Stacking and distributing device of automatic distributing robot

Abstract

The utility model relates to the technical field of stacking and distributing, in particular to a stacking and distributing device of an automatic distributing robot. Comprising a feeding robot, a robot gripper is arranged on the feeding robot, a feeding frame is arranged on one side of the feeding robot, and the feeding frame conveys the door knife. In the process that the feeding frame conveys the door knife, the door knife slides in the guide structure, after the door knife moves out of the guide mechanism, the electric telescopic rod works to drive the moving plate to move in the same direction, and in the moving process of the moving plate, the connecting plate slides in the rotating plate, so that a channel of the guide mechanism for conveying the door knife is changed, and the door knife is conveyed. After the guide mechanism stops adjusting the position, dislocation is formed between the distance between the two moving plates and the previous door knife, and the subsequent door knife moves to the position on one side of the previous door knife, so that a plurality of door knives exist on the feeding frame at the same time, and the situation that the door knives are blocked on the feeding frame and collide to cause damage to the door knives is avoided.

Description

Technical Field

[0001] This utility model relates to the field of palletizing and material sorting technology, specifically, to a palletizing and material sorting device for an automatic material sorting robot. Background Technology

[0002] In the existing production and processing of door knife 6, in order to improve the working efficiency of door knife 6 conveying, a palletizing robot is used to replace the traditional manual handling conveying method to avoid wasting a lot of manpower. The palletizing robot mainly includes a feeding robot 1, a feeding rack 2, and a discharging rack 3. The door knife 6 is placed on the feeding rack 2, and the feeding rack 2 conveys the door knife 6 to the area below the feeding robot 1. In the existing feeding rack 2, the feeding robot 1 usually grabs the door knife 6 on the feeding rack 2, and then the feeding rack 2 conveys the next door knife 6 to the area below the feeding robot 1, so that the feeding robot 1 grabs the door knife 6 in sequence. Since the working interval of the feeding robot 1 is the same, if the feeding rack 2 conveys the door knife 6 at a fast speed, it is easy to cause the door knife 6 on the feeding rack 2 to become blocked. During the conveying process, the ends of the door knife 6 on the feeding rack 2 collide due to the blockage, which can easily cause damage to the ends of the door knife 6. In view of this, we propose a palletizing and distributing device for an automatic distributing robot. Utility Model Content

[0003] The purpose of this invention is to provide a palletizing and sorting device for an automatic material sorting robot to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, one objective of this utility model is to provide a palletizing and sorting device for an automatic material sorting robot, including a feeding robot equipped with a robotic gripper. The feeding robot grasps a door knife through the robotic gripper. A feeding rack is provided on one side of the feeding robot, and the feeding rack conveys the door knife. A guiding mechanism is provided on the feeding rack to change the movement path of the door knife. The guiding mechanism includes a mounting frame fixedly disposed on one side of the feeding rack near the top. The mounting frame consists of two vertically arranged side plates and a horizontally arranged plate fixed to one end of the two side plates. The horizontally arranged plate is positioned on the feeding rack. At the position where the door knife is placed on the frame, an inclined plate is fixedly installed at the end of each of the two side plates near the horizontally placed plate. The ends of the two inclined plates away from the horizontally placed plate are positioned close to each other. An electric telescopic rod is fixedly installed on the side plate away from the horizontally placed plate. The piston end of the electric telescopic rod extends into the mounting frame. A moving plate is fixedly installed at the piston end of the electric telescopic rod. A rotating plate is rotatably connected to the side of the moving plate and the inclined plate that are close to each other. A connecting plate is provided between the two rotating plates on the same side of the mounting frame. The two rotating plates on the same side and the connecting plate form a telescopic component. A material distribution mechanism is provided at the bottom of the feeding frame. The material distribution mechanism is used to adjust the position of the door knife on the feeding frame.

[0005] As a further improvement to this technical solution, the rotating plate has an internal movable groove that passes through the side near the connecting plate 46. The two ends of the connecting plate are slidably connected to the two movable grooves respectively. The surface of the rotating plate near the side plate has several sliding grooves. The side of the connecting plate near the sliding grooves has several sliders corresponding to the number of sliding grooves, and the sliders are slidably connected inside the sliding grooves.

[0006] As a further improvement to this technical solution, the feeding frame is internally connected with several feeding rollers, which feed the door knife when they rotate.

[0007] As a further improvement to this technical solution, the material distribution mechanism includes two fixed frames fixedly installed at the bottom of the feeding frame. A plurality of guide rods are fixedly installed between the two fixed frames. The guide rods and the feeding rollers have the same axial direction. A movable seat is slidably connected to the guide rod. The movable seat moves along the axial direction of the guide rod. A mounting plate is fixedly installed on the top of the movable seat. Material distribution rods are fixedly installed on the upper surface of the mounting plate near both ends. The upper end of the material distribution rod extends to the upper side of the feeding roller through the gap between the two feeding rollers.

[0008] As a further improvement to this technical solution, a motor is fixedly installed at the bottom of the feeding rack, and gears are installed on several feeding rollers and the motor shaft. The gears are connected by a chain, and when the motor shaft rotates, the chain drives the several feeding rollers to rotate synchronously.

[0009] As a further improvement to this technical solution, the feeding robot is provided with a material feeding rack on its outside, which is used to place the door knife, and omnidirectional wheels are installed at the four corners of the bottom of the material feeding rack.

[0010] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0011] 1. A palletizing and sorting device for an automatic material sorting robot, wherein when the feeding robot grabs a door knife, the door knife is transported to the area below the feeding robot via a feeding rack. During the process of the door knife being transported by the feeding rack, the door knife slides inside the guide structure. After the door knife moves out of the guide mechanism, the electric telescopic rod drives the moving plate to move in the same direction. During the movement of the moving plate, the connecting plate slides inside the rotating plate, thereby changing the channel through which the guide mechanism transports the door knife. After the guide mechanism stops adjusting its position, the distance between the two moving plates is misaligned with that of the previous door knife, and the subsequent door knife moves to the side of the previous door knife. This allows multiple door knives to be present on the feeding rack at the same time, avoiding blockage and collision of door knives on the feeding rack, which could cause damage to the door knives. This facilitates the packaging and use of subsequent door knives. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model;

[0013] Figure 2 This is one of the three-dimensional structural diagrams of the feeding rack in this utility model;

[0014] Figure 3 This is the second three-dimensional structural diagram of the feeding rack in this utility model;

[0015] Figure 4 This is one of the three-dimensional structural diagrams of the feeding rack and guiding mechanism in this utility model;

[0016] Figure 5 This is a three-dimensional structural diagram of the guide mechanism in this utility model;

[0017] Figure 6 This is a three-dimensional structural diagram of the material distribution mechanism in this utility model.

[0018] The meanings of the labels in the diagram are as follows:

[0019] 1. Feeding robot; 11. Robot gripper;

[0020] 2. Feeding rack; 21. Feeding roller;

[0021] 3. Material feeding rack;

[0022] 4. Guiding mechanism; 41. Mounting bracket; 42. Inclined plate; 43. Electric telescopic rod; 44. Moving plate; 45. Rotating plate; 46. Connecting plate;

[0023] 5. Material distribution mechanism; 51. Fixed frame; 52. Guide rod; 53. Movable seat; 54. Mounting plate; 55. Material distribution rod;

[0024] 6. Door knife. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Example 1

[0027] Please see Figures 1-6As shown, one of the objectives of this embodiment is to provide a palletizing and sorting device for an automatic material sorting robot, including a feeding robot 1. The feeding robot 1 is equipped with a robot gripper 11, which grips the door knife 6. A feeding frame 2 is provided on one side of the feeding robot 1, which conveys the door knife 6. Several feeding rollers 21 are rotatably connected inside the feeding frame 2, which conveys the door knife 6 when rotating. A motor is fixedly installed at the bottom of the feeding frame 2, and the feeding rollers 21 and the motor... Gears are installed on the rotating shaft of the machine, and several gears are connected by chains. When the motor shaft rotates, the chain drives several feeding rollers 21 to rotate synchronously. The rotating feeding rollers 21 transport the door knife 6 placed on the feeding rack 2. The feeding robot 1 has a feeding rack 3 on its outside, which is used to place the door knife 6. Universal wheels are installed at the four corners of the bottom of the feeding rack 3. When it is necessary to unload and pack the door knife 6, the door knife 6 processing equipment transfers the door knife 6 to be unloaded onto the feeding rack 2. At this time, the door knife 6 is located at... The rotating shaft of the motor on the feeding roller 21 drives the feeding roller 21 to rotate via a toothed chain and gears. The rotating feeding roller 21 drives the door knife 6 to move, and the door knife 6 is conveyed to the area below the feeding robot 1 through the feeding frame 2. When the feeding robot 1 is working, it drives the robot gripper 11 to move towards the feeding frame 2, so that the robot gripper 11 approaches and grabs the door knife 6. After the robot gripper 11 grabs the door knife 6, the feeding robot 1 works to drive the robot gripper 11 and the door knife 6 towards the area near the unloading frame 3. When the material robot 1 moves the door knife 6 to the material feeding rack 3, the robot gripper 11 releases the door knife 6 and places it on the material feeding rack 3. This process is repeated. When the material feeding rack 3 is full of door knives 6, the operator pushes the material feeding rack 3. The material feeding rack 3 is pushed and tends to slide on the ground. There is friction between the universal wheels at the bottom of the material feeding rack 3 and the ground. When the material feeding rack 3 slides, the universal wheels at the bottom of the material feeding rack 3 roll due to friction with the ground, thereby moving the material feeding rack 3. This completes the material feeding rack 3 to transport the door knife 6.

[0028] During the feeding process of the door knife 6 on the feeding rack 2, if the feeding robot 1 fails to grab the door knife 6 on the feeding rack 2 in time, the end of the next door knife 6 may collide with the previous door knife 6 during movement, causing damage to the door knife 6. To avoid collisions between multiple door knives 6, a guide mechanism 4 is provided on the feeding rack 2. The guide mechanism 4 is used to change the movement path of the door knife 6. The guide mechanism 4 includes a mounting frame 41 fixedly installed on one side of the feeding rack 2 near the top. The mounting frame 41 consists of two vertically arranged side plates and a horizontally arranged plate fixed to one end of the two side plates. The horizontally arranged plate is positioned on the feeding rack 2 at the location where the door knife 6 is placed. When the door knife 6 moves on the feeding roller 21, the horizontally arranged plate will not obstruct the movement of the door knife 6. An inclined plate 42 is fixedly installed at the end of each of the two side plates near the horizontally placed plate. The ends of the two inclined plates 42 away from the horizontally placed plate are positioned close to each other. A passage for the door knife 6 to pass through is left between the two inclined plates 42. An electric telescopic rod 43 is fixedly installed on the side plate away from the horizontally placed plate. The electric telescopic rod 43 is installed on the side of the two side plates away from each other. The piston end of the electric telescopic rod 43 extends into the mounting frame 41. A moving plate 44 is fixedly installed at the piston end of the electric telescopic rod 43. A rotating plate 45 is rotatably connected to the moving plate 44 and the inclined plate 42 on the side close to each other. A connecting plate 46 is provided between the two rotating plates 45 on the same side of the mounting frame 41. Plate 46 forms a telescopic component. The rotating plate 45 has a through-hole groove extending from the side near the connecting plate 46. Both ends of the connecting plate 46 are slidably connected to the two through-holes. Several sliding grooves are formed on the surface of the rotating plate 45 near the side plate. Several sliders corresponding to the number of sliding grooves are fixedly installed on the side of the connecting plate 46 near the sliding grooves. The sliders are slidably connected inside the sliding grooves. During the rotation of the feeding roller 21 and the conveying of the door knife 6, the door knife 6 slides inside the guide mechanism 4. During the movement of the door knife 6, its front end contacts the side wall of the inclined plate 42. Guided by the inclined plate 42, the door knife 6 moves towards the rotating plate 45. The door knife 6 moves along the side wall of the inclined plate 42 to the space between the rotating plates 45. The door knife 6 moves along the gap between the two telescopic components. The door knife 6 moves out through the gap between the two moving plates 44. After the door knife 6 moves out of the guide mechanism 4 through the gap between the two moving plates 44, the electric telescopic rod 43 drives the moving plates 44 to move in the same direction. During the movement of the moving plates 44 by the electric telescopic rod 43, the distance between the two moving plates 44 remains unchanged. During the movement of the moving plates 44, the moving plates 44 pull the rotating plate 45 that is hinged to the moving plates 44. The rotating plate 45 that moves with the moving plates 44 drives the connecting plate 46 to move, so that the connecting plate 46 slides inside the rotating plate 45. During the movement, the connecting plate 46 drives the rotating plate 45 that is hinged to the inclined plate 42 to rotate, thereby changing the channel between the two telescopic parts.This design ensures that the path of the subsequent door knife 6 passing between the two telescopic members is different from that of the previous door knife 6. The gap between the two moving plates 44 is misaligned with the previous door knife 6. After the subsequent door knife 6 leaves the guide mechanism 4, it can be placed side-by-side with the previous door knife 6 that has not yet been grasped by the robot gripper 11, thus preventing collisions and damage between multiple door knives 6 on the feed rack 2.

[0029] To further ensure that the multiple cutting tools 6 on the feeding rack 2 do not collide, a material distribution mechanism 5 is provided at the bottom of the feeding rack 2. The material distribution mechanism 5 is used to adjust the position of the cutting tools 6 on the feeding rack 2, thereby changing the direction of movement of the cutting tools 6 on the feeding rack 2, so that the multiple cutting tools 6 do not collide with each other. The material distribution mechanism 5 includes two fixed frames 51 fixedly installed at the bottom of the feeding rack 2, and a number of guide rods 52 fixedly installed between the two fixed frames 51. The axis of the guide rods 52 is in the same direction as that of the feeding roller 21, and a movable seat 5 is slidably connected to the guide rods 52. 3. The number of movable seats 53 is unlimited. This solution shows the state of installing one movable seat 53. The number of movable seats 53 installed is related to the number of types of door knife 6 that need to be distinguished. When three types of door knife 6 need to be distinguished, two movable seats 53 are installed on the guide rod 52. The movable seats 53 can move along the axis of the guide rod 52. A mounting plate 54 is fixedly installed on the top of the movable seat 53. A material distribution rod 55 is fixedly installed on the upper surface of the mounting plate 54 near both ends. The upper end of the material distribution rod 55 extends to the upper side of the feeding roller 21 through the gap between the two feeding rollers 21. When it is necessary to separate different models of door cutters 6 on the feeding rack 2, since the widths of different models of door cutters 6 are different, the operator disassembles a fixed bracket 51 on one side of the guide rod 52 according to the width of the different models of door cutters 6, and then installs a corresponding number of movable seats 53 on the guide rod 52. Then, the fixed bracket 51 is installed at the end of the guide rod 52. The operator pushes the movable seats 53, so that the movable seats 53 move along the axis of the guide rod 52. When the movable seats 53 move, they drive the mounting plate 54 and the separating rod 55 to move. The separating rod 55 then moves the feeding rack. The space on the feeding rack 2 is divided, and the gap between several movable seats 53 matches the width of the door knife 6. Thus, the space on the feeding rack 2 is divided into several identical gaps by several dividing rods 55. At this time, the movable seats 53 are fixed on the guide rods 52 with bolts. The door knife 6 is transported to the gap between the dividing rods 55 by the feeding rack 2, so that the door knife 6 on the feeding rack 2 is located on both sides of the dividing rods 55. The dividing rods 55 separate the door knife 6 to avoid collision between adjacent door knives 6 and damage to the door knife 6, so as to facilitate the subsequent packaging and use of the door knife 6.

[0030] In summary, the working principle of this scheme is as follows: When the door knife 6 needs to be unloaded, the operator pushes the moving seat 53. The gap between the moving seats 53 matches the width of the door knife 6. The door knife 6 processing equipment transfers the door knife 6 to the feeding rack 2. At this time, the door knife 6 is located between the two inclined plates 42. The rotating feeding roller 21 drives the door knife 6 to move inside the guide mechanism 4. The moving door knife 6 moves to the gap formed by the dividing rod 55 under the guidance of the two telescopic parts. When the previous door knife 6 on the feeding rack 2 moves out of the guide mechanism 4, the electric telescopic rod 43 drives the moving plate 44 to move in the same direction. The distance between the two moving plates 44 is misaligned with the previous door knife 6, so that the gap between the two moving plates 44 and the dividing rod 55 on one side of the previous door knife 6 are aligned. The gaps formed by the 5 components correspond to the gaps between the subsequent door knife 6, allowing them to move sequentially into the gaps between the separating rods 55. This ensures that the subsequent door knife 6 is placed side by side with the previous door knife 6. The separating mechanism 5 then separates the door knife 6 on the feeding rack 2, preventing collisions and damage between multiple door knife 6 on the feeding rack 2. The rotating feeding roller 21 moves the door knife 6 below the feeding robot 1. The feeding robot 1 then drives the robot gripper 11 to grab the door knife 6 on the feeding rack 2 and move it towards the unloading rack 3. The robot gripper 11 releases the door knife 6 and places it on the unloading rack 3. This process is repeated until the unloading rack 3 is full of door knife 6. The operator then pushes the unloading rack 3 to move it, conveying the door knife 6 for subsequent packaging.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A palletizing and sorting device for an automatic material sorting robot, comprising a feeding robot (1), wherein the feeding robot (1) is equipped with a robot gripper (11), and the feeding robot (1) grasps a door knife (6) through the robot gripper (11), characterized in that: The feeding robot (1) has a feeding rack (2) on one side, which conveys the door knife (6). The feeding rack (2) is equipped with a guide mechanism (4) to change the movement path of the door knife (6). The guide mechanism (4) includes a mounting frame (41) fixedly installed on one side of the feeding rack (2) near the top. The mounting frame (41) consists of two vertically arranged side plates and a horizontally arranged plate fixed at one end of the two side plates. The horizontally arranged plate is set on the feeding rack (2) at the position where the door knife (6) is placed. An inclined plate (42) is fixedly installed between the two side plates near the end of the horizontally arranged plate. The two inclined plates (42) are away from the horizontally arranged plate. One end of each is set close to the other. An electric telescopic rod (43) is fixedly set on the side plate away from the horizontally placed plate. The piston end of the electric telescopic rod (43) extends into the mounting frame (41). A moving plate (44) is fixedly set on the piston end of the electric telescopic rod (43). A rotating plate (45) is rotatably connected to the side of the moving plate (44) and the inclined plate (42) that are close to each other. A connecting plate (46) is set between the two rotating plates (45) on the same side of the mounting frame (41). The two rotating plates (45) on the same side and the connecting plate (46) form a telescopic component. A material distribution mechanism (5) is provided at the bottom of the feeding rack (2). The material distribution mechanism (5) is used to adjust the position of the door knife (6) on the feeding rack (2).

2. The palletizing and sorting device of the automatic material sorting robot according to claim 1, characterized in that: The rotating plate (45) has an open movable groove that passes through the side of the connecting plate (46). The two ends of the connecting plate (46) are slidably connected to the two movable grooves respectively. The surface of the rotating plate (45) near the side plate has several sliding grooves. The side of the connecting plate (46) near the sliding grooves has several sliders corresponding to the number of sliding grooves. The sliders are slidably connected inside the sliding grooves.

3. The palletizing and sorting device of the automatic material sorting robot according to claim 1, characterized in that: The feeding rack (2) has several feeding rollers (21) rotatably connected inside, and the feeding rollers (21) convey the door knife (6) when rotating.

4. The palletizing and sorting device of the automatic material sorting robot according to claim 3, characterized in that: The material distribution mechanism (5) includes two fixed frames (51) fixedly installed at the bottom of the feeding frame (2). A plurality of guide rods (52) are fixedly installed between the two fixed frames (51). The guide rods (52) and the feeding rollers (21) are in the same axial direction. A movable seat (53) is slidably connected to the guide rods (52). The movable seat (53) moves along the axial direction of the guide rods (52). A mounting plate (54) is fixedly installed on the top of the movable seat (53). Material distribution rods (55) are fixedly installed on the upper surface of the mounting plate (54) near both ends. The upper end of the material distribution rod (55) extends to the upper side of the feeding rollers (21) through the gap between the two feeding rollers (21).

5. The palletizing and sorting device of the automatic material sorting robot according to claim 3, characterized in that: The bottom of the feeding rack (2) is fixedly equipped with a motor. Gears are installed on several feeding rollers (21) and the motor shaft. The gears are connected by a chain. When the motor shaft rotates, the chain drives the several feeding rollers (21) to rotate synchronously.

6. The palletizing and sorting device of the automatic material sorting robot according to claim 1, characterized in that: The feeding robot (1) is provided with a material rack (3) on its outside. The material rack (3) is used to place the door knife (6). Universal wheels are installed at the four corners of the bottom of the material rack (3).

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