Indoor stacking manipulator

Abstract

The utility model discloses an indoor stacking manipulator which comprises a rack, a Y-axis frame is slidably connected to the rack through an X-axis driving assembly, a mounting plate is slidably connected to the Y-axis frame through a Y-axis driving assembly, a mounting hole is formed in the mounting plate, a Z-axis frame is mounted in the mounting hole of the mounting plate in the vertical direction, and the Z-axis frame is slidably connected to the Y-axis frame through a Y-axis driving assembly. The Z-axis frame slides up and down relative to the mounting plate through a Z-axis driving assembly, and a suction cup assembly is mounted at the lower end of the Z-axis frame. The top of the material outer package is adsorbed and lifted through the suction cup assembly, so that damage to the material outer package is reduced, and deformation of the material outer package is reduced.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to an indoor palletizing robot. Background Art

[0002] Indoor palletizing robots are core equipment for modern automated logistics and production.

[0003] At present, the patent with the publication number CN109466939A discloses a palletizing robot and a palletizer, which include a top plate, holding plates arranged downward at both ends along the length direction of the top plate, a first driving mechanism for driving the two holding plates to move closer to or away from each other, and the holding plate is provided with a hook plate for holding the bottom of the goods and a second driving mechanism for driving the hook plate to hold the bottom of the goods. After the two holding plates are driven by the first driving mechanism to hold the goods, the hook plates are driven by the second driving mechanism to hold the bottom of the goods to ensure that the goods will not fall, so that the palletizing robot of the present invention can ensure that the goods will not fall out from between the two holding plates during the movement.

[0004] With respect to the above-mentioned related technologies, the inventors believe that the following defects exist: when the above-mentioned robot clamps the materials packaged in the carton, it is easy to cause the carton to deform, so it needs to be improved. Utility Model Content

[0005] In view of the deficiencies in the prior art, the present application provides an indoor palletizing robot to solve the above problems.

[0006] An indoor palletizing robot comprises a frame, a Y-axis frame is slidably connected to the frame via an X-axis driving assembly, a mounting plate is slidably connected to the Y-axis frame via the Y-axis driving assembly, a mounting hole is provided on the mounting plate, a Z-axis frame is vertically mounted in the mounting hole, the Z-axis frame slides up and down relative to the mounting plate via the Z-axis driving assembly, and a suction cup assembly is mounted at the lower end of the Z-axis frame.

[0007] By adopting the above technical solution, the top of the material outer packaging is adsorbed and lifted by the suction cup assembly, thereby reducing damage to the material outer packaging and reducing deformation of the material outer packaging.

[0008] Optionally, the X-axis drive assembly includes two active synchronous wheels and two driven synchronous wheels, the two active synchronous wheels are installed on both sides of one end of the frame through bearing seats, and the two driven synchronous wheels are installed on both sides of the other end of the frame through bearing seats, a synchronous belt is sleeved between the active synchronous wheel and the driven synchronous wheel on the same side, the synchronous belt is fixedly connected to the mounting plate, a synchronous shaft is connected between the two active synchronous wheels, an X-axis drive motor for driving one of the active synchronous wheels to rotate is installed on the frame, X-axis guide rails are connected to both sides of the frame, and the lower end surface of the Y-axis frame is connected to an X-axis slider that slides with the X-axis guide rails.

[0009] By adopting the above technical solution, the X-axis driving motor drives the two active synchronous wheels to rotate through the synchronous shaft, the active synchronous wheel and the driven synchronous wheel drive the synchronous belt to move, and the movement of the synchronous belt drives the Y-axis frame to move.

[0010] Optionally, the Y-axis drive assembly includes a Y-axis rack, a Y-axis drive motor and two Y-axis guide rails, the Y-axis rack and the two Y-axis guide rails are connected in parallel to the upper end surface of the Y-axis frame, the lower end surface of the mounting plate is connected to two Y-axis sliders that slide with the Y-axis guide rails, the Y-axis drive motor is installed on the upper end surface of the mounting plate, and the output shaft of the Y-axis drive motor passes through the lower end surface of the mounting plate and is connected to a Y-axis gear that meshes with the Y-axis rack.

[0011] By adopting the above technical solution, the Y-axis driving motor drives the Y-axis gear to rotate, and the Y-axis gear drives the mounting plate to move along the length direction of the Y-axis rack.

[0012] Optionally, the Z-axis drive assembly includes a Z-axis rack, a Z-axis drive motor, a Z-axis reducer and two Z-axis guide rails, the Z-axis rack and the two Z-axis guide rails are connected in parallel to the Z-axis frame, a fixed plate is connected to the mounting plate in the vertical direction, two Z-axis sliders that slide with the Z-axis guide rails are connected to the fixed plate, the Z-axis reducer is installed on the fixed plate, the Z-axis drive motor is installed on the Z-axis reducer, and the output shaft of the Z-axis reducer passes through the fixed plate and is connected to a Z-axis gear that meshes with the Z-axis rack.

[0013] By adopting the above technical solution, the Z-axis driving motor drives the Z-axis gear to rotate, and the Z-axis gear drives the Z-axis rack to move, thereby driving the Z-axis frame to move up and down in the vertical direction.

[0014] Optionally, a reinforcement plate is connected between the fixing plate and the mounting plate.

[0015] By adopting the above technical solution, the reinforcement plate can improve the connection firmness between the fixing plate and the mounting plate.

[0016] Optionally, the suction cup assembly includes a connecting plate connected to the lower end of the Z-axis frame and a plurality of mounting strips installed in parallel on the lower end surface of the connecting plate, and a plurality of suction cups are connected to the lower end surface of each mounting strip.

[0017] In summary, the present application includes at least one of the following beneficial technical effects:

[0018] 1. The top of the material outer packaging is adsorbed and lifted by the suction cup assembly, thereby reducing damage to the material outer packaging and reducing deformation of the material outer packaging.

[0019] 2. The X-axis drive motor drives the two active synchronous wheels to rotate through the synchronous shaft. The active synchronous wheel and the driven synchronous wheel drive the synchronous belt to move. The movement of the synchronous belt drives the Y-axis frame to move.

[0020] 3. The Z-axis drive motor drives the Z-axis gear to rotate, and the Z-axis gear drives the Z-axis rack to move, thereby driving the Z-axis frame to move up and down in the vertical direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of an embodiment of the present application.

[0022] Figure 2 It is a partial structural diagram of an embodiment of the present application.

[0023] Figure 3 It is a structural schematic diagram of part of the structure of an embodiment of the present application from another perspective.

[0024] Figure 4 It is a structural schematic diagram of part of the structure of an embodiment of the present application from another perspective.

[0025] Description of reference numerals:

[0026] 1. Frame; 2. X-axis drive assembly; 21. Active synchronous wheel; 22. Driven synchronous wheel; 23. Synchronous belt; 24. Synchronous shaft; 25. X-axis drive motor; 26. X-axis guide rail; 3. Y-axis frame; 4. Y-axis drive assembly; 41. Y-axis rack; 42. Y-axis drive motor; 43. Y-axis guide rail; 44. Y-axis gear; 5. Mounting plate; 51. Mounting hole; 6. Z-axis frame; 7. Z-axis drive assembly; 71. Z-axis rack; 72. Z-axis drive motor; 73. Z-axis guide rail; 74. Z-axis gear; 75. Z-axis reducer; 8. Suction cup assembly; 81. Connecting plate; 82. Mounting strip; 83. Suction cup; 9. Fixing plate; 91. Reinforcement plate. DETAILED DESCRIPTION

[0027] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0028] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0029] The present application embodiment discloses an indoor palletizing robot. Figure 1 and Figure 2 , including a frame 1, a Y-axis frame 3 is slidably connected to the frame 1 through an X-axis driving assembly 2, a mounting plate 5 is slidably connected to the Y-axis frame 3 through a Y-axis driving assembly 4, a mounting hole 51 is provided on the mounting plate 5, a Z-axis frame 6 is vertically mounted in the mounting hole 51, the Z-axis frame 6 slides up and down relative to the mounting plate 5 through a Z-axis driving assembly 7, and a suction cup assembly 8 is mounted at the lower end of the Z-axis frame 6. The suction cup assembly 8 is used to absorb and lift the top of the material outer packaging, thereby reducing damage to the material outer packaging and reducing deformation of the material outer packaging.

[0030] Reference Figure 1 and Figure 2 The X-axis drive assembly 2 includes two active synchronous wheels 21 and two driven synchronous wheels 22. The two active synchronous wheels 21 are fixedly mounted on both sides of one end of the frame 1 through bearing seats, and the two driven synchronous wheels 22 are fixedly mounted on both sides of the other end of the frame 1 through bearing seats. A synchronous belt 23 is sleeved between the active synchronous wheel 21 and the driven synchronous wheel 22 on the same side of the frame 1. The synchronous belt 23 is fixedly connected to the mounting plate 5. A synchronous shaft 24 is connected between the two active synchronous wheels 21. An X-axis drive motor 25 for driving one of the active synchronous wheels 21 to rotate is fixedly mounted on the frame 1. The X-axis drive motor 25 is a servo motor capable of forward and reverse rotation. X-axis guide rails 26 are fixedly connected on both sides of the frame 1, and two X-axis sliders that slide with the X-axis guide rails 26 are fixedly connected to the lower end surface of the Y-axis frame 3. The X-axis driving motor 25 drives the two active synchronous wheels 21 to rotate through the synchronous shaft 24, and the active synchronous wheel 21 and the driven synchronous wheel 22 drive the synchronous belt 23 to move, and the movement of the synchronous belt 23 drives the Y-axis frame 3 to move.

[0031] Reference Figure 2 and Figure 3 The Y-axis drive assembly 4 includes a Y-axis rack 41, a Y-axis drive motor 42, and two Y-axis guide rails 43. The Y-axis rack 41 and the two Y-axis guide rails 43 are fixedly connected to the upper end surface of the Y-axis frame 3 in parallel, and the lower end surface of the mounting plate 5 is fixedly connected to two Y-axis sliders that slide with the Y-axis guide rails 43. The Y-axis drive motor 42 is fixedly installed on the upper end surface of the mounting plate 5. The output shaft of the Y-axis drive motor 42 passes through the lower end surface of the mounting plate 5 and is fixedly connected to a Y-axis gear 44 that meshes with the Y-axis rack 41. The Y-axis drive motor 42 is a servo motor that can rotate forward and reverse. The Y-axis drive motor 42 drives the Y-axis gear 44 to rotate, and the Y-axis gear 44 drives the mounting plate 5 to move along the length direction of the Y-axis rack 41.

[0032] Reference Figure 2 , Figure 3 and Figure 4 , the Z-axis driving assembly 7 includes a Z-axis rack 71, a Z-axis driving motor 72 and two Z-axis guide rails 73. The Z-axis rack 71 and the two Z-axis guide rails 73 are fixedly connected to the Z-axis frame 6 in parallel, a fixed plate 9 is fixedly connected to the mounting plate 5 in the vertical direction, and two Z-axis sliders that slide with the Z-axis guide rails 73 are connected to the fixed plate 9. The Z-axis driving motor 72 is fixedly installed on the fixed plate 9, and the output shaft of the Z-axis driving motor 72 passes through the fixed plate 9 and is fixedly connected to a Z-axis gear 74 that meshes with the Z-axis rack 71. The Z-axis driving motor 72 is a servo motor that can rotate forward and reverse. The Z-axis driving motor 72 drives the Z-axis gear 74 to rotate, and the Z-axis gear 74 drives the Z-axis rack 71 to move, thereby driving the Z-axis frame 6 to move up and down in the vertical direction.

[0033] Reference Figure 2 A reinforcing plate 91 is connected between the fixing plate 9 and the mounting plate 5. The reinforcing plate 91 can improve the connection firmness between the fixing plate 9 and the mounting plate 5.

[0034] Reference Figure 2 The suction cup assembly 8 includes a connecting plate 81 and three mounting strips 82 mounted in parallel on the connecting plate 81 , and a plurality of suction cups 83 are fixedly connected to the lower end surface of each mounting strip 82 .

[0035] The implementation principle of an indoor palletizing robot in an embodiment of the present application is: the top of the outer packaging of the material is adsorbed and lifted by the suction cup assembly 8, thereby reducing damage to the outer packaging of the material and reducing deformation of the outer packaging of the material.

[0036] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An indoor palletizing robot, characterized in that: The invention comprises a frame (1), wherein a Y-axis frame (3) is slidably connected to the frame (1) via an X-axis driving assembly (2), a mounting plate (5) is slidably connected to the Y-axis frame (3) via a Y-axis driving assembly (4), a mounting hole (51) is provided on the mounting plate (5), a Z-axis frame (6) is mounted in the mounting hole (51) along a vertical direction on the mounting plate (5), the Z-axis frame (6) slides up and down relative to the mounting plate (5) via a Z-axis driving assembly (7), and a suction cup assembly (8) is mounted at the lower end of the Z-axis frame (6).

2. An indoor palletizing robot according to claim 1, characterized in that: The X-axis driving assembly (2) comprises two active synchronous wheels (21) and two driven synchronous wheels (22), the two active synchronous wheels (21) are mounted on both sides of one end of the frame (1) through a bearing seat, and the two driven synchronous wheels (22) are mounted on both sides of the other end of the frame (1) through a bearing seat, a synchronous belt (23) is sleeved between the active synchronous wheels (21) and the driven synchronous wheels (22) on the same side, the synchronous belt (23) is fixedly connected to the mounting plate (5), a synchronous shaft (24) is connected between the two active synchronous wheels (21), an X-axis driving motor (25) for driving one of the active synchronous wheels (21) to rotate is installed on the frame (1), both sides of the frame (1) are connected to X-axis guide rails (26), and the lower end surface of the Y-axis frame (3) is connected to an X-axis slider that slidably cooperates with the X-axis guide rail (26).

3. An indoor palletizing robot according to claim 1, characterized in that: The Y-axis driving assembly (4) comprises a Y-axis rack (41), a Y-axis driving motor (42) and two Y-axis guide rails (43); the Y-axis rack (41) and the two Y-axis guide rails (43) are connected in parallel to the upper end surface of the Y-axis frame (3); the lower end surface of the mounting plate (5) is connected to two Y-axis sliders that are slidably matched with the Y-axis guide rails (43); the Y-axis driving motor (42) is mounted on the upper end surface of the mounting plate (5); and the output shaft of the Y-axis driving motor (42) passes through the lower end surface of the mounting plate (5) and is connected to a Y-axis gear (44) that meshes with the Y-axis rack (41).

4. The indoor palletizing robot according to claim 1, characterized in that: The Z-axis driving assembly (7) comprises a Z-axis rack (71), a Z-axis driving motor (72), a Z-axis reducer (75) and two Z-axis guide rails (73); the Z-axis rack (71) and the two Z-axis guide rails (73) are connected in parallel to the Z-axis frame (6); a fixing plate (9) is connected to the mounting plate (5) in a vertical direction; two Z-axis sliders slidably matched with the Z-axis guide rails (73) are connected to the fixing plate (9); the Z-axis reducer (75) is mounted on the fixing plate (9); the Z-axis driving motor (72) is mounted on the Z-axis reducer (75); and an output shaft of the Z-axis reducer (75) passes through the fixing plate (9) and is connected to a Z-axis gear (74) meshing with the Z-axis rack (71).

5. The indoor palletizing robot according to claim 4, characterized in that: A reinforcing plate (91) is connected between the fixing plate (9) and the mounting plate (5).

6. The indoor palletizing robot according to claim 1, characterized in that: The suction cup assembly (8) comprises a connecting plate (81) connected to the lower end of the Z-axis frame (6) and a plurality of mounting strips (82) mounted in parallel on the lower end surface of the connecting plate (81), wherein the lower end surface of each mounting strip (82) is connected to a plurality of suction cups (83).

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