in that: A first anti-slip groove is provided on one side opposite to the first clamping block (11), and a second anti-slip groove is provided on one side opposite to the second clamping block (15).

Images