Robot automatic sleeper stacking workstation

Abstract

The utility model relates to the technical field of automatic stacking, and provides a robot sleeper automatic stacking work station which comprises a robot control table, a linkage base is fixed to the driving end of the robot control table, a mechanical arm is welded to the linkage base, and a connecting base is installed at the other end of the mechanical arm through an electric rotating shaft. According to the robot automatic sleeper stacking work station, the mechanical arm is controlled to drive the clamping frame to move to the position above sleepers, the clamping frame moves downwards and presses the sleepers, spring rods can contract, then the attaching degree of the clamping frame and the sleepers is improved, a transmission rod is driven by a bidirectional air cylinder to contract inwards, two clamping plates can be attached to and clamp the sleepers, and therefore the automatic stacking work station for the sleepers is achieved. According to the sleeper stacking device, the connectivity between the clamping plates and sleepers can be improved through the non-slip mats, then the fixing effect on the sleepers is improved, the falling phenomenon during stacking is avoided, the clamping positions can be adjusted through movement of the sliding blocks in the sliding grooves, the sleepers with different lengths can be conveniently used, and the usability of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic stacking, and particularly to a robot sleeper automatic stacking workstation. Background Art

[0002] Sleeper, also known as a railroad tie, is made of concrete casting with steel reinforcement. After the production of sleepers, they need to be stacked, and spacer timbers need to be placed between the upper and lower layers for physical isolation to prevent direct contact between the sleepers and cause damage. At the same time, it is convenient for forklifts to pick up. This station has a large labor intensity and high repeatability, and it is very suitable to replace manual work with machines.

[0003] After retrieval, in the prior art (publication number: CN214446474U), a robotic arm grasping device is proposed. It is mentioned in the text that "it includes: a seat body with hinge blocks on its symmetric sides; a telescopic cylinder, whose cylinder body is fixed on the top of the seat body, and its piston rod penetrates to the bottom of the seat body; a hinge member fixed on the outer wall of the piston rod of the telescopic cylinder, with hinge rings at both ends; a jaw assembly including a rotating rod hinged at one end to the hinge block and jaws arranged on the inner wall at the other end of the rotating rod; a connecting rod, with one end hinged to the hinge ring and the other end hinged to the middle of the rotating rod." However, when the prior art is in use, the fixing effect of its grasping structure is limited, and it is easy to fall off when grasping and moving the sleepers, which affects the development of the stacking work. Therefore, it is very necessary to design a robot sleeper automatic stacking workstation. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a robot sleeper automatic stacking workstation, which solves the problem in the related technology that due to the limited fixing effect of the grasping structure during use, it is easy to fall off when grasping and moving the sleepers.

[0005] The technical solution of the utility model is as follows:

[0006] A robot sleeper automatic stacking workstation includes a robot console. The driving end of the robot console is fixed with a linkage seat, and a robotic arm is welded on the linkage seat. The other end of the robotic arm is installed with a connecting seat through an electric rotating shaft, and a spring rod is installed at the bottom of the connecting seat through a rotating shaft. One end of the bottom of the spring rod is welded with a clamping frame, and sliding grooves are opened at both ends of the top of the clamping frame. Sliders are slidably installed inside the sliding grooves, and a bidirectional cylinder is screwed on the top of the sliders. Both output ends of the bidirectional cylinder are fixed with transmission rods, and the other ends of the transmission rods are welded with clamping plates, and anti-slip pads are glued on the inner walls of the clamping plates.

[0007] Preferably, the anti-slip pad is made of flannelette, and several convex points are glued on the flannelette, and the convex points are in a cross shape.

[0008] Preferably, a threaded rod is provided inside the sliding groove, and the threaded rod is threadedly connected to the slider. One end of the threaded rod extends to the outside of the clamping frame and is fixed with a motor.

[0009] Preferably, limiting rods are welded to the outer walls on both sides of the clamping frame, and a reinforcing plate is inserted on the limiting rods. The reinforcing plate is located between the two clamping plates. Telescopic rods are welded to both sides of the reinforcing plate, and the telescopic ends of the telescopic rods are screwed and fixed to the outer walls of the clamping plates.

[0010] Preferably, a support rod is welded to one end of the bottom of the reinforcing plate, and a rubber block is sleeved on the other end of the support rod. The outer wall of the rubber block is corrugated.

[0011] Preferably, a numerical control screen is screwed to the outer wall of the robot console, and a controller is provided below the bottom of the numerical control screen.

[0012] Preferably, a lifting groove is opened at the center of the bottom of the robot console, and a pneumatic lifting column is screwed inside the lifting groove. A bottom plate is provided below the bottom of the robot console, and the telescopic end of the pneumatic lifting column is screwed and fixed to the top of the bottom plate.

[0013] Preferably, guide grooves are opened around the bottom end face of the robot console. Vertical rods are welded around the top end face of the bottom plate, and the four vertical rods are respectively inserted and installed in the four guide grooves. Support pads are glued around the bottom end face of the bottom plate.

[0014] The beneficial effects of the present utility model:

[0015] By controlling the robotic arm to drive the clamping frame to move above the sleeper, when the clamping frame moves down and presses the sleeper, the spring rod will contract, thereby improving the fit between the clamping frame and the sleeper. By driving the transmission rod to contract inward by the double-acting cylinder, the two clamping plates can be brought closer to clamp the sleeper. Under the action of the robotic arm, the sleeper can be lifted, which is convenient for placing spacer timbers between the upper and lower layers for physical isolation, preventing direct contact between the sleepers from causing damage, and at the same time facilitating the forklift to fork. The anti-slip pads can improve the connection between the clamping plates and the sleeper, thereby improving the fixing effect on the sleeper and avoiding the phenomenon of falling off during stacking. By moving the slider inside the sliding groove, the clamping position can be adjusted, which is convenient for using sleepers of different lengths, improving the usability of the equipment. Using the robotic arm instead of manual labor makes the operation more convenient.

[0016] Through the telescopic rods, the reinforcing plate can be driven to move when the clamping plate moves. By using the support rod and the rubber block, the clamped sleeper can be reinforced when the reinforcing plate moves inward. By extending the pneumatic lifting column, the height of the robot console can be increased. By using the guide grooves and the vertical rods, the stability of the equipment can be improved when the robot console is lifted and lowered. Description of the Drawings

[0017] The present utility model will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] Figure 1 Isometric view of the whole of the present utility model;

[0019] Figure 2 Is Figure 1 Enlarged view of the structure at A;

[0020] Figure 3 Schematic diagram of the whole structure of the present utility model;

[0021] Figure 4 Schematic diagram of the bottom structure of the present utility model;

[0022] Figure 5 Cross-sectional view of the whole of the present utility model;

[0023] Figure 6 Cross-sectional view of the robot base of the present utility model.

[0024] In the figure: 1, robot console; 2, linkage seat; 3, robotic arm; 4, connecting seat; 5, spring rod; 6, clamping bracket; 7, chute; 8, slider; 9, double-acting cylinder; 10, transmission rod; 11, clamping plate; 12, anti-slip pad; 13, threaded rod; 14, motor; 15, limiting rod; 16, reinforcement plate; 17, support rod; 18, rubber block; 19, telescopic rod; 20, numerical control screen; 21, controller; 22, lifting groove; 23, pneumatic lifting column; 24, bottom plate; 25, guiding groove; 26, vertical rod; 27, support pad. Specific embodiments

[0025] Next, in combination with the embodiments of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present utility model.

[0026] Such as Figures 1-6As shown in the figure, this embodiment proposes an automatic sleeper stacking workstation for a robot, which includes a robot console 1. A linkage seat 2 is fixed to the driving end of the robot console 1, and a robotic arm 3 is welded to the linkage seat 2. The other end of the robotic arm 3 is installed with a connecting seat 4 through an electric rotating shaft, and a spring rod 5 is installed at the bottom of the connecting seat 4 through a rotating shaft. One end of the bottom of the spring rod 5 is welded with a clamping frame 6, and sliding grooves 7 are opened at both ends of the top of the clamping frame 6. Sliders 8 are slidably installed inside the sliding grooves 7, and a double-acting cylinder 9 is screwed to the top of the slider 8. Transmission rods 10 are fixed to both output ends of the double-acting cylinder 9, and the other end of the transmission rod 10 is welded with a clamping plate 11. An anti-slip pad 12 is adhesively bonded to the inner wall of the clamping plate 11. The two double-acting cylinders 9 are connected in parallel. The anti-slip pad 12 is made of flannelette, and several convex points are adhesively bonded to the flannelette. The convex points are in a cross shape. The convex points are beneficial to improving the anti-slip effect of the anti-slip pad 12. A threaded rod 13 is arranged inside the sliding groove 7, and the threaded rod 13 is threadedly connected with the slider 8. One end of the threaded rod 13 extends to the outside of the clamping frame 6 and is fixed with a motor 14. Driving the threaded rod 13 by the motor 14 can make the slider 8 move inside the sliding groove 7, thereby adjusting the clamping position. Limit rods 15 are welded to the outer walls on both sides of the clamping frame 6, and a reinforcing plate 16 is inserted on the limit rod 15. The reinforcing plate 16 is located between the two clamping plates 11. Telescopic rods 19 are welded to both sides of the reinforcing plate 16, and the telescopic ends of the telescopic rods 19 are screwed and fixed to the outer wall of the clamping plate 11. The telescopic rod 19 can drive the reinforcing plate 16 to move when the clamping plate 11 moves. One end of the bottom of the reinforcing plate 16 is welded with a support rod 17, and the other end of the support rod 17 is sleeved with a rubber block 18. The outer wall of the rubber block 18 is corrugated. The support rod 17 and the rubber block 18 can reinforce the clamped sleeper when the reinforcing plate 16 moves inward. A numerical control screen 20 is screwed to the outer wall of the robot console 1. A controller 21 is arranged below the bottom of the numerical control screen 20. The controller 21 is used to control the operation of the robotic arm 3, the double-acting cylinder 9, and the motor 14. A lifting groove 22 is opened at the center of the bottom of the robot console 1, and a pneumatic lifting column 23 is screwed inside the lifting groove 22. A bottom plate 24 is arranged below the bottom of the robot console 1, and the telescopic end of the pneumatic lifting column 23 is screwed and fixed to the top of the bottom plate 24. By extending the pneumatic lifting column 23, the height of the robot console 1 can be increased. Guide grooves 25 are opened around the bottom end face of the robot console 1. Vertical rods 26 are welded around the top end face of the bottom plate 24, and the four vertical rods 26 are respectively inserted and installed in the four guide grooves 25. Support pads 27 are adhesively bonded around the bottom end face of the bottom plate 24. The guide grooves 25 and the vertical rods 26 can improve the stability of the equipment when the robot console 1 is lifted and lowered.

[0027] In this embodiment, during use, the controller 21 controls the robotic arm 3 to drive the clamping frame 6 to move above the sleeper. When the clamping frame 6 moves downward and presses the sleeper, the spring rod 5 will contract, thereby improving the fit between the clamping frame 6 and the sleeper. The double-acting cylinder 9 drives the transmission rod 10 to contract inward, enabling the two clamping plates 11 to approach and clamp the sleeper. Under the action of the robotic arm 3, the sleeper can be lifted, facilitating the placement of spacer timbers between the upper and lower layers for physical isolation. The anti-slip pad 12 can improve the connection between the clamping plate 11 and the sleeper. The motor 14 drives the threaded rod 13 to enable the slider 8 to move inside the chute 7, thereby adjusting the clamping position. When the clamping plate 11 moves, the telescopic rod 19 drives the reinforcement plate 16 to move. The support rod 17 and the rubber block 18 can reinforce the clamped sleeper when the reinforcement plate 16 moves inward. When the pneumatic lifting column 23 extends, the height of the robot console 1 can be increased. The guide groove 25 and the vertical rod 26 can improve the stability of the device when the robot console 1 is lifted or lowered.

[0028] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A robot sleeper automatic stacking workstation, comprising a robot control console (1), characterized in that: A linkage seat (2) is fixed to the driving end of the robot control console (1), and a mechanical arm (3) is welded to the linkage seat (2); a connecting seat (4) is installed at the other end of the mechanical arm (3) via an electric rotating shaft, and a spring rod (5) is installed at the bottom of the connecting seat (4) via a rotating shaft; a clamping frame (6) is welded to one end of the bottom of the spring rod (5), and a slide groove (7) is provided at both ends of the top of the clamping frame (6); a slider (8) is slidably installed inside the slide groove (7), and a bidirectional cylinder (9) is screwed to the top of the slider (8); a transmission rod (10) is fixed to both output ends of the bidirectional cylinder (9), and a clamping plate (11) is welded to the other end of the transmission rod (10), and an anti-slip pad (12) is glued to the inner wall of the clamping plate (11).

2. The robot sleeper automatic stacking workstation according to claim 1 is characterized in that: The anti-slip pad (12) is made of flannel, and a plurality of protrusions are glued onto the flannel, wherein the protrusions are in a cross shape.

3. The robot sleeper automatic stacking workstation according to claim 1 is characterized in that: A threaded rod (13) is provided inside the slide groove (7), and the threaded rod (13) is connected to the slider (8) via threads; one end of the threaded rod (13) extends to the outside of the clamping frame (6) and is fixed with a motor (14).

4. The robot sleeper automatic stacking workstation according to claim 1 is characterized in that: Limit rods (15) are welded to the outer walls of both sides of the clamping frame (6), and a reinforcing plate (16) is inserted on the limit rods (15). The reinforcing plate (16) is located between the two clamping plates (11). Telescopic rods (19) are welded to both sides of the reinforcing plate (16), and the telescopic ends of the telescopic rods (19) are screwed and fixed to the outer walls of the clamping plates (11).

5. The robot sleeper automatic stacking workstation according to claim 4 is characterized in that: A support rod (17) is welded to one end of the bottom of the reinforcing plate (16), and a rubber block (18) is sleeved on the other end of the support rod (17), wherein the outer wall of the rubber block (18) is corrugated.

6. The robot sleeper automatic stacking workstation according to claim 1, characterized in that: A numerical control screen (20) is screwed onto the outer wall of the robot control console (1), and a controller (21) is provided below the bottom of the numerical control screen (20).

7. The robot sleeper automatic stacking workstation according to claim 1, characterized in that: A lifting slot (22) is provided at the center of the bottom of the robot console (1), and a pneumatic lifting column (23) is screwed inside the lifting slot (22). A bottom plate (24) is provided below the bottom of the robot console (1), and the telescopic end of the pneumatic lifting column (23) is screwed and fixed to the top of the bottom plate (24).

8. The robot sleeper automatic stacking workstation according to claim 7, characterized in that: The bottom end surface of the robot control console (1) is provided with guide grooves (25) on all sides, the top end surface of the bottom plate (24) is welded with vertical rods (26) on all sides, and the four vertical rods (26) are respectively inserted and installed in the four guide grooves (25), and the bottom end surface of the bottom plate (24) is glued with support pads (27) on all sides.

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