Multi-station six-axis robot palletizer positioning structure

Abstract

The utility model discloses a multi-station six-axis palletizing robot positioning structure, and belongs to the technical field of multi-station six-axis palletizing robots, the multi-station six-axis palletizing robot positioning structure comprises a robot main body, a positioning mechanism is arranged at one end of a mechanical arm of the robot main body, a clamping mechanism is arranged at the bottom of the positioning mechanism, and a clamping mechanism is arranged at the other end of the mechanical arm of the robot main body. A first motor can drive a connecting rod to rotate, one end of the connecting rod is fixedly connected with a second motor through an arranged connecting block, the second motor drives a reciprocating lead screw to rotate in a limiting block, and the reciprocating lead screw is in threaded connection with an externally-arranged moving block, so that the moving block is stressed to slide outside the connecting rod; therefore, the purpose of rotating and moving can be achieved, operation is easy and fast, positioning is convenient, and use is convenient.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of multi-station six-axis palletizing robots, and particularly relates to a multi-station six-axis palletizing robot positioning structure. BACKGROUND

[0002] The robot palletizer is a mechanical and electrical integrated equipment capable of palletizing objects such as rubber blocks and boxes according to a set grouping mode and layer number, and is usually applied to various warehouses and machining workshops for palletizing and arranging processed products.

[0003] The utility model discloses a multi-station palletizing robot positioning structure discloses a multi-station palletizing robot positioning structure, including support frame, the inside of support frame is provided with positioning mechanism, the inside of positioning mechanism is provided with drive mechanism, the both ends of support frame inside are provided with lifting mechanism, positioning mechanism includes moving platform, fixed platform is installed through the cooperation of sliding seat and sliding on the slide rod, and the both ends of slide rod are slidably installed with limiting plate respectively, and the closed circuit is connected by wire cooperation with controller through the DC power supply, the both sides of fixed platform are fixed with metal plate, and the rotating turntable makes it drive both sides limiting plate to slide accurately to the required position on the slide rod, controls drive mechanism and makes it drive fixed platform to slide on the slide rod, waits for fixed platform and limiting plate contact, and metal plate and wire contact connect into closed circuit, and the controller controls the motor to stop, solves the problem that mechanical hand jaw clamping position deviates and causes the article to move in the process and is easy to fall off, the above scheme has the following defects: simple parallel displacement is carried out through the drive assembly, and the rotating positioning cannot be carried out according to the use demand, so that the palletizing process needs to be frequently moved, the operation is tedious, and the use is not convenient.

[0004] Therefore, the application provides a multi-station six-axis palletizing robot positioning structure to solve the above problems. SUMMARY

[0005] The application provides a multi-station six-axis palletizing robot positioning structure, which aims to solve the problem that simple parallel displacement is carried out through the drive assembly in the background art, the rotating positioning cannot be carried out according to the use demand, so that the palletizing process needs to be frequently moved, the operation is tedious, and the use is not convenient.

[0006] To achieve the above object, the application provides the following technical scheme: a multi-station six-axis palletizing robot positioning structure, comprising a robot main body, a positioning mechanism is arranged at one end of a mechanical arm of the robot main body, and a clamping mechanism is arranged at the bottom of the positioning mechanism.

[0007] Preferably, in order to solve the problem that simple parallel displacement by the driving assembly cannot be rotated and positioned according to the use requirements, thereby causing the need for frequent movement in the stacking process, the positioning mechanism comprises a first motor fixedly connected to the side of the mechanical arm of the robot main body, a connecting rod fixedly connected to the output end of the first motor, a connecting block fixedly connected to the end of the connecting rod away from the first motor, a second motor fixedly connected to the bottom of the connecting block, a reciprocating lead screw fixedly connected to the output end of the second motor, a limiting block fixedly connected to the outside of the end of the connecting rod close to the first motor, and the reciprocating lead screw is arranged inside the limiting block, and a moving block is arranged outside the reciprocating lead screw, the first motor can drive the connecting rod to rotate, the connecting rod is fixedly connected to the second motor through the connecting block arranged at one end, the reciprocating lead screw is driven by the second motor to rotate inside the limiting block, and the reciprocating lead screw is threadedly connected to the moving block arranged outside, so that the moving block slides under stress outside the connecting rod, and the purpose of rotary movement is achieved, the operation is simple and fast, positioning is facilitated, and use is convenient.

[0008] Preferably, in order to solve the problem of convenient movement of the moving block, the reciprocating lead screw is threadedly connected to the moving block, the top end of the moving block is arranged outside the connecting rod, and the moving block is slidably connected to the connecting rod, the moving block is threadedly connected to the reciprocating lead screw, so that the moving block slides under stress outside the connecting rod, the stability of movement of the moving block is improved through the connecting rod, and the moving block is rotated through the connecting rod, thereby being convenient to use.

[0009] Preferably, in order to solve the problem of convenient gripping of the object, the gripping mechanism comprises a gripping operation frame fixedly connected to the bottom of the moving block through bolts, a third motor fixedly connected to one side of the gripping operation frame, a bidirectional screw rod fixedly connected to the output end of the third motor, the bidirectional screw rod arranged inside the gripping operation frame and rotationally connected to the gripping operation frame, and sliding blocks threadedly connected to both ends of the bidirectional screw rod, two groups of gripping blocks arranged inside the sliding blocks, and friction blocks fixedly connected to one side of each of the two groups of gripping blocks close to the center of the gripping operation frame, the third motor drives the bidirectional screw rod to rotate inside the gripping operation frame, the bidirectional screw rod is threadedly connected to the sliding blocks arranged outside, so that the sliding blocks drive the two groups of gripping blocks to move towards or away from each other under stress, the friction blocks arranged on the side of the two groups of gripping blocks close to each other can increase the friction force in contact with the object, and the object is gripped by the two groups of gripping blocks, so that the operation is simple and fast, and use is convenient.

[0010] Preferably, in order to solve the problem of stability of movement of the sliding block, two groups of limiting rods are fixedly connected to the inside of the gripping operation frame, the sliding blocks are arranged outside the limiting rods and slidably connected to the limiting rods, and the sliding blocks slide under stress outside the limiting rods, so that the stability of movement of the sliding blocks is improved through the limiting rods.

[0011] Preferably, in order to solve the problem of convenient installation and disassembly of the clamping block, the two groups of clamping blocks are inserted with the sliding block, the inside of the top end of the two groups of clamping blocks is provided with two groups of mounting rods, the two sides of the inside of the sliding block are provided with mounting grooves matched with the mounting rods, and the mounting rods are inserted with the mounting grooves. Through the insertion of the mounting rods and the mounting grooves, the clamping block can be conveniently installed in the inside of the sliding block, so that the clamping block is conveniently installed and disassembled, the problem of clamping affected by wear of the clamping block after long-term use is avoided, and the operation is simple and fast.

[0012] Preferably, in order to solve the problem of convenient operation of the mounting rod, the mounting rod is symmetrically arranged in the inside of the top end of the clamping block, and the two groups of mounting rods are fixedly connected with return springs. By pressing the mounting rod, the return spring arranged on the side of the mounting rod can be compressed, so that the mounting rod enters the inside of the clamping block. Through the return spring, the mounting rod is conveniently restored to its original state, and the use is convenient.

[0013] The positioning mechanism can drive the connecting rod to rotate through the first motor. One end of the connecting rod is fixedly connected with the second motor through the connecting block arranged thereon. The second motor drives the reciprocating screw rod to rotate in the limiting block. The reciprocating screw rod is threadedly connected with the moving block arranged outside, so that the moving block slides outside the connecting rod under stress, so that the purpose of rotary movement is achieved. The operation is simple and fast, the positioning is convenient, and the use is convenient.

[0014] The clamping mechanism drives the bidirectional screw rod to rotate in the clamping operation frame through the third motor. The bidirectional screw rod is threadedly connected with the sliding block arranged outside, so that the sliding block drives the two groups of clamping blocks to move towards or away from each other under stress. The friction blocks arranged on the side of the two groups of clamping blocks can increase the friction force in contact with the object. The two groups of clamping blocks clamp the object, the operation is simple and fast, and the use is convenient.

[0015] The clamping mechanism drives the bidirectional screw rod to rotate in the clamping operation frame through the third motor. The bidirectional screw rod is threadedly connected with the sliding block arranged outside, so that the sliding block drives the two groups of clamping blocks to move towards or away from each other under stress. The friction blocks arranged on the side of the two groups of clamping blocks can increase the friction force in contact with the object. The two groups of clamping blocks clamp the object, the operation is simple and fast, and the use is convenient. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a three-dimensional structure schematic view of a multi-station six-axis stacking robot positioning structure.

[0017] Figure 2It is a three-dimensional two-structure schematic diagram of a multi-station six-axis stacking robot positioning structure;

[0018] Figure 3 It is a three-dimensional three-structure schematic diagram of a multi-station six-axis stacking robot positioning structure;

[0019] Figure 4 It is a top view structure schematic diagram of a multi-station six-axis stacking robot positioning structure;

[0020] Figure 5 It is a three-dimensional structure schematic diagram of a multi-station six-axis stacking robot positioning structure;

[0021] Figure 6 It is a top view structure schematic diagram of a multi-station six-axis stacking robot positioning structure.

[0022] In the figure:

[0023] 1, robot main body; 2, positioning mechanism; 21, first motor; 22, connecting rod; 23, connecting block; 24, second motor; 25, reciprocating screw; 26, limit block; 27, moving block; 3, clamping mechanism; 31, clamping operation frame; 32, third motor; 33, bidirectional screw; 34, sliding block; 35, limit rod; 36, clamping block; 37, friction block; 38, mounting rod; 39, mounting groove; 40, return spring. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. EMBODIMENT

[0025] The embodiment provides a multi-station six-axis stacking robot positioning structure, as shown in the figure, the multi-station six-axis stacking robot positioning structure comprises a robot main body 1, the robot main body 1 is provided with a positioning mechanism 2 at one end of the mechanical arm, and the bottom of the positioning mechanism 2 is provided with a clamping mechanism 3. Figures 1-6

[0026] When in use, the positioning mechanism 2 can be conveniently rotated and moved according to the use requirement, and the operation is simple and fast, convenient to use, the clamping mechanism 3 can be conveniently used for clamping objects, and the operation is simple and fast, convenient to use.

[0027] ​Specifically, the positioning mechanism 2 comprises a first motor 21 fixedly connected to the side of the mechanical arm of the robot body 1, the output end of the first motor 21 is fixedly connected with a connecting rod 22, the end of the connecting rod 22 away from the first motor 21 is fixedly connected with a connecting block 23, the bottom of the connecting block 23 is fixedly connected with a second motor 24, the output end of the second motor 24 is fixedly connected with a reciprocating lead screw 25, the end of the reciprocating lead screw 25 is arranged in the interior of a limiting block 26, and the exterior of the reciprocating lead screw 25 is provided with a moving block 27.

[0028] In use, the first motor 21 can drive the connecting rod 22 to rotate, the connecting rod 22 is fixedly connected with the second motor 24 through the connecting block 23 arranged at one end, the second motor 24 drives the reciprocating lead screw 25 to rotate in the interior of the limiting block 26, the reciprocating lead screw 25 is threadedly connected with the moving block 27 arranged outside, so that the moving block 27 slides under stress outside the connecting rod 22, and the rotating movement is realized, which is simple and fast, convenient for positioning and use.

[0029] Further, the reciprocating lead screw 25 is threadedly connected with the moving block 27, the top end of the moving block 27 is arranged outside the connecting rod 22, and the moving block 27 is slidingly connected with the connecting rod 22, the moving block 27 is threadedly connected with the reciprocating lead screw 25, so that the moving block 27 slides under stress outside the connecting rod 22, the stability of the movement of the moving block 27 is improved through the connecting rod 22, and the moving block 27 is driven to rotate through the connecting rod 22, which is convenient to use. Embodiment

[0030] Different from the embodiment 1, in the process of clamping the object, the wear phenomenon may occur in the case of long-time use, which is inconvenient for installation and disassembly, thereby affecting the clamping of the object. Therefore, the clamping mechanism 3 comprises a clamping operation frame 31 fixedly connected to the bottom of the moving block 27 through bolts, a third motor 32 fixedly connected to one side of the clamping operation frame 31, a bidirectional screw rod 33 fixedly connected to the output end of the third motor 32, the bidirectional screw rod 33 arranged in the interior of the clamping operation frame 31 and rotationally connected with the clamping operation frame 31, and sliding blocks 34 threadedly connected at both ends of the bidirectional screw rod 33, the interiors of the two groups of sliding blocks 34 are provided with clamping blocks 36, and the sides of the two groups of clamping blocks 36 close to the center of the clamping operation frame 31 are fixedly connected with friction blocks 37.

[0031] In use, the double-direction screw rod 33 is driven to rotate in the inside of the clamping operating frame 31 by the third motor 32, the double-direction screw rod 33 is threadedly connected with the sliding block 34 arranged outside, so that the sliding block 34 is driven to move towards or away from each other by the force, the friction blocks 37 arranged on the side of the two groups of clamping blocks 36 can increase the friction force in contact with the object, the object is clamped by the two groups of clamping blocks 36, and the operation is simple and fast and convenient to use.

[0032] Specifically, the clamping operating frame 31 is fixedly connected with two groups of limiting rods 35 in the inside, the sliding block 34 is arranged outside the limiting rods 35 and is slidably connected with the limiting rods 35, the sliding block 34 is forced to slide outside the limiting rods 35, and the stability of the sliding block 34 is improved by the limiting rods 35.

[0033] Further, the two groups of clamping blocks 36 are inserted with the sliding block 34, the two groups of mounting rods 38 are arranged in the inside of the top ends of the two groups of clamping blocks 36, mounting grooves 39 matched with the mounting rods 38 are formed in the inside of the two sides of the sliding block 34, the mounting rods 38 are inserted with the mounting grooves 39, the clamping blocks 36 can be conveniently mounted in the inside of the sliding block 34 by the insertion of the mounting rods 38 and the mounting grooves 39, so that the clamping blocks 36 are conveniently mounted and dismounted, the problem that the clamping blocks 36 are abraded to affect clamping after long-term use is avoided, the operation is simple and fast, and the use is convenient.

[0034] Still further, the mounting rods 38 are symmetrically arranged in the inside of the top ends of the clamping blocks 36, the two groups of mounting rods 38 are fixedly connected with return springs 40, the mounting rods 38 can be compressed to compress the return springs 40 arranged on the sides, so that the mounting rods 38 are conveniently arranged in the inside of the clamping blocks 36, the mounting rods 38 are conveniently restored to the original state by the return springs 40, and the use is convenient.

[0035] It should be noted that the robot body 1, the first motor 21, the second motor 24 and the third motor 32 are existing devices, the working principles, sizes and types thereof are irrelevant to the functions of the present application, and thus are not described in detail, the control mode of the present application is controlled by a controller, the control circuit of the controller can be realized by simple programming of a person skilled in the art, the power supply also belongs to the common knowledge in the field, and the present application is mainly used for protecting mechanical devices, and thus the control mode and the circuit connection of the present application are not explained in detail.

[0036] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A multi-station six-axis palletizing robot positioning structure, comprising a robot body (1), characterized in that: A positioning mechanism (2) is provided at one end of the robot arm of the robot body (1), and a clamping mechanism (3) is provided at the bottom of the positioning mechanism (2); The positioning mechanism (2) includes a first motor (21) fixedly connected to the side of the robot arm of the robot body (1), the output end of the first motor (21) is fixedly connected to a connecting rod (22), the end of the connecting rod (22) away from the first motor (21) is fixedly connected to a connecting block (23), the bottom of the connecting block (23) is fixedly connected to a second motor (24), the output end of the second motor (24) is fixedly connected to a reciprocating screw (25), the end of the connecting rod (22) close to the first motor (21) is fixedly connected to a limiting block (26) on the outside, one end of the reciprocating screw (25) is arranged inside the limiting block (26), and a moving block (27) is arranged outside the reciprocating screw (25).

2. The multi-station six-axis palletizing robot positioning structure according to claim 1, characterized in that: The reciprocating screw (25) is threadedly connected to the moving block (27), the top end of the moving block (27) is arranged outside the connecting rod (22), and the moving block (27) is slidably connected to the connecting rod (22).

3. The multi-station six-axis palletizing robot positioning structure according to claim 1, characterized in that: The clamping mechanism (3) includes a clamping operating frame (31), the clamping operating frame (31) is fixedly connected to the bottom of the moving block (27) by bolts, one side of the clamping operating frame (31) is fixedly connected to a third motor (32), the output end of the third motor (32) is fixedly connected to a bidirectional screw (33), the bidirectional screw (33) is arranged inside the clamping operating frame (31), and the bidirectional screw (33) is rotatably connected to the clamping operating frame (31), both ends of the bidirectional screw (33) are threadedly connected to sliding blocks (34), the interiors of the two groups of sliding blocks (34) are provided with clamping blocks (36), and the two groups of clamping blocks (36) are fixedly connected to a friction block (37) on one side close to the center of the clamping operating frame (31).

4. The multi-station six-axis palletizing robot positioning structure according to claim 3, characterized in that: Two groups of limiting rods (35) are fixedly connected inside the clamping operation frame (31), the sliding block (34) is arranged outside the limiting rods (35), and the sliding block (34) is slidably connected to the limiting rods (35).

5. The multi-station six-axis palletizing robot positioning structure according to claim 3, characterized in that: The two groups of clamping blocks (36) are plugged into the sliding block (34), and two groups of mounting rods (38) are provided inside the top ends of the two groups of clamping blocks (36). Mounting grooves (39) adapted to the mounting rods (38) are provided on both sides of the interior of the sliding block (34), and the mounting rods (38) are plugged into the mounting grooves (39).

6. The multi-station six-axis palletizing robot positioning structure according to claim 5, characterized in that: The mounting rods (38) are symmetrically arranged inside the top end of the clamping block (36), and a return spring (40) is fixedly connected between the two groups of mounting rods (38).

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