Manipulator stacking device

Abstract

The utility model provides a manipulator stacking device, and belongs to the technical field of stacking devices. The manipulator stacking device comprises a base and a grabbing adjusting mechanism, an arm body is installed at the top of the base, grabbing frames are installed on the two sides of the bottom of the right side of the arm body, adjusting shells are movably connected to the outer sides of the grabbing frames, adjusting bases located in the adjusting shells are fixedly connected to the tops of the outer sides of the grabbing frames, and screw holes are formed in the adjusting bases. A double-end stud is in threaded connection with the interior of the screw hole, the lifting expansion mechanism is movably connected to the bottom of the grabbing frame, and by arranging the grabbing adjusting mechanism, a medium capable of adjusting the grabbing range of the grabbing frame according to the grabbing requirements of external goods of the same type and different batches and sizes can be provided for a user; and the grabbing frame can grab and stack external goods of the same type and different batches and sizes, so that the grabbing and stacking adaptability and the working efficiency of the grabbing frame are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing devices, in particular to a manipulator palletizing device. Background Art

[0002] The robot palletizing device is a highly efficient automated equipment, mainly used to stack goods according to a predetermined pattern in a production line or warehouse. The robot palletizing device realizes automatic grabbing, handling and stacking of goods through automatic control technology, combined with precise mechanical structure and advanced control system. It can accurately complete the palletizing task of a large number of goods in a short time, greatly improving production efficiency and reducing labor costs. In the process of robot palletizing, the main method is to use the grabbing frame to grab and stably stack the goods that need to be palletized from the outside. Since the sizes of different batches of the same type of goods are different, it is necessary to adjust the grabbing frame.

[0003] In the related art, during the use of the manipulator palletizing device, the grabbing frame is generally disassembled and replaced according to the size of the external cargo, so that the grabbing work of the manipulator meets the grabbing and palletizing requirements of the external cargo, and is then used.

[0004] However, during the current use of the robotic palletizing device, due to the method of disassembling and replacing the grabbing frame, the staff needs to frequently disassemble and replace the grabbing frame according to the size of the goods, which leads to many limitations in the robotic palletizing grabbing and affects the efficiency of the palletizing grabbing work, affecting the adaptability and work efficiency of the grabbing and palletizing during the use of the robotic palletizing device. Utility Model Content

[0005] In order to make up for the above deficiencies, the present invention provides a manipulator palletizing device that overcomes the above technical problems or at least partially solves the above problems.

[0006] The utility model is achieved in this way:

[0007] The utility model provides a manipulator palletizing device, comprising a base, an arm body is installed on the top of the base, and grabbing frames are installed on both sides of the right bottom of the arm body;

[0008] A grabbing and adjusting mechanism, the grabbing and adjusting mechanism comprising:

[0009] Adjustment shell; the adjustment shell is movably connected to the outside of the grab frame, and the top of the outside of the grab frame is fixedly connected to the adjustment seat located inside the adjustment shell;

[0010] Screw hole; the screw hole is opened inside the adjustment seat, and the internal thread of the screw hole is connected with a stud;

[0011] A lifting and extending mechanism is movably connected to the bottom of the grabbing frame.

[0012] In a preferred embodiment, the lifting and expansion mechanism includes an extension frame, a lifting slot and a lifting rod. The extension frame is movably connected to the bottom of the grabbing frame, the lifting slot is opened at the top of the extension frame, the lifting rod is movably connected inside the lifting slot, and the top of the lifting rod is fixedly connected to the bottom of the grabbing frame.

[0013] In a preferred solution, a positioning column is movably connected to the top of the expansion rack, a positioning groove is provided on the outer side of the lifting rod, and the inner side of the positioning column is located inside the positioning groove.

[0014] In a preferred solution, the top of the outer side of the expansion frame is fixedly connected to a fixed frame, the interior of the fixed frame is movably connected to a movable frame, and the inner side of the movable frame is fixedly connected to the outer side of the positioning column.

[0015] In a preferred solution, the top of the outer side of the expansion frame is movably connected to a protective cover, a movable hole is opened on the outer side of the fixed frame, and the outer side of the movable frame passes through the movable hole and is fixedly connected to the inner wall of the protective cover.

[0016] In a preferred solution, springs are provided on both sides of the interior of the fixed frame, one end of the spring is fixedly connected to the inner wall of the fixed frame, and the other end of the spring is fixedly connected to the surface of the movable frame.

[0017] In a preferred solution, both sides of the adjustment shell are movably connected with a rotating rack, and the inner side of the rotating rack penetrates into the interior of the adjustment shell and is fixedly connected to the outer side of the stud bolt.

[0018] In a preferred solution, both sides of the adjustment shell are inlaid with magnetic rings, and the inner side of the rotating frame is fixedly connected with a magnetic ring that is magnetically connected to the magnetic ring.

[0019] The utility model provides a manipulator palletizing device, the beneficial effects of which include:

[0020] 1. By setting up a grab adjustment mechanism, the user can be provided with a medium to adjust the grab range of the grabbing frame according to the external grabbing needs of the same type of goods in different batches and sizes, so that the grabbing frame can grab and stack goods of the same type in different batches and sizes, thereby improving the grabbing and stacking adaptability and work efficiency of the grabbing frame.

[0021] 2. By setting up a lifting and extension mechanism, the grabbing frame after the grabbing width is adjusted can be raised and lowered to adjust the grabbing height, so that the grabbing frame can better grab and stack goods of different sizes, thereby improving the adjustment adaptability of the grabbing frame.

[0022] 3. By setting the positioning column and positioning groove, the lifting rod and the expansion rack can be plugged and positioned after lifting, ensuring the working stability of the expansion rack and the grab rack after lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is an overall stereogram provided by the embodiment of the present utility model;

[0025] Figure 2 A schematic diagram of the three-dimensional structure of the adjustment shell provided in an embodiment of the utility model;

[0026] Figure 3 A schematic diagram of a three-dimensional cross-sectional structure of an adjustment shell provided in an embodiment of the present utility model;

[0027] Figure 4 A schematic diagram of a three-dimensional cross-sectional structure of an expansion rack provided in an embodiment of the present utility model;

[0028] In the figure: 1. Base; 2. Arm body; 3. Grabbing frame; 4. Adjustment shell; 5. Adjustment seat; 6. Screw hole; 7. Stud; 8. Extension frame; 9. Lifting slot; 10. Lifting rod; 11. Positioning column; 12. Positioning slot; 13. Fixed frame; 14. Movable frame; 15. Protective cover; 16. Movable hole; 17. Spring; 18. Rotating frame; 19. Magnetic ring; 20. Magnetic ring. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Reference Figures 1-4The utility model provides a technical solution: a manipulator palletizing device, including a base 1 and a grabbing adjustment mechanism, an arm body 2 is installed on the top of the base 1, and grabbing frames 3 are installed on both sides of the right bottom of the arm body 2, which can provide users with a medium for adjusting the grabbing range of the grabbing frame 3 according to the external grabbing needs of the same type of goods of different batch sizes, so that the grabbing frame 3 can grab and palletize the same type of goods of different batch sizes, thereby improving the grabbing and palletizing adaptability and work efficiency of the grabbing frame 3.

[0031] Reference Figures 1-4 In a preferred embodiment, the grabbing adjustment mechanism includes an adjusting shell 4, which is movably connected to the outside of the grabbing frame 3. The top of the outside of the grabbing frame 3 is fixedly connected to an adjusting seat 5 located inside the adjusting shell 4. A screw hole 6 is opened inside the adjusting seat 5. The internal thread of the screw hole 6 is connected with a stud 7. The lifting and extending mechanism is movably connected to the bottom of the grabbing frame 3. The stud 7 is rotated to apply a threaded thrust to the adjusting seat 5 through the screw hole 6, so that the adjustment block moves inside the adjusting shell 4 and drives the grabbing frame 3 to move horizontally, thereby adjusting the grabbing range of the grabbing frame 3 and prompting the grabbing frame to move. 3 can meet the needs of grabbing and stacking goods of the same type and different batch sizes. The lifting and extension mechanism includes an extension frame 8, a lifting slot 9 and a lifting rod 10. The extension frame 8 is movably connected to the bottom of the grabbing frame 3, the lifting slot 9 is opened at the top of the extension frame 8, and the lifting rod 10 is movably connected inside the lifting slot 9. The top of the lifting rod 10 is fixedly connected to the bottom of the grabbing frame 3. The grabbing height of the grabbing frame 3 after the grabbing width is adjusted can be lifted and lowered, so that the grabbing frame 3 can better grab and stack goods of different sizes, thereby improving the adjustment adaptability of the grabbing frame 3.

[0032] Reference Figure 2-Figure 4 In a preferred embodiment, a positioning column 11 is movably connected to the top of the expansion frame 8, a positioning groove 12 is opened on the outside of the lifting rod 10, and the inner side of the positioning column 11 is located inside the positioning groove 12, so that the lifting rod 10 and the expansion frame 8 can be plugged and positioned after lifting, thereby ensuring the working stability of the expansion frame 8 and the grabbing frame 3 after lifting. A fixed frame 13 is fixedly connected to the top of the outside of the expansion frame 8, and a movable frame 14 is movably connected inside the fixed frame 13. The inner side of the movable frame 14 is fixedly connected to the outer side of the positioning column 11, so that the positioning column 11 and the expansion frame 8 can be translated and connected to prevent separation, and a force medium is provided for the user to move the positioning column 11 into and out of the positioning groove 12, thereby ensuring the stability and flexibility of the positioning column 11.

[0033] Reference Figure 2-Figure 4In a preferred embodiment, a protective cover 15 is movably connected to the top of the outer side of the expansion frame 8, and a movable hole 16 is opened on the outer side of the fixed frame 13. The outer side of the movable frame 14 passes through the movable hole 16 to penetrate the fixed frame 13 and is fixedly connected to the inner wall of the protective cover 15, so that the fixed frame 13 and the movable frame 14 can be surrounded and protected during work, and the user can synchronously move multiple movable frames 14 to drive the positioning column 11 to move the medium, and the stability and convenience of the use of the fixed frame 13 and the positioning column 11 are improved. Springs 17 are provided on both sides of the interior of the fixed frame 13, one end of the spring 17 is fixedly connected to the inner wall of the fixed frame 13, and the other end of the spring 17 is fixedly connected to the surface of the movable frame 14. The movable frame 14 can cooperate with the fixed frame 13 to apply a thrust to the positioning column 11 to stabilize it in the positioning groove 12, thereby ensuring the plug-in positioning stability of the positioning column 11.

[0034] Reference Figure 3 In a preferred embodiment, a rotating rack 18 is movably connected to both sides of the adjustment shell 4, and the inner side of the rotating rack 18 passes through the interior of the adjustment shell 4 and is fixedly connected to the outer side of the stud 7. A force medium can be provided for the user to rotate the stud 7 to cooperate with the screw hole 6, thereby ensuring the convenience of rotating the stud 7. A magnetic ring 19 is embedded and connected on both sides of the adjustment shell 4, and a magnetic ring 20 magnetically connected to the magnetic ring 19 is fixedly connected to the inner side of the rotating rack 18. The stud 7 and the expansion shell can be magnetically positioned by the rotating rack 18 to ensure the working stability of the stud 7.

[0035] When the handle 15 is in the unlock position, the handle 14 is in the unlock position, and the locking cam 13 is in the unlock position, so that the locking cam 13 is locked and the locking cam 13 is locked. The moving force of the movable frame 14 affects the contraction, preparing for the subsequent thrust applied to the movable frame 14, and then the handheld protective cover 15 drives the extension frame 8 to move downward through the movable frame 14 in coordination with the movable hole 16 and the fixed frame to adjust the grabbing height of the grabbing frame 3. At this time, the lifting rod 10 moves inside the lifting slot 9 to lift and connect the extension frame 8 with the grabbing frame 3. When the mobile extension frame 8 adjusts the grabbing height of the grabbing frame 3, the handheld protective cover 15 drives the positioning column 11 to move inside the positioning slot 12 through the movable frame 14, so that the positioning column 11 can insert and position the moved extension frame 8 and the grabbing frame 3 through the lifting seat. At the same time, the contracted spring 17 applies a thrust to the positioning column 11 through the movable frame 14 to stably insert it into the positioning slot 12, ensuring the connection stability between the extension frame 8 and the grabbing frame 3, so that the grabbing frame 3 can meet the grabbing and stacking needs of goods of the same type and different batch sizes.

[0036] It should be noted that the base 1 and the arm 2 are devices or equipment that exist in the prior art, or are devices or equipment that can be realized in the prior art. Their power supply, specific composition and principles are clear to those skilled in the art, so they will not be described in detail.

Claims

1. A manipulator palletizing device, comprising a base (1), an arm (2) mounted on the top of the base (1), and grabbing frames (3) mounted on both sides of the right bottom of the arm (2), characterized in that ； A grabbing and adjusting mechanism, the grabbing and adjusting mechanism comprising: An adjustment shell (4); the adjustment shell (4) is movably connected to the outside of the grabbing frame (3); the top of the outside of the grabbing frame (3) is fixedly connected to an adjustment seat (5) located inside the adjustment shell (4); Screw hole (6); the screw hole (6) is provided inside the adjustment seat (5), and the internal thread of the screw hole (6) is connected with a stud (7); A lifting and expanding mechanism; the lifting and expanding mechanism is movably connected to the bottom of the grabbing frame (3).

2. A manipulator palletizing device according to claim 1, characterized in that: The lifting and expansion mechanism comprises an expansion frame (8), a lifting slot (9) and a lifting rod (10); the expansion frame (8) is movably connected to the bottom of the grabbing frame (3); the lifting slot (9) is opened at the top of the expansion frame (8); the lifting rod (10) is movably connected inside the lifting slot (9); and the top of the lifting rod (10) is fixedly connected to the bottom of the grabbing frame (3).

3. A manipulator palletizing device according to claim 2, characterized in that: The top of the expansion frame (8) is movably connected to a positioning column (11), the outer side of the lifting rod (10) is provided with a positioning groove (12), and the inner side of the positioning column (11) is located inside the positioning groove (12).

4. A manipulator palletizing device according to claim 3, characterized in that: The top of the outer side of the expansion frame (8) is fixedly connected to a fixed frame (13), the interior of the fixed frame (13) is movably connected to a movable frame (14), and the inner side of the movable frame (14) is fixedly connected to the outer side of the positioning column (11).

5. A robot palletizing device according to claim 4, characterized in that: The top of the outer side of the expansion frame (8) is movably connected to a protective cover (15), the outer side of the fixed frame (13) is provided with a movable hole (16), and the outer side of the movable frame (14) passes through the fixed frame (13) through the movable hole (16) and is fixedly connected to the inner wall of the protective cover (15).

6. A robot palletizing device according to claim 4, characterized in that: Springs (17) are provided on both sides of the interior of the fixed frame (13), one end of the spring (17) is fixedly connected to the inner wall of the fixed frame (13), and the other end of the spring (17) is fixedly connected to the surface of the movable frame (14).

7. The robot palletizing device according to claim 1, characterized in that: Both sides of the adjustment shell (4) are movably connected to a rotating frame (18), and the inner side of the rotating frame (18) penetrates into the interior of the adjustment shell (4) and is fixedly connected to the outer side of the stud bolt (7).

8. The robot palletizing device according to claim 7, characterized in that: Both sides of the adjustment shell (4) are inlaid with magnetic rings (19), and the inner side of the rotating frame (18) is fixedly connected with a magnetic attraction ring (20) that is magnetically connected to the magnetic ring (19).

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