Gantry type multi-shaft truss stacking manipulator

Abstract

The utility model relates to the technical field of stacking manipulators, in particular to a gantry type multi-axis truss stacking manipulator which comprises a portal frame, a first sliding rail is fixedly connected to the middle of the portal frame, a second sliding rail is connected to the bottom of the first sliding rail in a sliding mode, and sliding blocks are connected to the two sides of the bottom of the second sliding rail in a sliding mode. And mechanical arms are arranged at the bottoms of the sliding blocks correspondingly, rotating discs are rotationally connected to the ends of the mechanical arms correspondingly, and mechanical arm clamping parts are rotationally connected to the two sides of each rotating disc correspondingly. Compared with the prior art, the goods stacking device has the advantages that the sliding rails are arranged at the bottom of the portal frame, the positions of the two mechanical arms are adjusted, the goods stacking position can be conveniently adjusted according to the goods stacking progress in the goods stacking process, the second sliding rails can enable the two sliding blocks with the mechanical arms to slide respectively, the two mechanical arms can clamp goods to be stacked, and the goods stacking efficiency is improved. And when large cargoes are stacked, the two rotating discs can be pressed on the two sides of the large cargoes correspondingly to stack the large cargoes.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing manipulators, in particular to a gantry type multi-axis truss palletizing manipulator. Background Art

[0002] With the improvement of production automation awareness, factories have an increasing demand for automated palletizing. At present, the palletizing of objects is generally done manually. Even if a small number of objects are palletized by machines, the palletizing efficiency is low and manual labor is required to place each object. This is time-consuming, labor-intensive and inefficient. Therefore, a robot that can assist in automatic palletizing is needed to achieve automatic control, repeatable programming, multi-functions, multiple degrees of freedom and other characteristics to improve palletizing efficiency. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a gantry-type multi-axis truss stacking robot, which effectively solves the shortcomings of the prior art.

[0004] The purpose of the utility model is achieved through the following technical solutions: A gantry-type multi-axis truss palletizing robot comprises a gantry, a first slide rail is fixedly connected to the middle of the gantry, a second slide rail is slidably connected to the bottom of the first slide rail, sliders are slidably connected to both sides of the bottom of the second slide rail, a robotic arm is provided at the bottom of each slider, the ends of the robotic arm are rotatably connected to a rotating disk, and both sides of the rotating disk are rotatably connected to a robotic arm clamping part.

[0005] Optionally, both the first slide rail and the second slide rail are electric slide rails, the sliding stroke of the first slide rail is adapted to the length of the gantry, and the sliding stroke of the second slide rail is adapted to the width of the gantry.

[0006] The above technical solution is adopted: by setting the first slide rail and the second slide rail at the bottom of the gantry, the positions of the two manipulators are adjusted, which is convenient for adjusting the stacking position according to the stacking progress during the stacking process, and the second slide rail can make the two sliders with manipulators slide separately, so that the two manipulators can clamp the goods separately for stacking. When stacking large goods, the two rotating disks can be pressed on both sides of the large goods respectively, so that the two manipulators can run synchronously to stack the large goods, so that the manipulator can stack goods that adapt to a larger specification range, thereby expanding the scope of application.

[0007] Optionally, the height of the movable range of the end of the robotic arm is adapted to the height of the gantry, and the rotation direction of the robotic arm is parallel to the sliding direction of the first slide rail.

[0008] The above technical solution is adopted: by setting a robotic arm between the slider and the robotic arm clamping part, the robotic arm can adjust the position of the rotating disk and the robotic arm clamping part, so that it can clamp and stack goods at any position under the gantry, thereby improving its accuracy in clamping the goods.

[0009] Optionally, a motor is provided at one end of the rotating disk, and the motor drives the rotating disk to rotate relative to the end of the robotic arm.

[0010] The above technical solution is adopted: by arranging a motor-driven rotating disk at the end of the robot arm, the angle of the robot clamping part can be adjusted, which is convenient for clamping and stacking horizontally, vertically or even obliquely placed goods.

[0011] Optionally, the rotating shaft of the manipulator clamping part is driven by a motor, the clamping surface of the manipulator clamping part is a plane, and when the manipulator clamping part is in a vertical state, the clamping surface is coplanar with the outer side surface of the rotating disk.

[0012] The above technical solution is adopted: by arranging motor-driven manipulator clamping parts on both sides of the rotating disk, when the two clamping plates rotate inward, small goods can be clamped and stacked. When stacking large goods, the manipulator clamping parts are rotated to open them parallel to the rotating disk, which can increase the clamping area for large goods. The rotating disks and manipulator clamping parts on the two manipulator arms cooperate to clamp and stack large goods.

[0013] The utility model has the following advantages:

[0014] 1. The gantry-type multi-axis truss palletizing robot adjusts the positions of the two manipulators by arranging the first slide rail and the second slide rail at the bottom of the gantry, which is convenient for adjusting the stacking position according to the stacking progress during the stacking process. The second slide rail can make the two sliders with manipulators slide separately, so that the two manipulators can clamp the goods separately for stacking. When stacking large goods, the two rotating disks can be pressed on both sides of the large goods respectively, so that the two manipulators can operate synchronously to stack the large goods, so that the manipulator can stack goods that adapt to a larger range of specifications, thereby expanding the scope of application.

[0015] 2. The gantry-type multi-axis truss palletizing robot sets a robotic arm between the slider and the robot clamping part, so that the robotic arm can adjust the position of the rotating disk and the robot clamping part, so that it can clamp and palletize goods at any position below the gantry, improving its accuracy in clamping goods. By setting a motor-driven rotating disk at the end of the robotic arm, the angle of the robot clamping part can be adjusted, which is convenient for clamping and palletizing horizontally, vertically, and even obliquely placed goods.

[0016] 3. This gantry-type multi-axis truss palletizing robot is equipped with motor-driven manipulator clamping parts on both sides of the rotating disk. When the two clamping plates rotate inward, small goods can be clamped and palletized. When palletizing large goods, the manipulator clamping parts are rotated to open them parallel to the rotating disk, which can increase the clamping area for large goods. The rotating disks and manipulator clamping parts on the two manipulator arms cooperate to clamp and palletize large goods. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 2 For this utility model Figure 1 Schematic diagram of the enlarged structure at A in the middle;

[0019] Figure 3 It is a schematic diagram of the side sectional structure of the utility model;

[0020] Figure 4 For this utility model Figure 3 Schematic diagram of the enlarged structure at B in the middle;

[0021] Figure 5 For this utility model Figure 3 Schematic diagram of the enlarged structure at C in the middle;

[0022] Figure 6 It is a schematic diagram of the front cross-section structure of the present utility model.

[0023] In the figure: 1-gantry, 2-first slide rail, 3-second slide rail, 4-slider, 5-robotic arm, 6-rotating disk, 7-robotic arm clamping part. DETAILED DESCRIPTION

[0024] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0025] like Figures 1 to 6 As shown, a gantry-type multi-axis truss palletizing robot comprises a gantry 1, a first slide rail 2 is fixedly connected to the middle of the gantry 1, a second slide rail 3 is slidably connected to the bottom of the first slide rail 2, sliders 4 are slidably connected to both sides of the bottom of the second slide rail 3, a robot arm 5 is provided at the bottom of the slider 4, the ends of the robot arm 5 are rotatably connected to a rotating disk 6, and both sides of the rotating disk 6 are rotatably connected to a robot clamping part 7.

[0026] Example 1: The first slide rail 2 and the second slide rail 3 are both electric slide rails. The sliding stroke of the first slide rail 2 is adapted to the length of the gantry 1, and the sliding stroke of the second slide rail 3 is adapted to the width of the gantry 1. By arranging the first slide rail 2 and the second slide rail 3 at the bottom of the gantry 1, the positions of the two manipulators are adjusted, which is convenient for adjusting the stacking position according to the stacking progress during the stacking process, and the second slide rail 3 can enable the two sliders 4 with manipulators to slide separately, so that the two manipulators can clamp the goods separately for stacking. When stacking large goods, the two rotating disks 6 can be pressed on both sides of the large goods respectively, so that the two manipulators 5 can run synchronously to stack the large goods, so that the manipulator can stack goods that adapt to a larger specification range, thereby expanding the scope of application.

[0027] Example 2: The height of the movable range of the end of the robotic arm 5 is adapted to the height of the gantry 1, and the rotation direction of the robotic arm 5 is parallel to the sliding direction of the first slide rail 2. By arranging the robotic arm 5 between the slider 4 and the robotic arm clamping part 7, the robotic arm 5 can adjust the position of the rotating disk 6 and the robotic arm clamping part 7, so that it can clamp and stack the goods at any position below the gantry 1, thereby improving its accuracy in clamping the goods.

[0028] Example 3: A motor is provided at one end of the rotating disk 6, and the motor drives the rotating disk 6 to rotate relative to the end of the robotic arm 5. By providing a motor-driven rotating disk 6 at the end of the robotic arm 5, the angle of the robotic arm clamping part 7 can be adjusted, which is convenient for clamping and stacking horizontally, vertically or even obliquely placed goods.

[0029] Embodiment 4: The rotating shaft of the manipulator clamping part 7 is driven by a motor, and the clamping surface of the manipulator clamping part 7 is a plane. When the manipulator clamping part 7 is in a vertical state, the clamping surface is coplanar with the outer side surface of the rotating disk 6. By arranging the motor-driven manipulator clamping parts 7 on both sides of the rotating disk 6, when the two clamping plates rotate inward, small goods can be clamped and stacked. When large goods are stacked, the manipulator clamping part 7 is rotated to open it and be parallel to the rotating disk 6, which can increase the clamping area for large goods. The rotating disk 6 and the manipulator clamping part 7 on the two manipulator arms 5 cooperate to clamp the large goods for stacking.

[0030] The working principle of this utility model is as follows:

[0031] S1. A first slide rail 2 and a second slide rail 3 are provided at the bottom of the gantry 1 to adjust the positions of the two manipulators, so that the positions of the two manipulators can be adjusted according to the progress of the stacking process. The second slide rail 3 can enable the two sliders 4 with the manipulators to slide separately, so that the two manipulators can separately clamp the goods for stacking. When stacking large goods, the two rotating disks 6 can be pressed on both sides of the large goods respectively, so that the two manipulators 5 can operate synchronously to stack the large goods, so that the manipulator can stack goods that adapt to a larger range of specifications, thereby expanding the scope of application.

[0032] S2. A robotic arm 5 is arranged between the slider 4 and the robotic arm clamping part 7, so that the robotic arm 5 can adjust the position of the rotating disk 6 and the robotic arm clamping part 7, so that it can clamp and stack goods at any position below the gantry 1, thereby improving its accuracy in clamping the goods.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The gantry-type multi-axis truss palletizing robot adjusts the positions of the two manipulators by arranging a first slide rail 2 and a second slide rail 3 at the bottom of the gantry 1, so as to facilitate the adjustment of the stacking position according to the stacking progress during the stacking process, and the second slide rail 3 can enable the two sliders 4 with manipulators to slide separately, so that the two manipulators can clamp the goods separately for stacking. When stacking large goods, the two rotating disks 6 can be pressed on both sides of the large goods respectively, so that the two manipulator arms 5 can operate synchronously to stack the large goods, so that the manipulator can stack goods that adapt to a larger range of specifications, thereby expanding the scope of application.

[0035] 2. The gantry-type multi-axis truss palletizing robot has a robot arm 5 arranged between the slider 4 and the robot clamping part 7, so that the robot arm 5 can adjust the position of the rotating disk 6 and the robot clamping part 7, so that it can clamp and palletize goods at any position below the gantry 1, thereby improving its accuracy in clamping goods. By arranging a motor-driven rotating disk 6 at the end of the robot arm 5, the angle of the robot clamping part 7 can be adjusted, which is convenient for clamping and palletizing horizontally, vertically, or even obliquely placed goods.

[0036] 3. This gantry-type multi-axis truss palletizing robot has motor-driven manipulator clamping parts 7 on both sides of the rotating disk 6. When the two clamping plates rotate inward, small goods can be clamped and palletized. When large goods are to be palletized, the manipulator clamping parts 7 are rotated to open and parallel to the rotating disk 6, which can increase the clamping area for large goods. The rotating disks 6 and manipulator clamping parts 7 on the two manipulator arms 5 cooperate to clamp and palletize large goods.

Claims

1. A gantry-type multi-axis truss palletizing robot, characterized by: The invention comprises a gantry (1), wherein a first slide rail (2) is fixedly connected to the middle of the gantry (1), a second slide rail (3) is slidably connected to the bottom of the first slide rail (2), sliders (4) are slidably connected to both sides of the bottom of the second slide rail (3), a mechanical arm (5) is provided at the bottom of each slider (4), the ends of each mechanical arm (5) are rotatably connected to a rotating disk (6), and both sides of the rotating disk (6) are rotatably connected to a mechanical hand clamping part (7).

2. The gantry-type multi-axis truss palletizing robot according to claim 1, characterized in that: The first slide rail (2) and the second slide rail (3) are both electric slide rails; the sliding stroke of the first slide rail (2) is adapted to the length of the gantry (1); and the sliding stroke of the second slide rail (3) is adapted to the width of the gantry (1).

3. The gantry-type multi-axis truss palletizing robot according to claim 2, characterized in that: The height of the movable range of the end of the mechanical arm (5) is adapted to the height of the gantry (1), and the rotation direction of the mechanical arm (5) is parallel to the sliding direction of the first slide rail (2).

4. The gantry-type multi-axis truss palletizing robot according to claim 3, characterized in that: A motor is provided at one end of the rotating disk (6), and the motor drives the rotating disk (6) to rotate relative to the end of the mechanical arm (5).

5. The gantry-type multi-axis truss palletizing robot according to claim 4, characterized in that: The rotating shaft of the manipulator clamping part (7) is driven by a motor, the clamping surface of the manipulator clamping part (7) is a plane, and when the manipulator clamping part (7) is in a vertical state, the clamping surface is coplanar with the outer side surface of the rotating disk (6).

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