Intelligent stacking industrial robot

Abstract

The utility model discloses an intelligent stacking industrial robot which comprises a driving mechanism, a robot body is installed on the driving mechanism, a rotating mechanism is installed on the robot body, an end picking device is installed below the rotating mechanism, and the rotating mechanism can drive the end picking device to rotate by any angle. The robot body comprises a base, a supporting arm is installed on the base, a bridging piece is hinged to one end of the supporting arm through a pin shaft, and a first electric push rod is hinged to the bridging piece through a pin shaft. The rotation angle is ensured to be the same as the rotation angle of the rotating shaft, so that the rotation angle of the stacked plates caused by rotation of the rotating shaft is counteracted, the direction of the stacked plates is kept unchanged, and the situation that the direction of the plates cannot be changed is met; or the plate is rotated to any direction.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to an intelligent palletizing industrial robot. Background Art

[0002] When traditional industrial robots are palletizing, they pick up the palletized sheets and drive them to rotate 180° or 90°. When the palletized sheets are moved to the stacking location, they will also rotate 180° or 90°. If a situation occurs where rotation of the palletized sheets is not allowed, the transfer of the palletized sheets in the process cannot be achieved. Utility Model Content

[0003] In view of the problems existing in the existing intelligent palletizing industrial robot, the utility model is proposed.

[0004] Therefore, the purpose of the utility model is to provide an intelligent stacking industrial robot, which solves the problem that when a traditional industrial robot is stacking, the robot picks up the stacking plate and drives the stacking plate to rotate 180° or 90°. When the stacking plate is moved to the stacking location, the stacking plate will also rotate 180° or 90°. If a situation in which the stacking plate is not allowed to rotate is encountered, the problem of being unable to realize the transfer of the stacking plate in the process.

[0005] In order to solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0006] An intelligent palletizing industrial robot comprises a driving mechanism, a robot body is mounted on the driving mechanism, a rotating mechanism is mounted on the robot body, an end picker is mounted below the rotating mechanism, and the rotating mechanism can drive the end picker to rotate at any angle;

[0007] The robot body includes a base, a support arm is installed on the base, one end of the support arm is hinged with a bridge member through a pin, the bridge member is hinged with a first electric push rod through the pin, the other end of the first electric push rod is hinged to the base through the pin, a second electric push rod is fixedly installed on the bridge member, and the support arm is configured as a third electric push rod.

[0008] As a preferred solution of the intelligent palletizing industrial robot described in the utility model, the rotating mechanism includes a bottom support plate and a rotating shaft welded to the bottom of the base, a bearing seat is installed on the top of the bottom support plate, the bearing seat is rotatably connected to the rotating shaft through a bearing, the rotating shaft is transmission-connected to a first servo motor, and the first servo motor is installed on the bottom support plate.

[0009] As a preferred solution of the intelligent palletizing industrial robot described in the utility model, a driving gear is fixedly installed on the output shaft of the first servo motor, a driven gear is fixedly installed on the rotating shaft, and the driving gear and the driven gear are meshingly connected.

[0010] As a preferred solution of the intelligent palletizing industrial robot described in the utility model, a driving gear is fixedly installed on the output shaft of the first servo motor, a driven gear is fixedly installed on the rotating shaft, and the driving gear and the driven gear are meshingly connected.

[0011] As a preferred solution of the intelligent palletizing industrial robot described in the utility model, the rotating mechanism includes a mounting seat installed at the bottom of the second electric push rod, a shell is installed at the bottom of the mounting seat, a second servo motor and a reducer are installed on the shell, the output shaft of the second servo motor is connected to the input shaft of the reducer through a coupling, the output shaft of the reducer is transmission-connected to the auxiliary shaft, and the end picker is installed at the bottom of the auxiliary shaft.

[0012] As a preferred solution of the intelligent palletizing industrial robot described in the utility model, a driving pulley is installed on the output shaft of the reducer, the auxiliary shaft is rotatably connected to the housing through a bearing, a driven pulley is fixedly installed on the auxiliary shaft, and the driving pulley and the driven pulley are connected by a belt transmission.

[0013] Compared with existing technologies:

[0014] 1. By setting up a rotating mechanism, the servo motor and the reducer are used to drive the end picker to rotate, and the rotation angle is ensured to be the same as the rotation angle of the rotating shaft, thereby offsetting the rotation angle of the stacked sheet caused by the rotation of the rotating shaft, so that the direction of the stacked sheet remains unchanged, thereby meeting the situation where the direction of the sheet cannot be changed; or the sheet can be rotated to any direction;

[0015] 2. By setting the support arm as the third electric push rod, the distance between the end picker and the rotating shaft can be changed by extending and shortening the third electric push rod and the first electric push rod at the same time, thereby changing the picking and stacking radius. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A cross-sectional view of the driving mechanism provided by the utility model;

[0017] Figure 2 A schematic diagram of the rotating mechanism provided by the utility model;

[0018] Figure 3 This is a structural schematic diagram provided by the utility model.

[0019] In the figure: base 1, bottom support plate 2, protective shell 3, first electric push rod 4, bridge member 6, second electric push rod 7, shell 8, mounting seat 9, end picker 10, rotating shaft 11, driven gear 12, driving gear 13, first servo motor 14, bearing seat 15, second servo motor 16, reducer 17, driving pulley 18, auxiliary shaft 19, driven pulley 20, third electric push rod 21. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clear, the implementation methods of the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] The utility model provides an intelligent palletizing industrial robot. Figure 1-3 , including a driving mechanism, on which a robot body is installed, a rotating mechanism is installed on the robot body, and an end picker 10 is installed below the rotating mechanism. The rotating mechanism can drive the end picker 10 to rotate at any angle.

[0022] The robot body includes a base 1, on which a support arm is installed, one end of the support arm is hinged with a bridge member 6 through a pin shaft, the bridge member 6 is hinged with a first electric push rod 4 through a pin shaft, the other end of the first electric push rod 4 is hinged to the base 1 through the pin shaft, and a second electric push rod 7 is fixedly installed on the bridge member 6. The height of the end picker 10 is changed by extending and retracting the second electric push rod 7, so as to pick up and stack the stacked plates.

[0023] The rotating mechanism includes a bottom support plate 2 and a rotating shaft 11 welded to the bottom of the base 1. A bearing seat 15 is installed at the top of the bottom support plate 2. The bearing seat 15 is rotatably connected to the rotating shaft 11 through a bearing. The rotating shaft 11 is transmission-connected to a first servo motor 14. The first servo motor 14 is installed on the bottom support plate 2. Under the action of the driven gear 12 and the driving gear 13, the rotating shaft 11 is driven to rotate by the first servo motor 14, thereby driving the robot body to rotate, and then driving the end picker 10 to rotate 90 degrees or 180 degrees.

[0024] A driving gear 13 is fixedly mounted on the output shaft of the first servo motor 14 , and a driven gear 12 is fixedly mounted on the rotating shaft 11 . The driving gear 13 and the driven gear 12 are meshedly connected.

[0025] It also includes a protective shell 3 installed on the bottom support plate 2 , and the driving gear 13 , the driven gear 12 and the first servo motor 14 are all located in the protective shell 3 .

[0026] The rotating mechanism includes a mounting base 9 installed at the bottom of the second electric push rod 7, a shell 8 is installed at the bottom of the mounting base 9, a second servo motor 16 and a reducer 17 are installed on the shell 8, the output shaft of the second servo motor 16 is connected to the input shaft of the reducer 17 through a coupling, and the output shaft of the reducer 17 is connected to the auxiliary shaft 19 through a transmission. Specifically, a driving pulley 18 is installed on the output shaft of the reducer 17, and the auxiliary shaft 19 is rotatably connected to the shell 8 through a bearing. A driven pulley 20 is fixedly installed on the auxiliary shaft 19, and the driving pulley 18 and the driven pulley 20 are connected by a belt transmission. The end picker 10 is installed at the bottom of the auxiliary shaft 19; the second servo motor 16 and the reducer 17 drive the end picker 10 to rotate, and ensure that the rotation angle is the same as the rotation angle of the rotating shaft 11, thereby offsetting the rotation angle of the stacking plate caused by the rotation of the rotating shaft 11, so that the direction of the stacking plate remains unchanged.

[0027] The support arm is configured as a third electric push rod 21; at this time, the third electric push rod 21 and the first electric push rod 4 extend and contract simultaneously, which can change the distance between the end picker and the rotating shaft 11, thereby changing the picking and stacking radius.

[0028] During specific use, the first electric push rod 4 and the second electric push rod 7 are used to adjust the end picker 10 to be located on the stacking plate, the end picker 10 is used to pick up the stacking plate, and the first servo motor 14 is used to drive the rotating shaft 11 to rotate until the stacking plate picked up by the end picker 10 is located above the stack. If the direction of the stacking plate cannot be changed, the second servo motor 16 and the reducer 17 are used to drive the end picker 10 to rotate, and ensure that the rotation angle is the same as the rotation angle of the rotating shaft 11, thereby offsetting the rotation angle of the stacking plate caused by the rotation of the rotating shaft 11, so that the direction of the stacking plate remains unchanged.

[0029] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An intelligent palletizing industrial robot, comprising a driving mechanism, on which a robot body is mounted, characterized in that: A rotating mechanism is installed on the robot body, an end picker (10) is installed below the rotating mechanism, and the rotating mechanism can drive the end picker (10) to rotate at any angle; The robot body comprises a base (1), a support arm is mounted on the base (1), one end of the support arm is hinged to a bridge member (6) via a pin, the bridge member (6) is hinged to a first electric push rod (4) via a pin, the other end of the first electric push rod (4) is hinged to the base (1) via a pin, a second electric push rod (7) is fixedly mounted on the bridge member (6), and the support arm is configured as a third electric push rod (21).

2. The intelligent palletizing industrial robot according to claim 1, characterized in that: The rotating mechanism comprises a bottom support plate (2) and a rotating shaft (11) welded to the bottom of the base (1); a bearing seat (15) is installed at the top end of the bottom support plate (2); the bearing seat (15) is rotatably connected to the rotating shaft (11) via a bearing; the rotating shaft (11) is transmission-connected to a first servo motor (14); and the first servo motor (14) is installed on the bottom support plate (2).

3. The intelligent palletizing industrial robot according to claim 2, characterized in that: A driving gear (13) is fixedly mounted on the output shaft of the first servo motor (14), and a driven gear (12) is fixedly mounted on the rotating shaft (11), and the driving gear (13) and the driven gear (12) are meshingly connected.

4. The intelligent palletizing industrial robot according to claim 3, characterized in that: It also includes a protective shell (3) mounted on the bottom support plate (2), and the driving gear (13), the driven gear (12) and the first servo motor (14) are all located in the protective shell (3).

5. The intelligent palletizing industrial robot according to claim 2, characterized in that: The rotating mechanism comprises a mounting base (9) mounted at the bottom of the second electric push rod (7), a housing (8) being mounted at the bottom of the mounting base (9), a second servo motor (16) and a reducer (17) being mounted on the housing (8), an output shaft of the second servo motor (16) being connected to an input shaft of the reducer (17) via a coupling, an output shaft of the reducer (17) being transmission-connected to an auxiliary shaft (19), and the end picker (10) being mounted at the bottom of the auxiliary shaft (19).

6. The intelligent palletizing industrial robot according to claim 5, characterized in that: A driving pulley (18) is installed on the output shaft of the speed reducer (17); the auxiliary shaft (19) is rotatably connected to the housing (8) via a bearing; a driven pulley (20) is fixedly installed on the auxiliary shaft (19); and the driving pulley (18) and the driven pulley (20) are connected via a belt transmission.

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