Industrial robot unstacking and stacking system

Abstract

The utility model provides an industrial robot unstacking and stacking system, which relates to the technical field of industrial unstacking and stacking and comprises a mechanical arm, a connecting frame is mounted on the outer surface of the mechanical arm through a flange, and an auxiliary bearing mechanism is arranged outside the connecting frame. The auxiliary bearing mechanism comprises a rotating rod, an auxiliary bearing rod and a fixing frame fixedly connected to the upper surface of the connecting frame, two L-shaped guide frames are fixedly connected to the outer surface of the fixing frame, and the two L-shaped guide frames are both slidably connected with the auxiliary bearing rod; the two ends of the rotating rod are fixedly connected with first connecting blocks. According to the industrial robot unstacking and stacking system, through the arrangement of the auxiliary bearing mechanism, when a loose and soft material bag is grabbed, an auxiliary bearing rod can be moved to the bottom of the material bag for bearing, and compared with an existing clamp which does not stably bear the bottom of the material bag, the auxiliary bearing rod can stably bear the bottom of the material bag; therefore, the stability of the material bags in the unstacking and stacking process is guaranteed.

Description

Technical Field

[0001] The utility model relates to an industrial robot depalletizing and stacking system, in particular to an industrial robot depalletizing and stacking system, belonging to the technical field of industrial depalletizing and stacking. Background Art

[0002] Industrial robots are widely used in industrial production and can effectively improve industrial production efficiency. For example, industrial robots are used in industrial production to depalletize and stack products and materials, which can reduce the labor of manual depalletizing. At the same time, the depalletizing of industrial robots is more orderly than manual methods.

[0003] The palletizing mechanism and palletizer thereof disclosed in the Chinese patent application publication specification CN210619571U, the lifting component of the palletizer is arranged in the cavity of the first shell, and slides up and down along the inner cavity of the first shell, the parallel clamping cylinder is arranged on the driving end of the lifting component, the lifting component can be stored in the first shell, the palletizing mechanism will not be too long, and can meet the needs of factory sites of different heights.

[0004] However, during the implementation of the technical solution of the above patent, the depalletizing clamp does not provide relatively stable support for the bottom of the material bag when grabbing the material bag. When an industrial robot is used to depalletize products or materials, an automatic clamp is used to grab the material. Most of the existing clamps cannot support the bottom of the material, or the clamp can only support the smaller edge of the bottom of the material. When it is necessary to depalletize relatively sparse and soft material bags, it is difficult for the clamp of the industrial robot to maintain the stability of the material bag. Utility Model Content

[0005] The purpose of the utility model is to provide an industrial robot depalletizing system in order to solve the above problems, so as to solve the problem in the prior art that the depalletizing clamp cannot ensure the stability of the material bags when grabbing relatively sparse and soft material bags.

[0006] The utility model is implemented through the following technical solutions: an industrial robot palletizing system, comprising a mechanical arm, a connection frame is installed on the outer surface of the mechanical arm through a flange, an auxiliary bearing mechanism is arranged outside the connection frame, the auxiliary bearing mechanism comprises a rotating rod, an auxiliary bearing rod and a fixed frame fixedly connected to the upper surface of the connection frame, the outer surface of the fixed frame is fixedly connected to two L-shaped guide frames, and the two L-shaped guide frames are both slidably connected to the auxiliary bearing rod;

[0007] Both ends of the rotating rod are fixedly connected with a first connecting block, the outer surfaces of the two first connecting blocks are fixedly connected with a telescopic rod, the ends of the two telescopic rods away from the first connecting block are fixedly connected with a second connecting block, and the two second connecting blocks are respectively fixedly connected to the two ends of the auxiliary bearing rod.

[0008] Furthermore, a first servo motor is fixedly connected to the upper surface of the connecting frame, a driving gear is fixedly connected to the output shaft end of the first servo motor, a driven gear is fixedly connected to the outer surface of the rotating rod, and the driven gear is meshed with the driving gear. When the first servo motor is running, it can drive the rotating rod to rotate through the driving gear and the driven gear.

[0009] The outer surface of the rotating rod is rotatably connected to two support seats, and the two support seats are fixedly connected to the upper surface of the connecting frame, and the support seats play a supporting role for the rotation of the rotating rod.

[0010] Preferably, a grabbing mechanism is provided inside the connecting frame, and the grabbing mechanism includes a bidirectional threaded rod rotatably connected to the inner wall of the connecting frame, and the outer surface of the bidirectional threaded rod is threadedly connected to two symmetrical internally threaded moving blocks, and the bottom surfaces of the two internally threaded moving blocks are fixedly connected to multiple grabbing rods, which can support the bottom edge of the product or material when grabbing it, thereby further ensuring the stability of the product or material.

[0011] Furthermore, a guide rod is fixedly connected to the inner wall of the connection frame, and the two internal thread moving blocks are slidably connected to the outer surface of the guide rod, and the guide rod plays a guiding role in the movement of the internal thread moving blocks.

[0012] Furthermore, a second servo motor is fixedly connected to the outer surface of the connecting frame, and one end of the bidirectional threaded rod close to the second servo motor passes through the connecting frame and is fixedly connected to the output shaft end of the second servo motor. The second servo motor provides power for the rotation of the bidirectional threaded rod.

[0013] The utility model provides an industrial robot palletizing system, which has the following beneficial effects:

[0014] 1. The industrial robot depalletizing system is equipped with an auxiliary bearing mechanism. When grabbing relatively sparse and soft bags, the auxiliary bearing rod can be moved to the bottom of the bag for bearing. Compared with the existing clamps that do not have a more stable bearing on the bottom of the bag, the auxiliary bearing rod can stably bear the bottom of the bag, thereby ensuring the stability of the bag during the depalletizing process.

[0015] 2. The industrial robot depalletizing system controls the operation of the second servo motor through the setting of the grabbing mechanism, so that the bidirectional threaded rod rotates and drives the two internal threaded moving blocks to approach each other. Then multiple grabbing rods can grab the products or materials, and put down the products or materials. Then, the connecting frame is moved with the robotic arm, and the products or materials can be automatically depalletized. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a three-dimensional structural schematic diagram of the utility model;

[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of the auxiliary load-bearing rod of the utility model when in use;

[0018] Figure 3 This is a schematic diagram of the three-dimensional structure of the utility model when the auxiliary load-bearing rod is folded;

[0019] Figure 4 It is a three-dimensional structural schematic diagram of the bidirectional threaded rod and the internal threaded moving block of the utility model.

[0020] Description of Reference Numerals

[0021] 1. Robotic arm; 2. Connection frame;

[0022] 3. Auxiliary bearing mechanism; 31. Rotating rod; 32. First connecting block; 33. Telescopic rod; 34. Auxiliary bearing rod; 35. Second connecting block; 36. L-shaped guide frame; 37. Fixed frame; 38. First servo motor; 39. Driving gear; 310. Driven gear; 311. Support seat;

[0023] 4. Grabbing mechanism; 41. Bidirectional threaded rod; 42. Internal threaded moving block; 43. Grabbing rod; 44. Guide rod; 45. Second servo motor. DETAILED DESCRIPTION

[0024] The embodiment of the utility model provides an industrial robot palletizing system.

[0025] Please refer to Figure 1 , Figure 2 and Figure 3 , including a robotic arm 1, a connecting frame 2 is installed on the outer surface of the robotic arm 1 through a flange, an auxiliary bearing mechanism 3 is arranged outside the connecting frame 2, the auxiliary bearing mechanism 3 includes a rotating rod 31, an auxiliary bearing rod 34 and a fixed frame 37 fixedly connected to the upper surface of the connecting frame 2, and two L-shaped guide frames 36 are fixedly connected to the outer surface of the fixed frame 37, and the two L-shaped guide frames 36 are both slidably connected to the auxiliary bearing rod 34. The L-shaped guide frames 36 guide the movement of the auxiliary bearing rod 34. The auxiliary bearing rod 34 moves vertically up and down so that the moving range of the auxiliary bearing rod 34 occupies a smaller space, thereby facilitating the depalletizing and stacking of products or materials.

[0026] Both ends of the rotating rod 31 are fixedly connected with the first connecting blocks 32, the outer surfaces of the two first connecting blocks 32 are fixedly connected with the telescopic rods 33, the ends of the two telescopic rods 33 away from the first connecting blocks 32 are fixedly connected with the second connecting blocks 35, and the two second connecting blocks 35 are respectively fixedly connected to the two ends of the auxiliary bearing rod 34.

[0027] A first servo motor 38 is fixedly connected to the upper surface of the connecting frame 2, a driving gear 39 is fixedly connected to the output shaft end of the first servo motor 38, a driven gear 310 is fixedly connected to the outer surface of the rotating rod 31, and the driven gear 310 is meshed with the driving gear 39. When the first servo motor 38 is running, it can drive the rotating rod 31 to rotate through the driving gear 39 and the driven gear 310.

[0028] The outer surface of the rotating rod 31 is rotatably connected to two support seats 311 . Both support seats 311 are fixedly connected to the upper surface of the connecting frame 2 . The support seats 311 play a supporting role for the rotation of the rotating rod 31 .

[0029] Please refer to Figure 2 and Figure 4 A grabbing mechanism 4 is provided inside the connecting frame 2, and the grabbing mechanism 4 includes a bidirectional threaded rod 41 rotatably connected to the inner wall of the connecting frame 2, and two symmetrical internal threaded moving blocks 42 are threadedly connected to the outer surface of the bidirectional threaded rod 41. When the bidirectional threaded rod 41 rotates, it drives the two internal threaded moving blocks 42 to move away from or closer to each other. The bottom surfaces of the two internal threaded moving blocks 42 are fixedly connected with multiple grabbing rods 43. The grabbing rods 43 can support the bottom edge of the product or material when grabbing it, thereby further ensuring the stability of the product or material.

[0030] A guide rod 44 is fixedly connected to the inner wall of the connection frame 2 , and the two internal thread moving blocks 42 are slidably connected to the outer surface of the guide rod 44 . The guide rod 44 guides the movement of the internal thread moving blocks 42 .

[0031] The outer surface of the connecting frame 2 is fixedly connected to a second servo motor 45 . One end of the bidirectional threaded rod 41 close to the second servo motor 45 passes through the connecting frame 2 and is fixedly connected to the output shaft end of the second servo motor 45 . The second servo motor 45 provides power for the rotation of the bidirectional threaded rod 41 .

[0032] When the utility model is in use: when it is necessary to stack relatively sparse material bags, the connecting frame 2 is moved to the material bag by the mechanical arm 1, and the second servo motor 45 is controlled to operate, so that the bidirectional threaded rod 41 rotates, and drives the two internal threaded moving blocks 42 to approach each other, and then the multiple grabbing rods 43 can grab the material bag, and then the first servo motor 38 is controlled to operate, and under the action of the driving gear 39 and the driven gear 310, the rotating rod 31 is driven to rotate, and under the connection action of the telescopic rod 33, the auxiliary load-bearing rod 34 is moved along the L-shaped guide frame The auxiliary load-bearing rod 34 is moved to the bottom of the bag, and the auxiliary load-bearing rod 34 assists in carrying the bag. The bag is then moved to the stacking position by the robot arm 1, and then the first servo motor 38 is controlled to reverse, so that the auxiliary load-bearing rod 34 moves to the top position of the L-shaped guide frame 36, and the two sets of grabbing rods 43 put the bag down to achieve the stacking of the bag. When grabbing relatively sparse and soft bags, the device can move the auxiliary load-bearing rod 34 to the bottom of the bag for carrying, thereby ensuring the stability of the bag during the destacking process.

[0033] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. An industrial robot palletizing system, comprising a robot arm (1), characterized in that: The outer surface of the mechanical arm (1) is mounted with a connection frame (2) via a flange, an auxiliary bearing mechanism (3) is arranged outside the connection frame (2), the auxiliary bearing mechanism (3) comprises a rotating rod (31), an auxiliary bearing rod (34) and a fixing frame (37) fixedly connected to the upper surface of the connection frame (2), the outer surface of the fixing frame (37) is fixedly connected with two L-shaped guide frames (36), and the two L-shaped guide frames (36) are both slidably connected to the auxiliary bearing rod (34); Both ends of the rotating rod (31) are fixedly connected to a first connecting block (32), the outer surfaces of the two first connecting blocks (32) are fixedly connected to a telescopic rod (33), one end of the two telescopic rods (33) away from the first connecting block (32) is fixedly connected to a second connecting block (35), and the two second connecting blocks (35) are respectively fixedly connected to both ends of the auxiliary bearing rod (34).

2. The industrial robot palletizing system according to claim 1, characterized in that: A first servo motor (38) is fixedly connected to the upper surface of the connection frame (2); a driving gear (39) is fixedly connected to the output shaft end of the first servo motor (38); a driven gear (310) is fixedly connected to the outer surface of the rotating rod (31); and the driven gear (310) is meshed with the driving gear (39).

3. The industrial robot palletizing system according to claim 1, characterized in that: The outer surface of the rotating rod (31) is rotatably connected to two support seats (311), and the two support seats (311) are both fixedly connected to the upper surface of the connecting frame (2).

4. The industrial robot palletizing system according to claim 1, characterized in that: A gripping mechanism (4) is provided inside the connection frame (2), and the gripping mechanism (4) comprises a bidirectional threaded rod (41) rotatably connected to the inner wall of the connection frame (2), the outer surface of the bidirectional threaded rod (41) being threadedly connected to two symmetrical internal threaded moving blocks (42), and the bottom surfaces of the two internal threaded moving blocks (42) are fixedly connected to a plurality of gripping rods (43).

5. The industrial robot palletizing system according to claim 4, characterized in that: The inner wall of the connection frame (2) is fixedly connected with a guide rod (44), and the two internal thread moving blocks (42) are both slidably connected to the outer surface of the guide rod (44).

6. The industrial robot palletizing system according to claim 4, characterized in that: A second servo motor (45) is fixedly connected to the outer surface of the connection frame (2), and one end of the bidirectional threaded rod (41) close to the second servo motor (45) passes through the connection frame (2) and is fixedly connected to the output shaft end of the second servo motor (45).

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