Industrial robot stacking device

Abstract

The utility model relates to the technical field of stacking devices, in particular to an industrial robot stacking device which comprises a rotary cutting type frame, an L-shaped clamp installation frame, a suspension frame and a driver, the rotary cutting type frame is horizontally arranged at the bottom end of the suspension frame and rotatably connected with the suspension frame, and the driver is installed inside the rotary cutting type frame in an embedded mode. The two L-shaped clamp mounting frames are in driving connection with the driver; the rotary-cut type frame comprises a triangular frame, a guide rod, a connecting plate, a first rotating disc and a two-way lead screw, the rotary-cut type frame is matched with the L-shaped clamp mounting frame, two types of clamps can be mounted at the same time, two different types of goods can be alternately grabbed conveniently, and meanwhile the rotary-cut type frame can be matched with a suspension frame with a special angle to achieve rapid switching. The L-shaped clamp mounting frame is used for loading two clamps, and the same two-way screw rod is matched with the driver for driving, so that the single-drive multi-action effect is realized, and the cost and the energy consumption are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing devices, in particular to an industrial robot palletizing device. Background Technique

[0002] An industrial robot palletizing device is a device used for automatically stacking and arranging products. It usually consists of an industrial robot, a fixture, a sensor, and a control system. These devices can accurately stack products into the required forms, such as boxes, pallets, or other containers according to a pre-set program.

[0003] Palletizing devices are widely used in various industries, such as food and beverage, logistics, and manufacturing. They can improve production efficiency, reduce labor costs, and ensure the consistency and quality of product stacking. However, there are still certain problems: 1) When palletizing some goods, they are usually palletized alternately with partitions according to a specific quantity, and most palletizing devices cannot install two types of fixtures at the same time. At this time, manual placement of partitions or replacement of fixtures is required, and both methods will seriously delay work efficiency; 2) For some palletizing devices that can load two fixtures at the same time, a separate drive unit is required for each set of fixtures, so the cost and energy consumption are relatively high. Therefore, in view of the above current situation, there is an urgent need to develop an industrial robot palletizing device to overcome the deficiencies in current practical applications and meet current requirements. Content of the Utility Model

[0004] The purpose of the utility model is to provide an industrial robot palletizing device to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: An industrial robot palletizing device includes a rotary cutting frame, an L-shaped fixture mounting frame, a suspension, and a driver. The rotary cutting frame is horizontally arranged at the bottom end of the suspension and is rotatably connected to the suspension. The driver is embedded and installed inside the rotary cutting frame, and both L-shaped fixture mounting frames are driven and connected to the driver;

[0006] The rotary cutting frame includes a triangular frame, guide rods, a connecting plate, a first rotating disk, and a bidirectional lead screw. A plurality of guide rods are horizontally installed between the two triangular frames. The connecting plate is obliquely installed between the two triangular frames. The first rotating disk is installed at the middle position on the top of the connecting plate. The bidirectional lead screw is horizontally arranged at the edge positions of the two triangular frames and is rotatably connected to the triangular frames;

[0007] An internal thread cylinder is installed at the inner included angle position of the L-shaped fixture mounting frame, and several groups of bearing seats are installed on the inner side wall of the L-shaped fixture mounting frame.

[0008] Preferably, the driver includes a stepper motor, a reducer, a main pulley, a synchronous belt and a driven pulley. The stepper motor and the reducer are installed in the middle position of the bottom of the connecting plate. The main pulley is connected to the output shaft of the reducer by transmission. The driven pulley is nested and installed in the middle position of the bidirectional screw rod. The driven pulley is connected to the main pulley by a synchronous belt transmission. Specifically, the driver is arranged in conjunction with the bidirectional screw rod to drive the two sets of L-shaped clamp mounting frames to move synchronously relative to each other.

[0009] Preferably, the maximum angle of the L-shaped clamp mounting frame is 90 degrees, and the right-angled surfaces of the L-shaped clamp mounting frame are all mounting surfaces, and the mounting surfaces are all provided with threaded holes. Specifically, the two outer mounting surfaces can be used to install different types of clamps, and at the same time, a single set of drivers is used to drive, realizing single drive and multiple movements.

[0010] Preferably, a second rotating disk is welded to the bottom end of the suspension, and a servo motor is installed on the top of the second rotating disk. Specifically, the overall rotation of the rotary cutting frame is achieved by rotatably connecting the second rotating disk with the first rotating disk.

[0011] Preferably, a 135-degree angle is formed between the second rotating disk and the suspension. Specifically, through the setting of the angle, the entire rotary cutting frame can rotate around the second rotating disk, and after rotating 180 degrees, the other mounting surface of the L-shaped clamp mounting frame is kept horizontally downward, so that different types of clamps can be installed on the two mounting surfaces of the L-shaped clamp mounting frame at the same time, and the clamps on different mounting surfaces can be switched to a horizontal downward state through the overall rotation of the rotary cutting frame.

[0012] Preferably, the internal threaded tube is nested at one end of the bidirectional screw rod and is connected to the bidirectional screw rod by a thread, and the bearing seat is slidably connected to the guide rod. Specifically, the internal threaded tube and the bidirectional screw rod cooperate with each other to achieve axial relative movement between the bidirectional screw rod and the L-shaped clamp mounting frame.

[0013] Compared with the prior art, the utility model provides an industrial robot palletizing device, which has the following beneficial effects:

[0014] 1. It uses a rotary-cut frame with an L-shaped fixture mounting frame, which can be installed with two types of fixtures at the same time, making it easy to alternately grab two different types of goods. At the same time, its rotary-cut frame can be combined with a special angle suspension to achieve rapid switching;

[0015] 2. It uses an L-shaped fixture mounting frame to load two types of fixtures, and uses the same bidirectional screw rod to drive the driver, achieving a single-drive multi-movement effect, reducing costs and energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings:

[0017] Figure 1 It is a front structural schematic diagram of the present utility model;

[0018] Figure 2 It is a side structural schematic diagram of the present utility model;

[0019] Figure 3 It is an overall side view of the present utility model;

[0020] Figure 4 It is a structural schematic diagram of the rotary cutting frame of the present utility model;

[0021] Figure 5 It is a structural schematic diagram of the L-shaped fixture mounting bracket of the present utility model;

[0022] Figure 6 It is a structural schematic diagram of the driver of the present utility model.

[0023] In the figure: 10, rotary cutting frame; 101, triangular frame; 102, guide rod; 103, connecting plate; 104, first rotating disk; 105, bidirectional lead screw; 20, L-shaped fixture mounting bracket; 201, internal thread cylinder; 202, bearing seat; 30, suspension; 301, servo motor; 302, second rotating disk; 40, driver; 401, stepper motor; 402, reducer; 403, main wheel disk; 404, synchronous belt; 405, driven wheel disk. Detailed implementation manners

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0025] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "attachment", "fixation" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0026] Embodiment:

[0027] Please refer to Figures 1-6 , the present utility model provides a technical solution: an industrial robot palletizing device, including a rotary cutting frame 10, an L-shaped fixture mounting frame 20, a suspension 30 and a driver 40. The rotary cutting frame 10 is horizontally arranged at the bottom end of the suspension 30 and is rotatably connected to the suspension 30. The driver 40 is embedded and installed inside the rotary cutting frame 10, and both L-shaped fixture mounting frames 20 are drivingly connected to the driver 40;

[0028] The rotary cutting frame 10 includes a triangular frame 101, guide rods 102, a connecting plate 103, a first rotating disk 104 and a bidirectional lead screw 105. A plurality of guide rods 102 are horizontally installed between the two triangular frames 101. The connecting plate 103 is obliquely installed between the two triangular frames 101. The first rotating disk 104 is installed at the middle position on the top of the connecting plate 103. The bidirectional lead screw 105 is horizontally arranged at the edge positions of the two triangular frames 101 and is rotatably connected to the triangular frame 101;

[0029] An internal thread cylinder 201 is installed at the inner corner position of the L-shaped fixture mounting frame 20, and several groups of bearing seats 202 are installed on the inner side wall of the L-shaped fixture mounting frame 20.

[0030] Preferably, the driver 40 includes a stepper motor 401, a reducer 402, a main wheel disk 403, a synchronous belt 404 and a driven wheel disk 405. The stepper motor 401 and the reducer 402 are installed at the middle position on the bottom of the connecting plate 103. The main wheel disk 403 is drivingly connected to the output shaft of the reducer 402. The driven wheel disk 405 is nested and installed at the middle position of the bidirectional lead screw 105. The driven wheel disk 405 is drivingly connected to the main wheel disk 403 through the synchronous belt 404. Specifically, by setting the driver 40 in cooperation with the bidirectional lead screw 105, the two groups of L-shaped fixture mounting frames 20 can be driven to move synchronously relative to each other.

[0031] Preferably, the maximum included angle of the L-shaped fixture mounting bracket 20 is 90 degrees. The right-angle surfaces of the L-shaped fixture mounting bracket 20 are both mounting surfaces, and threaded holes are provided on the mounting surfaces. Specifically, different types of fixtures can be mounted on the two outer mounting surfaces, and at the same time, they are driven by a single set of drivers 40, realizing single-drive multi-action.

[0032] Preferably, a second rotating disk 302 is welded to the bottom end of the suspension 30, and a servo motor 301 is mounted on the top of the second rotating disk 302. Specifically, the overall rotation of the rotary cutting frame 10 is realized by the rotation connection between the second rotating disk 302 and the first rotating disk 104.

[0033] Preferably, an included angle of 135 degrees is formed between the second rotating disk 302 and the suspension 30. Specifically, through the setting of its angle, the entire rotary cutting frame 10 can rotate around the second rotating disk 302. After rotating 180 degrees, the other mounting surface of the L-shaped fixture mounting bracket 20 remains horizontally downward, realizing the simultaneous mounting of different types of fixtures on the two mounting surfaces of the L-shaped fixture mounting bracket 20, and through the overall rotation of the rotary cutting frame 10, the fixture on a different mounting surface can be switched to the horizontally downward state.

[0034] Preferably, the internal thread cylinder 201 is nested at one end of the bidirectional lead screw 105 and is threadedly connected to the bidirectional lead screw 105. The bearing block 202 is slidably connected to the guide rod 102. Specifically, through the cooperation between the internal thread cylinder 201 and the bidirectional lead screw 105, the internal thread cylinder 201 and the L-shaped fixture mounting bracket 20 are driven to move axially relative to each other by the bidirectional lead screw 105.

[0035] Working principle: Connect the top end of the suspension 30 to the end of the robotic arm of the palletizing robot, and then fix two different types of fixtures through the mounting holes on both sides of the L-shaped fixture mounting bracket 20. When grasping goods, start the stepping motor 401, cooperate with the reducer 402, the main wheel disk 403, and the synchronous belt 404 to drive the driven wheel disk 405 and the bidirectional lead screw 105 to rotate. Then, cooperate with the internal thread cylinder 201 to drive the L-shaped fixture mounting bracket 20 and the fixture on its outside to move synchronously towards the middle position to grasp and palletize the goods. When it is necessary to grasp another type of item, start the servo motor 301 to drive the rotary cutting frame 10 to rotate 180 degrees. At this time, the surface of the L-shaped fixture mounting bracket 20 with another type of fixture will rotate to the horizontally downward state. At this time, start the driver 40 according to the above method and cooperate with the fixture to grasp and palletize. In this way, two different types of goods are alternately grasped and palletized.

[0036] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

Claims

1. An industrial robot palletizing device, characterized in that: It includes a rotary cutting frame (10), an L-shaped fixture mounting bracket (20), a suspension (30) and a driver (40). The rotary cutting frame (10) is horizontally arranged at the bottom end of the suspension (30) and is rotatably connected to the suspension (30). The driver (40) is embedded and installed inside the rotary cutting frame (10), and the two L-shaped fixture mounting brackets (20) are both drivingly connected to the driver (40). The rotary cutting frame (10) includes a triangular frame (101), guide rods (102), a connecting plate (103), a first rotating disk (104) and a bidirectional lead screw (105). A plurality of the guide rods (102) are horizontally installed between the two triangular frames (101). The connecting plate (103) is obliquely installed between the two triangular frames (101). The first rotating disk (104) is installed at the middle position of the top of the connecting plate (103). The bidirectional lead screw (105) is horizontally arranged at the edge positions of the two triangular frames (101) and is rotatably connected to the triangular frame (101). An internally threaded cylinder (201) is installed at the inner included angle position of the L-shaped fixture mounting bracket (20), and a plurality of groups of bearing seats (202) are installed on the inner side wall of the L-shaped fixture mounting bracket (20).

2. The palletizing device for an industrial robot according to claim 1, wherein: The driver (40) includes a stepper motor (401), a reducer (402), a main wheel disk (403), a synchronous belt (404) and a driven wheel disk (405). The stepper motor (401) and the reducer (402) are installed at the middle position of the bottom of the connecting plate (103). The main wheel disk (403) is drivingly connected to the output shaft of the reducer (402). The driven wheel disk (405) is nested and installed at the middle position of the bidirectional lead screw (105). The driven wheel disk (405) is drivingly connected to the main wheel disk (403) through the synchronous belt (404).

3. An industrial robot palletizing device according to claim 1, characterized in that: The maximum included angle of the L-shaped fixture mounting bracket (20) is 90 degrees. The right-angle surfaces of the L-shaped fixture mounting bracket (20) are both mounting surfaces, and threaded holes are provided on the mounting surfaces.

4. An industrial robot palletizing device according to claim 1, characterized in that: A second rotating disk (302) is welded to the bottom end of the suspension (30), and a servo motor (301) is installed on the top of the second rotating disk (302).

5. An industrial robot palletizing device according to claim 4, characterized in that: An included angle of 135 degrees is formed between the second rotating disk (302) and the suspension (30).

6. The palletizing device of an industrial robot according to claim 1, characterized in that: The internally threaded cylinder (201) is nested and arranged at one end of the bidirectional lead screw (105) and is threadedly connected to the bidirectional lead screw (105). The bearing seat (202) is slidably connected to the guide rod (102).

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