Stacking robot capable of adjusting stacking height

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a palletizing robot with adjustable palletizing height, which comprises a base, a driving component and a lifting seat, the driving component is mounted at the top end of the base, the lifting seat is embedded into one side of the base and is in transmission connection with the driving component, and a palletizing manipulator is mounted on one side of the lifting seat; the driving assembly comprises a sliding shaft, a lead screw, a gear box and a motor A, the gear box is embedded in the top end of the base, the driving assembly is matched with the lifting base to drive the stacking mechanical arm to ascend and descend, and the stacking height of the stacking robot is adjusted so as to meet the stacking requirements of different heights; the two screw rods with the opposite threaded sections are adopted for driving, the load can be balanced, deviation caused by uneven torque of a single screw rod is reduced, and therefore the operation stability and positioning precision of a system are improved, and the two screw rods with the opposite threaded sections can achieve the self-locking effect to a certain degree.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robots, in particular to a palletizing robot with adjustable palletizing height. Background Art

[0002] A palletizing robot is a robot used in automated logistics and production. Its main task is to stack or place products or goods in accordance with specific rules. It can significantly improve production efficiency, reduce manual operation costs, and is widely used in warehousing logistics, manufacturing, electronics industry and other fields.

[0003] Using palletizing robots instead of manual palletizing can greatly improve the palletizing efficiency, but there are still certain problems: 1) The palletizing height of the palletizing robot is relatively low, and the palletizing height of some goods exceeds the operable height of the palletizing robot; 2) For some palletizing robots that can be raised and lowered, there are problems such as small load, uneven torque distribution, poor stability and positioning accuracy; 3) For some palletizing robots that can be raised and lowered, since they cannot achieve precise control of the lifting distance, it is easy to affect the accuracy when grasping small precision parts; Therefore, in view of the above situation, there is an urgent need to develop an automated grasping device for production to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0004] The purpose of the present utility model is to provide a palletizing robot with adjustable palletizing height, so as to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a palletizing robot with adjustable palletizing height, comprising a base, a drive assembly, and a lifting seat, wherein the drive assembly is mounted on the top of the base, the lifting seat is embedded in one side of the base, and the lifting seat is transmission-connected to the drive assembly, and a palletizing manipulator is mounted on one side of the lifting seat;

[0006] The drive assembly includes a sliding shaft, a screw rod, a gear box and a motor A. The gear box is embedded in the top of the base. The motor A is installed obliquely on the top edge of the gear box, and the gear box is driven by the motor A. The two sliding shafts are installed vertically between the base and the gear box and are fixedly connected to the base and the gear box. The two screw rods are vertically arranged between the base and the gear box. The bottom end of the screw rod is rotatably connected to the base, and the top end of the screw rod is transmission-connected to the gear box.

[0007] The lifting seat also includes an L-shaped slider, a top cover, a motor B, a guide rod, a screw and a second inner spiral sleeve. The top cover is horizontally installed on the top of the lifting seat, the four guide rods are vertically installed at the four corners of the lifting seat, the screw is vertically installed at the middle position of the interior of the lifting seat, the motor B is vertically installed at the top middle position of the top cover, the screw is driven and connected to the motor B, one end of the L-shaped slider is embedded in the interior of the lifting seat and is slidably connected to the lifting seat, four through holes are opened on the edge of the L-shaped slider that are compatible with the guide rods, and a second inner spiral sleeve is fixed in the middle position of the L-shaped slider, and the second inner spiral sleeve is compatible with the screw.

[0008] Preferably, the two screws have opposite spiral directions. Specifically, using two counter-screws can balance the load and reduce the deviation caused by uneven torque of a single screw, thereby improving the motion stability and positioning accuracy of the system.

[0009] Preferably, two through holes adapted to the sliding shafts are provided on one side edge of the lifting seat, and two first inner spiral sleeves are embedded and installed on the other side edge of the lifting seat.

[0010] Preferably, the two first inner spiral sleeves are respectively matched with the two screw rods. Specifically, the lifting seat is driven to move up and down by the two screw rods cooperating with the two first inner spiral sleeves, which can provide a more stable driving force.

[0011] Preferably, the pitch of the lead screw is greater than the pitch of the screw. Specifically, when the lead screw is running, it can drive the lifting seat and the stacking robot to move up and down, and the screw can drive the L-shaped slider and the stacking robot to move up and down, but at the same speed, the lifting pitch of the screw is smaller than that of the lead screw.

[0012] Compared with the prior art, the present invention provides a palletizing robot with adjustable palletizing height, which has the following beneficial effects:

[0013] 1. It uses a drive component and a lifting seat to drive the palletizing robot to move up and down, so as to adjust the palletizing height of the palletizing robot to meet the requirements of palletizing at different heights;

[0014] 2. It uses two screws with opposite thread segments for driving, which can balance the load and reduce the deviation caused by uneven torque of a single screw, thereby improving the operating stability and positioning accuracy of the system. The two screws with opposite thread segments can achieve a certain degree of self-locking effect.

[0015] 3. It uses a liftable L-shaped slider to install the stacking robot, uses a screw for long-stroke coarse pitch adjustment, and uses a screw with a smaller pitch to drive it for short-stroke precise lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work.

[0017] Figure 1 This is a schematic diagram of the front structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the drive assembly of the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the lifting seat of the utility model;

[0020] Figure 4 This is a side longitudinal sectional view of the lifting seat of the utility model;

[0021] Figure 5 This is a schematic diagram of the position relationship of the lifting seat of the utility model;

[0022] Figure 6 This is a schematic diagram of the L-shaped slider structure of the utility model.

[0023] In the figure: 10, base; 20, drive assembly; 201, slide shaft; 202, screw rod; 203, gear box; 204, motor A; 30, lifting seat; 301, L-shaped slider; 302, top cover; 303, motor B; 304, guide rod; 305, screw rod; 306, first inner spiral sleeve; 307, second inner spiral sleeve; 40, palletizing robot. DETAILED DESCRIPTION

[0024] 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.

[0025] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0026] Example:

[0027] See also Figures 1-6 The utility model provides a technical solution: a palletizing robot with adjustable palletizing height, comprising a base 10, a drive assembly 20 and a lifting seat 30, wherein the drive assembly 20 is mounted on the top of the base 10, the lifting seat 30 is embedded in one side of the base 10, and the lifting seat 30 is transmission-connected to the drive assembly 20, and a palletizing manipulator 40 is mounted on one side of the lifting seat 30;

[0028] The drive assembly 20 includes a sliding shaft 201, a screw rod 202, a gear box 203 and a motor A204. The gear box 203 is embedded in the top of the base 10. The motor A204 is installed obliquely at the top edge of the gear box 203. The gear box 203 is driven and connected to the motor A204. The two sliding shafts 201 are vertically installed between the base 10 and the gear box 203 and are fixedly connected to the base 10 and the gear box 203. The two screw rods 202 are vertically arranged between the base 10 and the gear box 203. The bottom end of the screw rod 202 is rotatably connected to the base 10, and the top end of the screw rod 202 is transmission-connected to the gear box 203.

[0029] The lifting base 30 also includes an L-shaped slider 301, a top cover 302, a motor B303, a guide rod 304, a screw 305 and a second inner spiral sleeve 307. The top cover 302 is horizontally installed on the top of the lifting base 30, the four guide rods 304 are vertically installed at the four corners of the lifting base 30, the screw 305 is vertically installed at the middle position of the interior of the lifting base 30, the motor B303 is vertically installed at the top middle position of the top cover 302, the screw 305 is driven and connected to the motor B303, one end of the L-shaped slider 301 is embedded in the interior of the lifting base 30 and is slidably connected to the lifting base 30, four through holes are opened on the edge of the L-shaped slider 301 that are compatible with the guide rods 304, and a second inner spiral sleeve 307 is fixed at the middle position of the L-shaped slider 301, and the second inner spiral sleeve 307 is compatible with the screw 305.

[0030] Preferably, the two screw rods 202 have opposite spiral directions. Specifically, using two counter-screw rods 202 can balance the load and reduce the deviation caused by uneven torque of a single screw rod 202, thereby improving the motion stability and positioning accuracy of the system.

[0031] Preferably, two through holes adapted to the sliding shaft 201 are provided on one side edge of the lifting seat 30 , and two first inner spiral sleeves 306 are embedded and installed on the other side edge of the lifting seat 30 .

[0032] Preferably, the two first inner spiral sleeves 306 are respectively matched with the two screw rods 202. Specifically, the lifting seat 30 is driven to move up and down by the two screw rods 202 cooperating with the two first inner spiral sleeves 306, which can provide a more stable driving force.

[0033] Preferably, the pitch of the screw rod 202 is greater than the pitch of the screw rod 305. Specifically, when the screw rod 202 is in operation, it can drive the lifting seat 30 and the stacking robot 40 to move up and down, and the screw rod 305 can drive the L-shaped slider 301 and the stacking robot 40 to move up and down, but at the same speed, the lifting distance of the screw rod 305 is smaller than that of the screw rod 202.

[0034] Working principle: The palletizing robot 40 grabs the goods for palletizing operations. When the palletizing height exceeds the operable height of the palletizing robot 40, the motor A is started to drive the two screw rods 202 to rotate. It should be noted here that the two screw rods 202 rotate in opposite directions. The screw rod 202 is adapted to the first inner spiral sleeve 306, thereby driving the lifting seat 30 to rise. When it rises to an appropriate height, it stops, and then the motor B303 drives the screw rod 305 to rotate, and cooperates with the second inner spiral sleeve 307 to drive the L-shaped slider 301 to rise and fall, thereby driving the palletizing robot 40 to adjust the height. It should be noted here that since the screw rod 305 has a smaller pitch than the screw rod 202, the screw rod 202 is used to quickly rise to an approximate position, while the screw 305 is used for precise height adjustment.

[0035] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 "comprises," "comprising," or any other variations 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 explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

Claims

1. A palletizing robot with adjustable palletizing height, characterized by: The invention comprises a base (10), a driving assembly (20) and a lifting seat (30), wherein the driving assembly (20) is installed at the top of the base (10), the lifting seat (30) is embedded in one side of the base (10), and the lifting seat (30) is connected to the driving assembly (20) by transmission, and a palletizing robot (40) is installed on one side of the lifting seat (30); The driving assembly (20) comprises a sliding shaft (201), a screw rod (202), a gear box (203) and a motor A (204); the gear box (203) is embedded and installed at the top end of the base (10); the motor A (204) is installed obliquely at the top edge of the gear box (203); and the gear box (203) and the motor A (204) are drivingly connected; the two sliding shafts (201) are vertically installed between the base (10) and the gear box (203) and are fixedly connected to the base (10) and the gear box (203); the two screw rods (202) are vertically arranged between the base (10) and the gear box (203); the bottom end of the screw rod (202) is rotatably connected to the base (10), and the top end of the screw rod (202) is drivingly connected to the gear box (203); The lifting seat (30) further comprises an L-shaped slider (301), a top cover (302), a motor B (303), a guide rod (304), a screw rod (305) and a second inner spiral sleeve (307), wherein the top cover (302) is horizontally mounted on the top of the lifting seat (30), the four guide rods (304) are vertically mounted at the four corners of the lifting seat (30), the screw rod (305) is vertically mounted at the middle position of the lifting seat (30), and the motor B (303) is vertically mounted on the top cover. (302) is located at the top middle position, the screw (305) is connected to the motor B (303) for driving, one end of the L-shaped slider (301) is embedded in the interior of the lifting seat (30) and is slidably connected to the lifting seat (30), the edge of the L-shaped slider (301) is provided with four through holes adapted to the guide rod (304), and the middle position of the L-shaped slider (301) is fixed with a second inner spiral sleeve (307), which is adapted to the screw (305).

2. The palletizing robot with adjustable palletizing height according to claim 1, characterized in that: The two screw rods (202) have opposite spiral directions.

3. The palletizing robot with adjustable palletizing height according to claim 1, characterized in that: Two through holes adapted to the sliding shaft (201) are provided on one side edge of the lifting seat (30), and two first inner spiral sleeves (306) are embedded and installed on the other side edge of the lifting seat (30).

4. The palletizing robot with adjustable palletizing height according to claim 3, characterized in that: The two first inner spiral sleeves (306) are respectively adapted to the two screw rods (202).

5. The palletizing robot with adjustable palletizing height according to claim 1, characterized in that: The pitch of the screw rod (202) is greater than the pitch of the screw rod (305).

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