Four-axis three-dimensional palletizing robot

Abstract

The utility model discloses a four-axis three-dimensional palletizing robot which comprises a base and a driving mechanism. The upper end of the interior of the base is rotationally connected with a rotating disc through a bearing, the upper end of the rotating disc is rotationally connected with a first rotating plate through a first rotating shaft, the upper end of the first rotating plate is rotationally connected with a second rotating plate through a second rotating shaft, and the left end of the second rotating plate is rotationally connected with a rotating frame through a third rotating shaft. Supporting plates are transversely and slidably connected to the outer arc faces of the guide columns correspondingly, and clamping jaws are rotationally connected between the two supporting plates corresponding to the longitudinal positions through fourth rotating shafts correspondingly. And the driving mechanisms are arranged among the base, the rotating disc, the first rotating plate, the second rotating plate and the rotating frame correspondingly. According to the four-axis three-dimensional stacking robot, articles of different sizes can be automatically and elastically clamped, the application range of the four-axis three-dimensional stacking robot is widened, the situation that the articles are damaged due to too large clamping force is avoided, and the stacking quality of the four-axis three-dimensional stacking robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robots, in particular to a four-axis three-dimensional palletizing robot. Background Art

[0002] With the development of the industry, the automation level of the supply chain logistics system has been improved, and the application of robotic equipment in smart warehouses has become more and more extensive. Among them, the palletizing robot is a device that stacks materials into stacks according to a certain pattern, which facilitates the unitized palletizing to realize logistics activities such as material handling, storage, loading and unloading and transportation. The palletizing robot greatly saves labor and space, so it is widely used in industries such as chemical industry, building materials, feed, food, beverage, beer, and automated logistics. In the existing technology, compared with the traditional three-axis palletizing robot, the four-axis three-dimensional palletizing robot has an additional rotation axis, which has higher flexibility and freedom, and can perform precise operations in three-dimensional space. It is suitable for some palletizing tasks that require rotation, tilting, and precise operations. However, in the use of the four-axis three-dimensional palletizing robot, sometimes the size of the stacked items will be different. When clamping the items for movement, it is easy to have excessive clamping force, resulting in damage to the items and affecting the palletizing quality. Utility Model Content

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a four-axis three-dimensional palletizing robot that automatically elastically clamps objects of different sizes to avoid damage to the objects caused by excessive clamping force, thereby improving the palletizing quality of the four-axis three-dimensional palletizing robot and effectively solving the problems in the background technology.

[0004] To achieve the above-mentioned purpose, the present utility model provides the following technical solutions: a four-axis three-dimensional palletizing robot, comprising a base and a driving mechanism;

[0005] Base: The upper end of the base is rotatably connected to a turntable via a bearing, the upper end of the turntable is rotatably connected to a turntable 1 via a rotating shaft 1, the upper end of the turntable 1 is rotatably connected to a turntable 2 via a rotating shaft 2, the left end of the turntable 2 is rotatably connected to a turntable via a rotating shaft 3, and the front and rear ends of the turntable are provided with guide columns, the outer arc surfaces of the guide columns are respectively connected to support plates in a transverse sliding manner, and the two support plates corresponding in the longitudinal position are rotatably connected to a clamping claw via a rotating shaft 4;

[0006] Driving mechanism: It is respectively arranged between the base, turntable, turntable 1, turntable 2 and rotating frame, automatically and elastically clamps objects of different sizes, increases the application range of the four-axis three-dimensional palletizing robot, avoids damage to objects caused by excessive clamping force, and improves the palletizing quality of the four-axis three-dimensional palletizing robot.

[0007] Furthermore, it also includes a PLC controller, which is located on the right side of the base. The input end of the PLC controller is electrically connected to an external power supply to control the start and stop of the entire device.

[0008] Furthermore, the driving mechanism includes a rotating component 1, which includes an inner gear ring, a gear 1 and a motor 1. The inner gear ring is arranged on the lower surface of the turntable, and the motor 1 is arranged inside the base. The upper end of the output shaft of the motor 1 is provided with a gear 1, and the gear 1 is meshed with the inner gear ring. The input end of the motor 1 is electrically connected to the output end of the PLC controller to provide power for the rotation of the turntable.

[0009] Furthermore, the driving mechanism also includes an electro-hydraulic push rod and a connecting turn plate. The upper and lower ends of the electro-hydraulic push rod are provided with a connecting turn plate. The lower connecting turn plate is rotatably connected to the turntable through a rotating shaft five, and the upper connecting turn plate is rotatably connected to the turn plate through a rotating shaft six. The input end of the electro-hydraulic push rod is electrically connected to the output end of the PLC controller to provide power for the rotation of the turn plate.

[0010] Furthermore, the driving mechanism also includes an electro-hydraulic push rod 2 and a connecting turn plate 2. The left and right ends of the electro-hydraulic push rod 2 are both provided with a connecting turn plate 2. The right connecting turn plate 2 is rotatably connected to the turn plate 1 through the rotating shaft 7, and the left connecting turn plate 2 is rotatably connected to the turn plate 2 through the rotating shaft 8. The input end of the electro-hydraulic push rod 2 is electrically connected to the output end of the PLC controller to provide power for the rotation of the turn plate 2.

[0011] Furthermore, the driving mechanism also includes a rotating component 2, which includes a gear 2, a rack plate and an electro-hydraulic push rod 3. The gear 2 is arranged on the outer arc surface of the rotating shaft 3 of the rotating frame, and the electro-hydraulic push rod 3 is arranged in the mounting hole at the left end of the rotating plate 2. The telescopic end of the electro-hydraulic push rod 3 is provided with a rack plate, and the rack plate is meshed with the gear 2. The input end of the electro-hydraulic push rod 3 is electrically connected to the output end of the PLC controller to provide power for the rotation of the rotating frame.

[0012] Furthermore, the driving mechanism also includes a clamping assembly, which includes a screw, a slide, a spring and a second motor. The screw is rotatably connected to the front and rear ends of the rotating frame respectively, and the thread directions of the left and right ends of the screw are opposite. A slide is threadedly connected between the two screws, and the lower ends of the slides are slidingly connected to the guide columns respectively. The support plates are located between the two slides, and springs are provided between the slides and the support plates. The springs are movably sleeved on the outer arc surface of the guide columns. The second motor is respectively arranged at the right end of the rotating frame, and the output shaft of the second motor is fixedly connected to the right end of the screw. The input end of the second motor is electrically connected to the output end of the PLC controller to elastically clamp the objects.

[0013] Furthermore, the driving mechanism also includes motor three, which are respectively arranged on the rear side surface of the rear support plate. The output shaft of motor three is respectively fixedly connected to the rotating shaft four at the upper end of the clamp, and the input end of motor three is electrically connected to the output end of the PLC controller to provide power for the rotation of the clamp.

[0014] Compared with the existing technology, the beneficial effects of the present invention are: the four-axis three-dimensional palletizing robot has the following advantages:

[0015] During the food processing process, the PLC controller is used to start the third motor, so that the supporting bent claw at the lower end of the clamp is rotated to a horizontal state. During the rotation process, under the obstruction of the object, the two clamps are pushed to separate relative to each other, automatically adapting to objects of different sizes. At this time, the weight of the object acts vertically on the supporting bent claw at the lower end of the clamp, and then the second motor is started to push the spring to deform. Under the elastic force of the spring, the left and right clamps are blocked from separating relative to each other, and the object is elastically clamped. After the clamping is completed, the electro-hydraulic push rod three is started to make the clamping component drive the object to tilt, the electro-hydraulic push rod two is started to make the clamping component drive the object to move up and down, the electro-hydraulic push rod one is started to make the clamping component drive the object to move left and right, and the motor one is started to make the clamping component drive the object to rotate around the base as the center, drive the position of the object to change, and stack the objects in a specified position. The four-axis three-dimensional stacking robot automatically performs elastic clamping on objects of different sizes, thereby increasing the applicable range of the four-axis three-dimensional stacking robot, avoiding damage to the objects caused by excessive clamping force, and improving the stacking quality of the four-axis three-dimensional stacking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the overall device of the utility model in a front view section;

[0018] Figure 3 This is an enlarged structural diagram of point A of the present invention.

[0019] In the figure: 1 base, 2 turntable, 3 turntable 1, 4 turntable 2, 5 turntable, 6 guide column, 7 support plate, 8 clamping claw, 9 driving mechanism, 91 rotating component 1, 911 inner gear ring, 912 gear 1, 913 motor 1, 92 electro-hydraulic push rod 1, 93 connecting turntable 1, 94 electro-hydraulic push rod 2, 95 connecting turntable 2, 96 rotating component 2, 961 gear 2, 962 rack plate, 963 electro-hydraulic push rod 3, 97 clamping component, 971 screw, 972 slide plate, 973 spring, 974 motor 2, 98 motor 3, 10 PLC controller. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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.

[0021] See also Figure 1-3 ,This embodiment provides a technical solution: a four-axis three-dimensional palletizing robot, including a base 1 and a driving mechanism 9;

[0022] Base 1: The upper end of the inner part is connected to the turntable 2 through a bearing, the upper end of the turntable 2 is connected to the turntable 1 3 through a rotating shaft 1, the upper end of the turntable 1 3 is connected to the turntable 2 4 through a rotating shaft 2, and the left end of the turntable 2 4 is connected to the turntable 5 through a rotating shaft 3. The front and rear ends of the turntable 5 are provided with guide columns 6. The outer arc surface of the guide column 6 is connected to the support plate 7 for horizontal sliding. The two support plates 7 corresponding to the longitudinal position are connected to the clamping claw 8 through the rotating shaft 4. The relative rotation of the two clamping claws 8 can clamp the objects. The support plate 7 slides on the guide column 6 to adjust the distance between the two clamping claws 8 to adapt to the The invention is used to clamp objects of different sizes. The relative rotation of the base 1 and the turntable 2 causes the clamping component to drive the object to rotate around the base 1 as the center. The relative rotation of the turntable 2 and the turntable 1 3 causes the clamping component to drive the object to move left and right. The relative rotation of the turntable 1 3 and the turntable 2 4 causes the clamping component to drive the object to move up and down. The relative rotation of the turntable 2 4 and the turntable 5 causes the clamping component to drive the object to tilt. The invention also includes a PLC controller 10. The PLC controller 10 is located on the right side of the base 1. The input end of the PLC controller 10 is electrically connected to an external power supply to control the start and stop of the entire device.

[0023] Driving mechanism 9: respectively arranged between the base 1, the turntable 2, the rotating plate 1 3, the rotating plate 2 4 and the rotating frame 5, the driving mechanism 9 includes a rotating component 1 91, the rotating component 1 91 includes an inner gear ring 911, a gear 1 912 and a motor 1 913, the inner gear ring 911 is arranged on the lower surface of the turntable 2, the motor 1 913 is arranged inside the base 1, the upper end of the output shaft of the motor 1 913 is provided with a gear 1 912, the gear 1 912 is meshed with the inner gear ring 911, the input end of the motor 1 913 is electrically connected to the output end of the PLC controller 10, the motor 1 913 is started, the output shaft of the motor 1 913 drives the gear 1 912 to rotate, and the inner gear ring 911 drives the turntable 2 to rotate through the meshing connection between the gear 1 912 and the inner gear ring 911. The driving mechanism 9 also includes an electro-hydraulic push rod 1 92 and a connecting rotating plate 1 93. The upper and lower ends of the electro-hydraulic push rod 1 92 are both provided with a connecting rotating plate 1 93. The lower connecting rotating plate 1 93 is rotatably connected to the turntable 2 through a rotating shaft 5, and the upper connecting rotating plate 1 93 is rotatably connected to the turntable 1 3 through a rotating shaft 6. The input end of the electro-hydraulic push rod 1 92 is electrically connected to the output end of the PLC controller 10. When the electro-hydraulic push rod 1 92 is started, the lower connecting rotating plate 1 93 and the turntable 2 are rotated relative to each other through the electro-hydraulic push rod 1 92. The upper connecting rotating plate 1 93 and the turntable 3 are rotated relative to each other, and the turntable 2 and the turntable 3 are rotated relative to each other. The driving mechanism 9 also includes an electro-hydraulic push rod 2 94 and a connecting rotating plate 2 95. The left and right ends of the electro-hydraulic push rod 2 94 are both provided with a connecting rotating plate 2 95. The connecting rotating plate 1 95 on the right side is electrically connected to the output end of the PLC controller 10. The connecting turntable 2 95 is rotatably connected to the turntable 1 3 via the rotating shaft 7, the connecting turntable 2 95 on the left is rotatably connected to the turntable 2 4 via the rotating shaft 8, the input end of the electro-hydraulic push rod 2 94 is electrically connected to the output end of the PLC controller 10, the electro-hydraulic push rod 2 94 is started, and the electro-hydraulic push rod 2 94 is extended and retracted, so that the connecting turntable 2 95 on the right and the turntable 1 3 rotate relative to each other, and the connecting turntable 2 95 on the left and the turntable 2 4 rotate relative to each other, so that the turntable 1 3 and the turntable 2 4 rotate relative to each other, the driving mechanism 9 also includes a rotating component 2 96, and the rotating component 2 96 includes a gear 2 961, a rack plate 962 and an electro-hydraulic push rod 3 963, the gear 2 961 is arranged on the outer arc surface of the rotating shaft 3 of the rotating frame 5, the electro-hydraulic push rod 3 963 is arranged in the mounting hole at the left end of the turntable 2 4, and the electro-hydraulic push rod The telescopic end of the third 963 is provided with a rack plate 962, and the rack plate 962 is meshed with the second gear 961. The input end of the electro-hydraulic push rod 3 963 is electrically connected to the output end of the PLC controller 10. The electro-hydraulic push rod 3 963 is started, and the telescopic end of the electro-hydraulic push rod 3 963 drives the rack plate 962 to move. The meshing connection between the rack plate 962 and the second gear 961 causes the second gear 961 to drive the rotating frame 5 to rotate. The driving mechanism 9 also includes a clamping assembly 97. The clamping assembly 97 includes a screw 971, a slide 972, a spring 973 and a second motor 974. The screw 971 is rotatably connected to the front and rear ends of the rotating frame 5 respectively. The thread directions of the left and right ends of the screw 971 are opposite. A slide 972 is threadedly connected between the two screws 971.The lower ends of the slide plates 972 are respectively slidably connected to the guide posts 6, and the support plates 7 are located between the two slide plates 972. Springs 973 are provided between the slide plates 972 and the support plates 7. The springs 973 are movably sleeved on the outer arc surfaces of the guide posts 6. The second motor 974 is respectively provided at the right end of the rotating frame 5. The output shafts of the second motor 974 are respectively fixedly connected to the right ends of the screw rods 971. The input ends of the second motor 974 are electrically connected to the output ends of the PLC controller 10. When the second motor 974 is started, the output shaft of the second motor 974 drives the screw rods 971 to rotate. Through the threaded connection between the two screw rods 971 and a slide plate 972, the slide plate 972 is driven to move left and right while limiting its rotation. The threads on the left and right ends of the rod 971 are in opposite directions, so the two slides 972 move in opposite directions. The relative movement of the two slides 972 pushes the spring 973 to deform. Under the elastic force of the spring 973, the left and right clamps 8 are prevented from separating relative to each other, elastically clamping the object to prevent damage to the object caused by excessive clamping force. The drive mechanism 9 also includes a third motor 98. The third motor 98 is respectively arranged on the rear side of the rear support plate 7. The output shaft of the third motor 98 is respectively fixedly connected to the fourth rotating shaft at the upper end of the clamp 8. The input end of the third motor 98 is electrically connected to the output end of the PLC controller 10. When the third motor 98 is started, the output shaft of the third motor 98 drives the clamp 8 to rotate.

[0024] The working principle of the four-axis three-dimensional palletizing robot provided by the present invention is as follows: during the food processing process, the motor three 98 is started by the PLC controller 10, and the output shaft of the motor three 98 drives the clamping jaw 8 to rotate until the supporting bent claw at the lower end of the clamping jaw 8 is in a horizontal state. During the rotation of the clamping jaw 8, the two clamping jaws 8 are pushed to separate relative to each other under the obstruction of the object, and automatically adapt to objects of different sizes. At this time, the weight of the object acts vertically on the supporting bent claw at the lower end of the clamping jaw 8, and then the motor two 974 is started, and the output shaft of the motor two 974 drives the screw 971 to rotate. The two screw rods 971 are connected to a slide plate 972 through a threaded connection. While limiting the rotation of the slide plate 972, the slide plate 972 is driven to move left and right. Because the threads of the left and right ends of the screw rod 971 are in opposite directions, the two slide plates 972 move in opposite directions. The relative movement of the two slide plates 972 pushes the spring 973 to deform. Under the elastic force of the spring 973, the left and right clamping jaws 8 are prevented from separating relative to each other, and the article is elastically clamped to avoid damage to the article caused by excessive clamping force. After the clamping is completed, the electro-hydraulic push rod 3 963 is started, and the electric The telescopic end of the hydraulic push rod 3 963 drives the rack plate 962 to move, and the meshing connection between the rack plate 962 and the gear 2 961 causes the gear 2 961 to drive the rotating frame 5 to rotate, so that the clamping component drives the object to tilt, and the electro-hydraulic push rod 2 94 is started. The electro-hydraulic push rod 2 94 is extended and retracted, so that the right connecting rotating plate 2 95 and the rotating plate 1 3 rotate relative to each other, and the left connecting rotating plate 2 95 and the rotating plate 2 4 rotate relative to each other, so that the rotating plate 1 3 and the rotating plate 2 4 rotate relative to each other, so that the clamping component drives the object to move up and down, and the electro-hydraulic push rod 1 92 is started. 92, so that the lower connecting rotating plate 1 93 and the turntable 2 rotate relative to each other, the upper connecting rotating plate 1 93 and the turntable 1 3 rotate relative to each other, and the turntable 2 and the turntable 1 3 rotate relative to each other, so that the clamping component drives the articles to move left and right, and the motor 1 913 is started. The output shaft of the motor 1 913 drives the gear 1 912 to rotate, and the gear 1 912 is engaged with the inner gear ring 911, so that the inner gear ring 911 drives the turntable 2 to rotate, so that the clamping component drives the articles to rotate around the base 1 as the center, drives the position of the articles to change, and stacks the articles at the specified position.

[0025] It is worth noting that the PLC controller 10 disclosed in the above embodiment can use the NX7 model PLC controller, and the motor 1 913, the electro-hydraulic push rod 1 92, the electro-hydraulic push rod 2 94, the electro-hydraulic push rod 3 963, the motor 2 974 and the motor 3 98 can be freely configured according to the actual application scenario. The motor 1 913, the motor 2 974 and the motor 3 98 can all use the 42BYHJ01 model stepper reduction motor, and the electro-hydraulic push rod 1 92, the electro-hydraulic push rod 2 94 and the electro-hydraulic push rod 3 963 can all use the DYTZ-C model electric hydraulic push rod. The PLC controller 10 controls the motor 1 913, the electro-hydraulic push rod 1 92, the electro-hydraulic push rod 2 94, the electro-hydraulic push rod 3 963, the motor 2 974 and the motor 3 98 using methods commonly used in the prior art.

[0026] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. Four-axis three-dimensional palletizing robot, characterized by: It comprises a base (1) and a driving mechanism (9); Base (1): The upper end of the base is rotatably connected to a turntable (2) via a bearing, the upper end of the turntable (2) is rotatably connected to a turntable (3) via a first rotation shaft, the upper end of the turntable (3) is rotatably connected to a second turntable (4) via a second rotation shaft, the left end of the second turntable (4) is rotatably connected to a turntable (5) via a third rotation shaft, the front and rear ends of the turntable (5) are both provided with guide columns (6), the outer arc surfaces of the guide columns (6) are respectively lateral-slidingly connected to support plates (7), and the two support plates (7) corresponding to the longitudinal positions are rotatably connected to a clamping claw (8) via a fourth rotation shaft; The driving mechanism (9) is respectively arranged between the base (1), the turntable (2), the first turntable (3), the second turntable (4) and the rotating frame (5).

2. The four-axis three-dimensional palletizing robot according to claim 1, characterized in that: It also includes a PLC controller (10), which is located on the right side of the base (1), and an input end of the PLC controller (10) is electrically connected to an external power supply.

3. The four-axis three-dimensional palletizing robot according to claim 2, characterized in that: The driving mechanism (9) includes a rotating assembly (91), the rotating assembly (91) includes an inner gear ring (911), a gear (912) and a motor (913), the inner gear ring (911) is arranged on the lower surface of the turntable (2), the motor (913) is arranged inside the base (1), the upper end of the output shaft of the motor (913) is provided with a gear (912), the gear (912) is meshed with the inner gear ring (911), and the input end of the motor (913) is electrically connected to the output end of the PLC controller (10).

4. The four-axis three-dimensional palletizing robot according to claim 2, characterized in that: The driving mechanism (9) further comprises an electro-hydraulic push rod (92) and a connecting rotating plate (93). The upper and lower ends of the electro-hydraulic push rod (92) are both provided with connecting rotating plates (93). The lower connecting rotating plate (93) is rotatably connected to the turntable (2) via a rotating shaft (5), and the upper connecting rotating plate (93) is rotatably connected to the rotating plate (3) via a rotating shaft (6). The input end of the electro-hydraulic push rod (92) is electrically connected to the output end of the PLC controller (10).

5. The four-axis three-dimensional palletizing robot according to claim 2, characterized in that: The driving mechanism (9) further comprises an electro-hydraulic push rod 2 (94) and a connecting rotating plate 2 (95). The left and right ends of the electro-hydraulic push rod 2 (94) are both provided with connecting rotating plates 2 (95). The right connecting rotating plate 2 (95) is rotatably connected to the rotating plate 1 (3) via a rotating shaft 7, and the left connecting rotating plate 2 (95) is rotatably connected to the rotating plate 2 (4) via a rotating shaft 8. The input end of the electro-hydraulic push rod 2 (94) is electrically connected to the output end of the PLC controller (10).

6. The four-axis three-dimensional palletizing robot according to claim 2, characterized in that: The driving mechanism (9) further comprises a rotating assembly (96) comprising a second gear (961), a rack plate (962) and a third electro-hydraulic push rod (963). The second gear (961) is arranged on the outer arc surface of the third rotating shaft of the rotating frame (5). The third electro-hydraulic push rod (963) is arranged in the mounting hole at the left end of the second rotating plate (4). The telescopic end of the third electro-hydraulic push rod (963) is provided with a rack plate (962). The rack plate (962) is meshedly connected with the second gear (961). The input end of the third electro-hydraulic push rod (963) is electrically connected to the output end of the PLC controller (10).

7. The four-axis three-dimensional palletizing robot according to claim 2, characterized in that: The driving mechanism (9) further comprises a clamping assembly (97), the clamping assembly (97) comprising a screw (971), a slide plate (972), a spring (973) and a second motor (974), the screw (971) being rotatably connected to the front and rear ends of the rotating frame (5), the left and right ends of the screw (971) having opposite thread directions, a slide plate (972) being threadedly connected between the two screws (971), and the lower ends of the slide plates (972) being slidably connected to the guide posts (6) The support plates (7) are located between the two slide plates (972), and springs (973) are provided between the slide plates (972) and the support plates (7). The springs (973) are movably sleeved on the outer arc surface of the guide column (6). The second motor (974) is respectively provided at the right end of the rotating frame (5), and the output shaft of the second motor (974) is respectively fixedly connected to the right end of the screw rod (971). The input end of the second motor (974) is electrically connected to the output end of the PLC controller (10).

8. The four-axis three-dimensional palletizing robot according to claim 2, characterized in that: The driving mechanism (9) also includes a motor three (98), and the motor three (98) is respectively arranged on the rear side surface of the rear support plate (7), and the output shaft of the motor three (98) is respectively fixedly connected to the rotating shaft four at the upper end of the clamping claw (8), and the input end of the motor three (98) is electrically connected to the output end of the PLC controller (10).

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