Robot stacking and carrying device

Abstract

The utility model discloses a robot stacking and carrying device which comprises a fixing disc installation head, a stepping motor is fixedly installed on one side of the interior of the fixing disc installation head, and an output shaft of the stepping motor is connected with a transmission rotating shaft through a coupler. The front end face of the transmission rotating shaft is connected with a circular roller bearing block installed on the inner wall of the fixing disc installation head through a roller bearing, an internal thread groove is formed in front of the circular roller bearing block, and a fixing disc is arranged in front of the internal thread groove. And a fixing disc thread fixing rod located in the internal thread groove is fixedly arranged in the middle of the rear end face of the fixing disc, and an external thread column also located in the internal thread groove is arranged behind the fixing disc thread fixing rod. According to the utility model, different types of fixing discs can be automatically disassembled and assembled, when different types of fixing discs need to be installed according to different carried objects, manual replacement is not needed any more, and the convenience of equipment is improved through the technical scheme.

Description

Technical Field

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

[0002] A robotic palletizer is a highly automated industrial robot used to neatly stack items onto pallets or other loading equipment.

[0003] Robotic palletizing and handling devices are widely used in the palletizing and handling of materials in boxes, bags, barrels, bottles, etc., and are commonly found in industries such as beverages, bottled water, flour, fertilizers, and cement. They are suitable for enterprises with large production demands and high product quality and output requirements, such as chemicals, feed, food, fertilizers, and grain processing.

[0004] However, when it is necessary to use this robot for palletizing and handling items with greatly different handling properties, different types of gripping heads need to be installed on the equipment according to the different items being handled. For example, when it is necessary to handle plate-like items, a suction cup gripping device needs to be used for handling, and when it is necessary to handle bag-like items, a clamping gripping head needs to be used. When the gripping head needs to be replaced, the replacement operation is relatively cumbersome; therefore, it does not meet the existing needs. In this regard, we propose a robot palletizing and handling device. Utility Model Content

[0005] The purpose of the present utility model is to provide a robot palletizing and handling device to solve the problems raised in the above background technology, such as when the robot needs to be used for palletizing and handling objects with greatly different handling properties, different types of gripping heads need to be installed on the device according to the different objects being handled. For example, when plate-like objects need to be handled, a suction cup-type gripping device needs to be used for handling; when bag-like objects need to be handled, a clamping-type gripping head needs to be used; and when the gripping head needs to be replaced, the replacement operation is relatively cumbersome.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot stacking and handling device, comprising a fixed disk mounting head, a stepper motor is fixedly mounted on one side of the fixed disk mounting head, the output shaft of the stepper motor is connected to a transmission shaft through a coupling, the front end face of the transmission shaft is connected to a circular roller bearing block mounted on the inner wall of the fixed disk mounting head through a roller bearing, an internal thread groove is provided in front of the circular roller bearing block, a fixed disk is provided in front of the internal thread groove, a fixed disk thread fixing rod located inside the internal thread groove is fixedly provided at the middle position of the rear end face of the fixed disk, an external thread column is provided at the rear of the fixed disk thread fixing rod, the external thread of the external thread column matches the internal thread of the internal thread groove, and an internal thread connecting groove is provided in the middle position of the front end face of the external thread column, whose internal thread matches the external thread of the fixed disk thread fixing rod;

[0007] A through hole penetrating the external threaded column is provided on both sides of the front end face of the external threaded column, and a synchronization rod is provided inside the through hole. The outer surface of the synchronization rod is in contact with the inner wall of the through hole, and the synchronization rod is slidingly connected to the through hole, and the rear end faces of the two synchronization rods are respectively fixed between the upper and lower sides of the front end face of the circular roller bearing block.

[0008] Preferably, a palletizing and handling robot is provided behind the fixed plate mounting head, and the fixed plate mounting head is mounted on the front end surface of the palletizing and handling robot.

[0009] Preferably, the inner wall diameter of the internal thread groove is larger than the cross-sectional diameter of the threaded fixing rod of the fixing plate, and the threaded fixing rod of the fixing plate is fixed to the fixing plate by screws.

[0010] Preferably, a positioning rod is provided at each of the four end corners on the outer side of the threaded fixing rod of the fixing plate, the front end face of the positioning rod is fixed to the rear end face of the fixing plate, and a positioning groove is provided on the outer side of the positioning rod at the front end face of the fixing plate mounting head.

[0011] Preferably, the outer surface of the positioning rod is in contact with the inner wall of the positioning groove, and the positioning rod is slidably connected to the positioning groove.

[0012] Preferably, a fixed magnet is fixedly provided on the rear end surface of the positioning rod, and the rear end surface of the fixed magnet is connected to a metal block fixed inside the positioning groove.

[0013] Preferably, an arc-shaped cover plate is provided above the stepping motor and is located on the outer surface of the fixed disk mounting head, and the fixed disk mounting head and the arc-shaped cover plate are fixed by screws.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. The utility model is that when the fixing plate needs to be installed, the fixing plate threaded fixing rod located on the rear end surface of the fixing plate is inserted into the internal thread groove located on the front end surface of the fixing plate mounting head. Then, the stepping motor can automatically sleeve the external threaded column located inside the fixing plate mounting head onto the outer surface of the fixing plate threaded fixing rod, thereby fixing the fixing plate mounting head and the fixing plate. The stepping motor can also automatically remove the external threaded column from the outer surface of the fixing plate threaded fixing rod, thereby releasing the fixation between the fixing plate mounting head and the fixing plate. The above technical solution makes it possible to replace different types of fixing plates more conveniently and quickly.

[0016] 2. The utility model aligns the four positioning rods located on the rear end surface of the fixing plate with the four positioning grooves located on the front end surface of the fixing plate mounting head before inserting the fixing plate threaded fixing rod into the internal thread groove. Then, the four positioning rods are inserted into the four positioning grooves until the fixing magnets fixed on the rear end surfaces of the positioning rods contact the metal blocks fixed inside the positioning grooves. The magnetic force of the fixing magnets can fit the fixing plate mounting head and the fixing plate together. The fixing plate threaded fixing rod can be aligned with the internal threaded connecting groove located on the front end surface of the external thread column through the four positioning rods and the four positioning grooves. The above technical solution can automatically position the fixing plate threaded fixing rod to a fixed position. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a side view of the internal structure of the utility model;

[0019] Figure 3 For this utility model Figure 2 A magnified view of the structure at point A;

[0020] Figure 4 For this utility model Figure 3 A magnified view of the structure at point B.

[0021] In the figure: 1. Palletizing and handling robot; 2. Fixed plate mounting head; 3. Fixed plate; 4. Stepper motor; 5. Transmission shaft; 6. Circular roller bearing block; 7. Internal thread groove; 8. External thread column; 9. Internal thread connecting groove; 10. Fixed plate thread fixing rod; 11. Synchronizing rod; 12. Through hole; 13. Positioning rod; 14. Positioning groove; 15. Fixed magnet; 16. Metal block. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely 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, rather than all the embodiments.

[0023] The palletizing and handling robot 1 (model QD), the stepping motor 4 (model DM542) and the fixing plate threaded fixing rod 10 (model M16) mentioned in the present invention can be purchased from the market or obtained through private customization.

[0024] See also Figures 1 to 4The utility model provides an embodiment of a robot palletizing and handling device, comprising a fixed plate mounting head 2, a stepper motor 4 is fixedly mounted on one side of the interior of the fixed plate mounting head 2, the output shaft of the stepper motor 4 is connected to a transmission shaft 5 through a coupling, the front end face of the transmission shaft 5 is connected to a circular roller bearing block 6 mounted on the inner wall of the fixed plate mounting head 2 through a roller bearing, an internal thread groove 7 is provided in front of the circular roller bearing block 6, a fixed plate 3 is provided in front of the internal thread groove 7, a fixed plate thread fixing rod 10 located inside the internal thread groove 7 is fixedly provided at the middle position of the rear end face of the fixed plate 3, an external thread column 8 also located inside the internal thread groove 7 is provided at the rear of the fixed plate thread fixing rod 10, the external thread column 8 is matched with the internal thread of the internal thread groove 7, and an internal thread connecting groove 9 is provided in the middle position of the front end face of the external thread column 8, whose internal thread matches the external thread of the fixed plate thread fixing rod 10;

[0025] Both sides of the front end face of the external threaded column 8 are provided with a through hole 12 that penetrates the external threaded column 8, and a synchronization rod 11 is provided inside the through hole 12. The outer surface of the synchronization rod 11 fits against the inner wall of the through hole 12, and the synchronization rod 11 is slidably connected to the through hole 12, and the rear end faces of the two synchronization rods 11 are respectively fixed between the upper and lower sides of the front end face of the circular roller bearing block 6; when it is necessary to install the fixed disk 3, the fixed disk threaded fixing rod 10 located at the rear end face of the fixed disk 3 is inserted into the internal thread groove 7 located at the front end face of the fixed disk mounting head 2, and then the stepping motor 4 is started. The stepping motor 4 can drive the circular roller bearing block 6 connected to it through the transmission shaft 5 to rotate. When the circular roller bearing block 6 rotates, it is fixed to the circular roller The externally threaded column 8 penetrated by the two synchronous rods 11 on the front end surface of the bearing block 6 will rotate synchronously therewith. When the externally threaded column 8 rotates, the rotating externally threaded column 8 will move back and forth while rotating through the transmission of the internal thread of the internal thread groove 7. At this time, the externally threaded column 8 moves forward while rotating. As the externally threaded column 8 moves at this time, the entrance of the internal threaded connecting groove 9 located at the front end surface of the externally threaded column 8 will contact the rear end surface of the fixed disk threaded fixing rod 10, and through the transmission of the threaded structure between the two, the externally threaded column 8 will gradually cover the outer surface of the fixed disk threaded fixing rod 10. When the fixed disk threaded fixing rod 10 completely enters the interior of the internal threaded connecting groove 9, the fixed disk mounting head 2 and the fixed disk 3 will be fixed to each other.

[0026] When it is necessary to release the fixation between the fixing plate mounting head 2 and the fixing plate 3, the stepping motor 4 drives the external threaded column 8 to rotate and move backward. As the external threaded column 8 moves backward, the fixing plate threaded fixing rod 10 will gradually leave the inside of the internal threaded connection groove 9. When the fixing plate threaded fixing rod 10 completely leaves the inside of the internal threaded connection groove 9, the fixation between the fixing plate mounting head 2 and the fixing plate 3 will also be released. The above technical solution makes it possible to replace different types of fixing plates 3 more conveniently and quickly.

[0027] A palletizing and handling robot 1 is provided behind the fixed plate mounting head 2, and the fixed plate mounting head 2 is installed on the front end face of the palletizing and handling robot 1; the palletizing and handling robot 1 can control the fixed plate mounting head 2 and the fixed plate 3 fixed on the front end face of the fixed plate mounting head 2 to perform palletizing and handling operations.

[0028] The inner wall diameter of the internal thread groove 7 is larger than the cross-sectional diameter of the fixed plate threaded fixing rod 10, and the fixed plate threaded fixing rod 10 and the fixed plate 3 are fixed by screws; the internal thread groove 7 having an inner wall diameter larger than the cross-sectional diameter of the fixed plate threaded fixing rod 10 can prevent the internal thread of the internal thread groove 7 from contacting the external thread of the fixed plate threaded fixing rod 10, thereby causing damage to the threads of both.

[0029] A positioning rod 13 is provided at each of the four end corners on the outside of the fixing plate threaded fixing rod 10. The front end face of the positioning rod 13 is fixed to the rear end face of the fixing plate 3, and the outside of the positioning rod 13 is provided with a positioning groove 14 located on the front end face of the fixing plate mounting head 2; the outer surface of the positioning rod 13 fits the inner wall of the positioning groove 14, and the positioning rod 13 and the positioning groove 14 are slidably connected; a fixing magnet 15 is fixed on the rear end face of the positioning rod 13, and a metal block 16 fixed to the inside of the positioning groove 14 is connected to the rear end face of the fixing magnet 15; before inserting the fixing plate threaded fixing rod 10 into the interior of the internal thread groove 7, first place the four positioning rods on the rear end face of the fixing plate 3 13 are respectively aligned with the four positioning grooves 14 located on the front end surface of the fixed disk mounting head 2, and then the four positioning rods 13 are respectively inserted into the four positioning grooves 14 until the fixed magnets 15 fixed on the rear end surfaces of the positioning rods 13 contact the metal blocks 16 fixed inside the positioning grooves 14, and the magnetic force of the fixed magnets 15 can make the fixed disk mounting head 2 and the fixed disk 3 fit together, and the four positioning rods 13 and the four positioning grooves 14 can align the fixed disk threaded fixing rod 10 with the internal threaded connecting groove 9 located on the front end surface of the external threaded column 8, and the above technical solution can automatically position the fixed disk threaded fixing rod 10 to a fixed position.

[0030] An arc-shaped cover plate is provided above the stepper motor 4 and is located on the outer surface of the fixed disk mounting head 2. The fixed disk mounting head 2 and the arc-shaped cover plate are fixed by screws. The arc-shaped cover plate can protect the internal structure of the fixed disk mounting head 2, and when the internal structure of the fixed disk mounting head 2 fails, the arc-shaped cover plate can be removed for maintenance.

[0031] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A robotic palletizing and handling device, comprising a fixed plate mounting head (2), characterized in that: A stepper motor (4) is fixedly mounted on one side of the interior of the fixed disk mounting head (2), and the output shaft of the stepper motor (4) is connected to a transmission shaft (5) through a coupling, and the front end face of the transmission shaft (5) is connected to a circular roller bearing block (6) mounted on the inner wall of the fixed disk mounting head (2) through a roller bearing, and an internal thread groove (7) is provided in front of the circular roller bearing block (6), and a fixed disk (3) is provided in front of the internal thread groove (7), and a fixed disk thread fixing rod (10) located in the internal thread groove (7) is fixedly provided at the middle position of the rear end face of the fixed disk (3), and an external thread column (8) also located in the internal thread groove (7) is provided at the rear of the fixed disk thread fixing rod (10), and the external thread of the external thread column (8) matches the internal thread of the internal thread groove (7), and an internal thread connection groove (9) whose internal thread matches the external thread of the fixed disk thread fixing rod (10) is provided in the middle position of the front end face of the external thread column (8); A through hole (12) penetrating the external threaded column (8) is provided on both sides of the front end face of the external threaded column (8), a synchronization rod (11) is provided inside the through hole (12), the outer surface of the synchronization rod (11) is in contact with the inner wall of the through hole (12), the synchronization rod (11) and the through hole (12) are slidably connected, and the rear end faces of the two synchronization rods (11) are respectively fixed to the upper and lower sides of the front end face of the circular roller bearing block (6).

2. A robotic palletizing and handling device according to claim 1, characterized in that: A palletizing and handling robot (1) is provided behind the fixed plate mounting head (2), and the fixed plate mounting head (2) is mounted on the front end surface of the palletizing and handling robot (1).

3. The robot palletizing and handling device according to claim 1, characterized in that: The inner wall diameter of the internal thread groove (7) is larger than the cross-sectional diameter of the fixed disk thread fixing rod (10), and the fixed disk thread fixing rod (10) and the fixed disk (3) are fixed by screws.

4. The robot palletizing and handling device according to claim 1, characterized in that: A positioning rod (13) is provided at each of the four end corners on the outer side of the fixing plate threaded fixing rod (10), the front end surface of the positioning rod (13) is fixed to the rear end surface of the fixing plate (3), and a positioning groove (14) is provided on the outer side of the positioning rod (13) and is located on the front end surface of the fixing plate mounting head (2).

5. The robot palletizing and handling device according to claim 4, characterized in that: The outer surface of the positioning rod (13) is in contact with the inner wall of the positioning groove (14), and the positioning rod (13) and the positioning groove (14) are connected in a sliding manner.

6. The robot palletizing and handling device according to claim 4, characterized in that: A fixed magnet (15) is fixedly provided on the rear end face of the positioning rod (13), and a metal block (16) fixed inside the positioning groove (14) is connected to the rear end face of the fixed magnet (15).

7. The robot palletizing and handling device according to claim 1, characterized in that: An arc-shaped cover plate is provided above the stepping motor (4) and is located on the outer surface of the fixed disk mounting head (2), and the fixed disk mounting head (2) and the arc-shaped cover plate are fixed by screws.

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