Unstacking and stacking robot

Abstract

The utility model relates to the technical field of production equipment, in particular to an unstacking and palletizing robot which comprises a base, a cantilever, a connector and an auxiliary assembly, the cantilever is arranged on the upper surface of the base, the connector is arranged on the inner wall of the cantilever, a clamping mechanism is arranged on the lower surface of the connector, and the auxiliary assembly is arranged at the joint of the connector and a connecting mechanism. The auxiliary assembly comprises a connecting column, a rotating groove is formed in the lower surface of the adaptor, the connecting column is rotationally connected with the inner wall of the rotating groove, a positioning gear is fixedly connected to the upper surface of the clamping mechanism, an assembling frame is arranged on the upper surface of the clamping mechanism, and a clamping pin is arranged on the side surface of the assembling frame. According to the device, the auxiliary assembly and the driving assembly are arranged, so that the clamping mechanism of the device can be adjusted in the direction, the problem that when the direction of the clamping mechanism of the device is adjusted, the device needs to be integrally adjusted, and consequently the operation efficiency is low is solved, and the adjusting efficiency of the device is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of production equipment, in particular to a palletizing and depalletizing robot. Background Art

[0002] A palletizing and depalletizing robot is a mechanical device used on a production line for material packing or unpacking. During the production process, it is often necessary to rely on the palletizing and depalletizing robot to pack and unpack materials, thereby ensuring the production efficiency and automation level of the production line.

[0003] Existing technologies such as the utility model with the publication number CN214988766U disclose an integrated palletizing and depalletizing robot. This patent uses a first conveyor belt, a first motor, a suction cup, and a limiting groove. A second conveyor belt is arranged on the right side of the first conveyor belt, and a storage rack is provided behind the second conveyor belt. A second slider is installed on the second threaded rod, and a cross arm is connected to the second slider. A fourth motor is installed on the cross arm, and a third threaded rod is arranged on the fourth motor. A third slider is installed on the third threaded rod, and a suction cup is provided below the third slider. For this integrated palletizing and depalletizing robot, a second motor, a first gear, and a second gear are provided. The second motor can drive the first gear to rotate, and the meshing of the first gear and the second gear enables the support frame to rotate to the storage rack to lift the storage rack through the suction cup and place it on the second conveyor belt. In this way, the automatic feeding function of the storage rack is realized, making the device more stable during palletizing, so as to solve the problem that most existing equipment uses manual feeding for the feeding operation. In actual operation, manual feeding is time-consuming and laborious, and the feeding position may be skewed, resulting in the heavy offset of the palletized goods and unnecessary losses.

[0004] The inventor found in daily work that during the process of unpacking and packing using a palletizing and depalletizing robot, for the clamping mechanisms of most existing palletizing and depalletizing robots, they can only rotate along the axis direction of the robot arm. And since the robots are all fixedly installed at the designed positions, when the direction of the material changes and it is necessary to adjust the clamping direction of the clamping mechanism, it is necessary to disassemble the robot and rotate the robot to realize the adjustment of the clamping direction of the clamping component. Due to the overly cumbersome disassembly operation of the robot, the actual adjustment difficulty of the clamping component increases. Summary of the Utility Model

[0005] The purpose of the utility model is to solve the drawback that when adjusting the clamping direction of the clamping mechanism in the prior art, it is necessary to disassemble the robot and rotate the robot to realize the adjustment of the clamping direction of the clamping component. Due to the overly cumbersome disassembly operation of the robot, the actual adjustment difficulty of the clamping component increases, and a palletizing and depalletizing robot is proposed.

[0006] To achieve the above object, the present utility model adopts the following technical solution: A palletizing and depalletizing robot, comprising a base, a cantilever, an adapter and an auxiliary component. The cantilever is arranged on the upper surface of the base, the adapter is arranged on the inner wall of the cantilever, a clamping mechanism is arranged on the lower surface of the adapter, the auxiliary component is arranged at the connection between the adapter and the connection mechanism, the auxiliary component includes a connecting column, a rotating groove is formed on the lower surface of the adapter, and the connecting column is rotatably connected to the inner wall of the rotating groove. A positioning gear is fixedly connected to the upper surface of the clamping mechanism, an assembly frame is arranged on the upper surface of the clamping mechanism, and a pin is arranged on the side surface of the assembly frame.

[0007] Preferably, a protective cover is fixedly connected to the surface of the adapter. By setting the protective cover, the structure of the connection part can be protected through the protective cover, thereby ensuring the stability of the connection mechanism.

[0008] Preferably, the connecting column is fixedly connected to the upper surface of the positioning gear, the pin abuts against the upper surface of the clamping mechanism, and the pin is inserted into the tooth groove of the positioning gear. By setting the pin, the positioning effect of the positioning gear can be achieved by restricting the position of the pin in the tooth groove of the positioning gear.

[0009] Preferably, the protective cover abuts against the upper surface of the clamping mechanism, and the protective cover is sleeved on the surface of the positioning gear. By setting the positioning gear, when the position of the positioning gear is limited by the pin, the position-limiting effect on the clamping mechanism can be achieved.

[0010] Preferably, a driving component is arranged on the side surface of the adapter. The driving component includes a support frame, the support frame is fixedly connected to the side surface of the adapter, a servo motor is fixedly connected to the upper surface of the support frame, a threaded shaft is bolted to the driving end of the servo motor, a jacking nut is threadedly connected to the surface of the threaded shaft, a guiding rod is fixedly connected to the lower surface of the support frame, and a sliding sleeve is sleeved on the surface of the guiding rod. By setting the servo motor, the threaded shaft can be driven to rotate by the servo motor, thereby achieving the driving effect of the screw shaft.

[0011] Preferably, the threaded shaft penetrates through the lower surface of the support frame, the jacking nut is fixedly connected to the inner wall of the assembly frame, the number of the guiding rods is two, the two guiding rods are symmetrically arranged about the support frame, and the sliding sleeve is fixedly connected to the inner wall of the assembly frame. By setting the threaded shaft, when the threaded shaft is in a driven state, the assembly frame can be driven to displace in cooperation with the jacking nut.

[0012] Compared with the prior art, the advantages and positive effects of the present utility model are as follows:

[0013] In the present utility model, by providing an auxiliary assembly and a driving assembly, when the robot operates, the clamping mechanism is powered on to clamp the workpiece on the palletizing. Immediately afterwards, the cantilever is powered on to rotate, and cooperates with the clamping mechanism to take the workpiece out of the palletizing area. At the same time, the cantilever rotates under the drive of the base, and cooperates with the cantilever and the clamping mechanism to place the workpiece on the conveyor belt; when it is necessary to adjust the clamping direction of the clamping mechanism, turn on the forward rotation switch of the servo motor. The servo motor drives the threaded shaft to rotate. Under the action of the servo motor, the threaded shaft meshes with the jacking nut. During the meshing process of the jacking nut, it pulls up the assembly frame. The assembly frame is guided by the sliding sleeve and the guiding rod to pull up the pin. The pin is pulled out of the positioning gear. At the same time, turn off the switch of the servo motor and push the clamping mechanism. The clamping mechanism is stressed and rotates under the guidance of the positioning gear and the connecting column. When the clamping mechanism rotates 90 degrees, switch the switch of the servo motor to the reverse gear. The servo motor is powered on to drive the threaded shaft to rotate counterclockwise. When the threaded shaft rotates, it meshes with the jacking nut. During the meshing process of the jacking nut, it pushes down the assembly frame. The assembly frame is guided by the guiding rod and the sliding sleeve to push down the pin. The pin is pushed to re-insert into the tooth groove of the positioning gear. When the pin moves to the maximum spacing, turn off the servo motor. The servo motor stops driving the threaded shaft, and the threaded shaft stops meshing with the jacking nut, and cooperates with the jacking nut to limit the positions of the assembly frame and the pin. Immediately afterwards, under the action of the pin, the position of the positioning gear can be limited. Then, under the restraint of the positioning gear, the adjustment operation of the clamping mechanism is completed. By providing the auxiliary assembly and the driving assembly, the clamping mechanism of the device can be adjusted in direction, thereby reducing the problem of low operation efficiency caused by the need to perform an overall adjustment of the device when adjusting the direction of the clamping mechanism of the device, and further improving the adjustment efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a three-dimensional structural schematic diagram of a depalletizing and palletizing robot proposed by the present utility model;

[0015] Figure 2 is a Figure 1 structural schematic diagram of part A in a depalletizing and palletizing robot proposed by the present utility model;

[0016] Figure 3 is an adjusted state structural schematic diagram of a depalletizing and palletizing robot proposed by the present utility model;

[0017] Figure 4 is a partial structural schematic diagram of a depalletizing and palletizing robot proposed by the present utility model.

[0018] Legend:

[0019] 1. Base; 2. Cantilever; 3. Adapter; 4. Clamping mechanism; 5. Auxiliary component; 51. Connecting column; 52. Positioning gear; 53. Mounting frame; 54. Pin; 55. Protective cover; 6. Driving component; 61. Support frame; 62. Servo motor; 63. Threaded shaft; 64. Jacking nut; 65. Guide rod; 66. Sliding sleeve. Detailed implementation manners

[0020] Please refer to Figures 1-4 , the present utility model provides a technical solution: a palletizing and depalletizing robot, including a base 1, a cantilever 2, an adapter 3 and an auxiliary component 5. The cantilever 2 is arranged on the upper surface of the base 1, the adapter 3 is arranged on the inner wall of the cantilever 2, a clamping mechanism 4 is arranged on the lower surface of the adapter 3, the auxiliary component 5 is arranged at the connection between the adapter 3 and the connection mechanism, and a driving component 6 is arranged on the side surface of the adapter 3.

[0021] Next, specifically describe the specific settings and functions of its auxiliary component 5 and driving component 6.

[0022] In this embodiment: The auxiliary component 5 includes a connecting column 51. A rotating groove is formed on the lower surface of the adapter 3, and the connecting column 51 is rotatably connected to the inner wall of the rotating groove. A positioning gear 52 is fixedly connected to the upper surface of the clamping mechanism 4. An assembly frame 53 is arranged on the upper surface of the clamping mechanism 4, and a pin 54 is arranged on the side surface of the assembly frame 53.

[0023] Specifically, a protective cover 55 is fixedly connected to the surface of the adapter 3. By providing the protective cover 55, the structure of the connection part can be protected, thereby ensuring the stability of the connection mechanism.

[0024] Specifically, the connecting column 51 is fixedly connected to the upper surface of the positioning gear 52. The pin 54 abuts against the upper surface of the clamping mechanism 4, and the pin 54 is inserted into the tooth groove of the positioning gear 52.

[0025] In this embodiment: By arranging the pin 54 and restricting the position of the pin 54 within the tooth groove of the positioning gear 52, the positioning effect of the positioning gear 52 can be achieved.

[0026] Specifically, the protective cover 55 abuts against the upper surface of the clamping mechanism 4, and the protective cover 55 is sleeved on the surface of the positioning gear 52. By arranging the positioning gear 52, when the position of the positioning gear 52 is restricted by the pin 54, the position of the clamping mechanism 4 can be restricted.

[0027] In this embodiment: the driving assembly 6 includes a support frame 61, the support frame 61 is fixedly connected to the side surface of the connector 3, the upper surface of the support frame 61 is fixedly connected to a servo motor 62, the driving end of the servo motor 62 is bolted to a threaded shaft 63, the surface of the threaded shaft 63 is threadedly connected to a lifting nut 64, the lower surface of the support frame 61 is fixedly connected to a guide rod 65, and the surface of the guide rod 65 is sleeved with a sliding sleeve 66.

[0028] In this embodiment: a servo motor 62 is provided, and the servo motor 62 can drive the threaded shaft 63 to rotate, thereby achieving a driving effect of the threaded shaft.

[0029] Specifically, the threaded shaft 63 passes through the lower surface of the support frame 61, the lifting nut 64 is fixedly connected to the inner wall of the assembly frame 53, there are two guide rods 65, and the two guide rods 65 are symmetrically arranged about the support frame 61. The sliding sleeve 66 is fixedly connected to the inner wall of the assembly frame 53, and the threaded shaft 63 is set. When the threaded shaft 63 is driven, it can cooperate with the lifting nut 64 to drive the assembly frame 53 to move.

[0030] Working principle: when the clamping direction of the clamping mechanism 4 needs to be adjusted, turn on the forward switch of the servo motor 62, the servo motor 62 drives the threaded shaft 63 to rotate, and the threaded shaft 63 is engaged with the lifting nut 64 under the action of the servo motor 62. During the engagement process, the lifting nut 64 pulls the assembly frame 53 upward, and the assembly frame 53 pulls the bayonet 54 upward under the guidance of the sliding sleeve 66 and the guide rod 65. The bayonet 54 is pulled out of the positioning gear 52, and the switch of the servo motor 62 is turned off, and the clamping mechanism 4 is pushed. The clamping mechanism 4 is subjected to force and rotates under the guidance of the positioning gear 52 and the connecting column 51. After the clamping mechanism 4 rotates 90 degrees, the switch of the servo motor 62 is turned to the flip gear, and the servo motor 62 is energized to drive the threaded shaft 63 to rotate counterclockwise. The threaded shaft 63 is engaged with the lifting nut 64 during rotation, and the lifting nut 64 is pushed downward during the engagement process. The movable assembly frame 53 pushes the latch 54 downward under the guidance of the guide rod 65 and the sliding sleeve 66, and the latch 54 is pushed to be reinserted into the tooth groove of the positioning gear 52. When the latch 54 moves to the maximum spacing, the servo motor 62 is turned off, and the servo motor 62 stops driving the threaded shaft 63. The threaded shaft 63 stops engaging with the lifting nut 64, and cooperates with the lifting nut 64 to limit the position of the assembly frame 53 and the latch 54. Then, under the action of the latch 54, the position of the positioning gear 52 can be limited, and then under the constraint of the positioning gear 52, the adjustment operation of the clamping mechanism 4 is completed. By setting the auxiliary component 5 and the drive component 6, the clamping mechanism 4 of the equipment can be adjusted in direction, thereby reducing the need to adjust the equipment as a whole when adjusting the direction of the clamping mechanism 4 of the equipment, resulting in low operating efficiency, and further improving the adjustment efficiency of the equipment.

Claims

1. A palletizing and depalletizing robot, comprising a base (1), a cantilever (2), a connector (3) and an auxiliary component (5), characterized in that: The cantilever (2) is arranged on the upper surface of the base (1), the connector (3) is arranged on the inner wall of the cantilever (2), the lower surface of the connector (3) is provided with a clamping mechanism (4), the auxiliary component (5) is arranged at the connection point between the connector (3) and the connecting mechanism, the auxiliary component (5) comprises a connecting column (51), the lower surface of the connector (3) is provided with a rotating groove, the connecting column (51) is rotatably connected to the inner wall of the rotating groove, the upper surface of the clamping mechanism (4) is fixedly connected with a positioning gear (52), the upper surface of the clamping mechanism (4) is provided with an assembly frame (53), and the side surface of the assembly frame (53) is provided with a latch (54).

2. A palletizing and depalletizing robot according to claim 1, characterized in that: A protective cover (55) is fixedly connected to the surface of the adapter (3).

3. The depalletizing and stacking robot according to claim 1, characterized in that: The connecting column (51) is fixedly connected to the upper surface of the positioning gear (52), the bayonet (54) abuts against the upper surface of the clamping mechanism (4), and the bayonet (54) is plugged into the tooth groove of the positioning gear (52).

4. A palletizing and depalletizing robot according to claim 2, characterized in that: The protective cover (55) is in contact with the upper surface of the clamping mechanism (4), and the protective cover (55) is sleeved with the surface of the positioning gear (52).

5. The depalletizing and stacking robot according to claim 1, characterized in that: A driving assembly (6) is provided on the side surface of the connector (3), and the driving assembly (6) includes a support frame (61), the support frame (61) is fixedly connected to the side surface of the connector (3), a servo motor (62) is fixedly connected to the upper surface of the support frame (61), a threaded shaft (63) is bolted to the driving end of the servo motor (62), a lifting nut (64) is threadedly connected to the surface of the threaded shaft (63), and a guide rod (65) is fixedly connected to the lower surface of the support frame (61), and a sliding sleeve (66) is sleeved on the surface of the guide rod (65).

6. The depalletizing and stacking robot according to claim 5, characterized in that: The threaded shaft (63) passes through the lower surface of the support frame (61), the lifting nut (64) is fixedly connected to the inner wall of the assembly frame (53), the number of the guide rods (65) is two, and the two guide rods (65) are arranged symmetrically with respect to the support frame (61), and the sliding sleeve (66) is fixedly connected to the inner wall of the assembly frame (53).

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