Four-axis unstacking robot device

Abstract

The utility model discloses a four-axis unstacking robot device. The four-axis unstacking robot device comprises a sponge suction cup, a rotating piece, a telescopic arm assembly, a front-back moving frame, a left-right moving module, a front-back moving module and a main body frame. The sponge suction cup is arranged at the lower end of the rotating piece, the rotating piece is arranged at the lower end of the telescopic arm assembly, and the telescopic arm assembly is slidably arranged on the front-back moving frame. The left-right movement module is arranged on the front-back movement frame and used for driving the telescopic arm assembly to move along the front-back movement frame. The front-and-back moving frame is slidably arranged on the front-and-back moving module, and the front-and-back moving module is used for driving the front-and-back moving frame to move. According to the device, an automatic unstacking mode is adopted to replace manual carrying of small box paper, labor input is reduced, the labor intensity of operators is reduced, sponge suction cups can accurately reach all positions through multi-directional accurate adjustment, the small box paper is accurately grabbed and released, the use performance is improved, and the production efficiency is improved. And meanwhile, the working efficiency is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of tobacco packaging machine technology, specifically to a four-axis depalletizing robot device. Background Technology

[0002] Currently, the small boxes of paper used in the cigarette packaging workshop are palletized stacks of paper from the auxiliary material warehouse. These are placed by AGV carts to designated areas near the packaging machines. Dedicated workers on the high-speed packaging machines then place the small boxes to the corresponding loading stations as needed. Each worker must load multiple sets of high-speed packaging machines. Before loading, each set of packaged small boxes must be unpacked, and each layer of small boxes on the pallet is separated by rigid cardboard to protect their appearance from damage. The loading station is located at the back of the packaging machine. The conveyor belt at the loading station can buffer a small amount of small boxes. The unpacking and loading process is time-consuming, and the stock needs to be replenished promptly when it gets low. In summary, high-speed packaging machine operators must simultaneously perform loading tasks on multiple machines, resulting in high workload and an inability to manage multiple tasks at the same time. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides a four-axis destacking robot device.

[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A four-axis depalletizing robot device, comprising:

[0005] Sponge suction cups are used to absorb small boxes of paper.

[0006] The rotating component has a sponge suction cup located at its lower end, which is used to drive the sponge suction cup to rotate.

[0007] The telescopic arm assembly has a rotating component located at its lower end, which is used to drive the rotating component and the sponge suction cup to move up and down in the height direction.

[0008] The telescopic arm assembly is slidably mounted on the front and rear moving frame.

[0009] The left and right motion module is set on the front and rear moving frame and is used to drive the telescopic arm assembly to move along the front and rear moving frame.

[0010] The front and rear motion module has a front and rear moving frame that is slidably mounted on it, and the front and rear motion module is used to drive the front and rear moving frame to move.

[0011] The main frame and the front and rear motion modules are set on the main frame.

[0012] Furthermore, the telescopic arm assembly includes a fixed arm vertically mounted on the front and rear moving frame, an up-and-down drive servo motor mounted on the fixed arm, a transmission assembly connected to the output end of the up-and-down drive servo motor, a primary telescopic arm connected to the inside of the fixed arm via the transmission assembly and capable of telescopic movement along the fixed arm, and a secondary telescopic arm connected to the primary telescopic arm via a belt clamp and capable of telescopic movement along the primary telescopic arm, with a rotating component located at the end of the secondary telescopic arm.

[0013] Furthermore, the transmission assembly includes a synchronous pulley and a synchronous belt located at the output ends of the upper and lower servo motors, a lead screw connected to the synchronous pulley, and a lead screw nut connected to the lead screw. The first-stage telescopic arm is located on the lead screw nut.

[0014] Furthermore, the secondary telescopic boom is equipped with a set of synchronous pulleys and a synchronous belt. The upper end of one side of the synchronous belt is connected to the primary telescopic boom through a belt clamp, and the lower end of the other side is connected to the secondary telescopic boom through a belt clamp.

[0015] Furthermore, the left and right motion module includes left and right drive servo motors mounted on the front and rear moving frame, left and right drive pulleys mounted on the output ends of the left and right servo drive motors, left and right drive synchronous belts connected to the left and right drive pulleys, and synchronous belt clamps mounted on the left and right drive synchronous belts, with the fixed arm mounted on the synchronous belt clamps.

[0016] Furthermore, the bottom of the front-to-back moving frame is provided with a left-to-right sliding rail, and the upper end of the fixed arm is provided with a left-to-right sliding slider that slides in cooperation with the left-to-right sliding rail.

[0017] Furthermore, the front and rear motion module includes front and rear drive servo motors mounted on the main frame, front and rear drive transmission shafts mounted on the output ends of the front and rear servo drive motors, bearing seats mounted on both sides of the main frame and used for mounting the front and rear drive transmission shafts, front and rear drive pulleys connected to the ends of the front and rear drive transmission shafts, front and rear drive synchronous belts mounted on the front and rear drive pulleys, and synchronous belt clamps mounted on the front and rear drive synchronous belts. The front and rear moving frame is mounted on the synchronous belt clamps.

[0018] Furthermore, the main frame is provided with a front-to-back sliding rail, and the front-to-back moving frame is provided with a front-to-back sliding slider that slides in cooperation with the front-to-back sliding rail.

[0019] The present invention has the following beneficial effects: The four-axis depalletizing robot device provided by the present invention replaces manual handling of small boxes of paper with automatic depalletizing, reduces labor input, reduces the labor intensity of operators, and through multi-directional precise adjustment, enables the sponge suction cup to accurately reach each position, accurately grasp and release the small boxes of paper, improves the performance of use, and effectively improves work efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present utility model. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the structure of the present utility model. Figure 2 ;

[0022] Figures 1 to 2 The reference numerals in the attached drawings represent: 1-sponge suction cup, 2-rotating component, 3-telescopic arm assembly, 4-front and rear moving frame, 5-left and right motion module, 6-front and rear motion module, 7-main frame, 30-fixed arm, 31-up and down drive servo motor, 32-first-stage telescopic arm, 33-second-stage telescopic arm, 50-left and right drive servo motor, 51-left and right drive pulley, 52-left and right drive synchronous belt, 53-synchronous belt clamp, 40-left and right translation slide rail, 41-left and right translation slider, 60-front and rear drive servo motor, 61-front and rear drive transmission shaft, 62-bearing seat, 63-front and rear drive pulley, 64-front and rear drive synchronous belt, 70-front and rear translation slide rail, 71-front and rear translation slider. Detailed Implementation

[0023] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0024] like Figures 1 to 2 As shown, a four-axis depalletizing robot device includes a sponge suction cup 1, a rotating component 2, a telescopic arm assembly 3, a front-to-back moving frame 4, a left-to-right motion module 5, a front-to-back motion module 6, and a main frame 7. The sponge suction cup 1 is used to pick up small boxes of paper; the sponge suction cup 1 is located at the lower end of the rotating component 2 and is used to drive the sponge suction cup 1 to rotate; the rotating component 2 is located at the lower end of the telescopic arm assembly 3 and is used to drive the rotating component 2 and the sponge suction cup 1 to rise and fall in the height direction; the telescopic arm assembly 3 is slidably mounted on the front-to-back moving frame 4; the left-to-right motion module 5 is mounted on the front-to-back moving frame 4 and is used to drive the telescopic arm assembly 3 to move along the front-to-back moving frame 4; the front-to-back moving frame 4 is slidably mounted on the front-to-back motion module 6, and the front-to-back motion module 6 is used to drive the front-to-back moving frame 4 to move, and the front-to-back motion module 6 is mounted on the main frame 7.

[0025] The telescopic arm assembly 3 includes a fixed arm 30 vertically mounted on the front-rear moving frame 4, a vertical drive servo motor 31 mounted on the fixed arm 30, a transmission assembly connected to the output end of the vertical drive servo motor 31, a primary telescopic arm 32 connected to the inside of the fixed arm 30 via the transmission assembly and capable of telescopic movement along the fixed arm 30, and a secondary telescopic arm 33 connected to the primary telescopic arm 32 via a belt clamp and capable of telescopic movement along the primary telescopic arm 32. A rotating component 2 is located at the end of the secondary telescopic arm 33. The fixed arm 30 is vertically mounted on the front-rear moving frame 4, serving as the support and reference for the entire telescopic arm assembly 3. It ensures the stability and accuracy of the entire telescopic arm assembly 3. The transmission assembly is connected to the output end of the vertical drive servo motor 31, responsible for transmitting the motor's power to the telescopic arm, converting the motor's rotational motion into the linear motion of the telescopic arm. The first-stage telescopic arm 32 is connected to the inside of the fixed arm 30 through a transmission assembly and can extend and retract along the fixed arm 30. It is responsible for adjusting the length of the telescopic arm within a certain range. The second-stage telescopic arm 33 is equipped with a set of synchronous pulleys and a synchronous belt. The upper end of the synchronous belt on one side is connected to the first-stage telescopic arm 32 through a belt clamp, and the lower end on the other side is connected to the second-stage telescopic arm 33 through a belt clamp. After the diagonal connection, when the first-stage telescopic arm 32 moves up and down through the up and down drive servo motor 31, it pulls the belt conveyor inside the second-stage telescopic arm 33 to make the second-stage telescopic arm 33 move up and down synchronously with the first-stage telescopic arm 32.

[0026] Specifically, the transmission assembly includes a synchronous pulley and a synchronous belt located at the output ends of the upper and lower servo motors, a lead screw connected to the synchronous pulley, and a lead screw nut fitted onto the lead screw. A primary telescopic arm 32 is mounted on the lead screw nut. The synchronous pulley has a toothed structure matching the synchronous belt; the two mesh with each other through their teeth to achieve precise power transmission. The lead screw is connected to the synchronous pulley and rotates via the synchronous belt. When the lead screw rotates, the lead screw nut moves along the axial direction of the lead screw. The primary telescopic arm 32 is mounted on the lead screw nut; when the lead screw nut moves, the primary telescopic arm 32 also moves accordingly, thus achieving the telescopic function.

[0027] The left-right motion module 5 includes left-right drive servo motors 50 mounted on the front-back moving frame 4, left-right drive pulleys 51 mounted on the output ends of the left-right drive servo motors 50, left-right drive synchronous belts 52 connected to the left-right drive pulleys 51, and synchronous belt clamps 53 mounted on the left-right drive synchronous belts 52. A fixed arm 30 is mounted on the synchronous belt clamp 53. When the left-right drive servo motors 50 rotate and generate driving force, this driving force is transmitted to the left-right drive pulleys 51 through the motor's output end, causing the pulleys to rotate. The rotation of the left-right drive pulleys 51 drives the synchronous belt to transmit power. Due to the high-precision transmission characteristics of the synchronous belt, the stability and accuracy of the transmission process are ensured. As the synchronous belt drives, the synchronous belt clamp 53 also moves along the path of the synchronous belt. As a support structure for the fixed arm 30, the synchronous belt clamp 53 drives the fixed arm 30 to move together. Under the drive of the synchronous belt clamp 53, the fixed arm 30 can move left and right along the path of the synchronous belt. This movement process is determined by the control signals of the left-right drive servo motors 50, thus achieving precise left-right positioning.

[0028] In addition, in order to improve the reliability and stability of the movement of the fixed arm 30, the bottom of the front and rear moving frame 4 is provided with a left and right translation slide rail 40, and the upper end of the fixed arm 30 is provided with a left and right translation slider 41 that slides in cooperation with the left and right translation slide rail 40.

[0029] The front-to-back motion module 6 includes front-to-back drive servo motors 60 mounted on the main frame 7, front-to-back drive shafts 61 mounted at the output ends of the front-to-back drive servo motors 60, bearing seats 62 mounted on both sides of the main frame 7 for mounting the front-to-back drive shafts 61, front-to-back drive pulleys 63 connected to the ends of the front-to-back drive shafts 61, front-to-back drive synchronous belts 64 mounted on the front-to-back drive pulleys 63, and synchronous belt clamps 53 mounted on the front-to-back drive synchronous belts 64. The front-to-back moving frame 4 is mounted on the synchronous belt clamps 53. When the front-to-back drive servo motors 60 receive a control signal, they begin to rotate and generate driving force. This driving force is transmitted to the front-to-back drive shafts 61 through the output ends of the motors, driving the drive shafts to rotate. The front-to-back drive shafts 61 rotate stably under the support of the bearing seats 62. The rotation of the drive shaft drives the front-to-back drive pulleys 63 connected to its ends to rotate synchronously. The rotation of the front-to-back drive pulleys 63 drives the front-to-back drive synchronous belts 64 surrounding them to perform transmission. The high-precision transmission characteristics of the synchronous belts ensure the stability and accuracy of the transmission process. As the synchronous belt drives the transmission, the synchronous belt clamp 53 also moves along the path of the synchronous belt. The movement of the synchronous belt clamp 53 drives the front and rear moving frame 4 mounted on it to move back and forth. Driven by the synchronous belt clamp 53, the front and rear moving frame 4 moves back and forth along a predetermined path.

[0030] To improve the stability and reliability of translation, the main frame 7 is provided with a front-to-back translation slide rail 70, and the front-to-back moving frame 4 is provided with a front-to-back translation slider 71 that slides in cooperation with the front-to-back translation slide rail 70.

[0031] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A four-axis depalletizing robot device, characterized in that, include: Sponge suction cup (1) is used to absorb small boxes of paper; Rotating component (2), the sponge suction cup (1) is disposed at the lower end of the rotating component (2) and is used to drive the sponge suction cup (1) to rotate; Telescopic arm assembly (3), wherein the rotating part (2) is disposed at the lower end of the telescopic arm assembly (3) and is used to drive the rotating part (2) and the sponge suction cup (1) to rise and fall in the height direction; The telescopic arm assembly (3) is slidably mounted on the front and rear moving frame (4). Left and right motion module (5), the left and right motion module (5) is disposed on the front and back moving frame (4) and is used to drive the telescopic arm assembly (3) to move along the front and back moving frame (4); The front and rear motion module (6) is slidably disposed on the front and rear motion module (6), and the front and rear motion module (6) is used to drive the front and rear motion frame (4) to move. The main frame (7) is provided with the front and rear motion modules (6) mounted on the main frame (7).

2. The four-axis depalletizing robot device according to claim 1, characterized in that, The telescopic arm assembly (3) includes a fixed arm (30) vertically mounted on the front and rear moving frame (4), an up and down drive servo motor (31) mounted on the fixed arm (30), a transmission assembly connected to the output end of the up and down drive servo motor (31), a first-stage telescopic arm (32) connected to the inside of the fixed arm (30) via the transmission assembly and capable of telescopic extension along the fixed arm (30), and a second-stage telescopic arm (33) connected to the first-stage telescopic arm (32) via a belt clamp and capable of telescopic extension along the first-stage telescopic arm (32). The rotating component (2) is located at the end of the second-stage telescopic arm (33).

3. The four-axis depalletizing robot device according to claim 2, characterized in that, The transmission assembly includes a synchronous pulley and a synchronous belt set at the output ends of the upper and lower servo motors, a lead screw connected to the synchronous pulley, and a lead screw nut connected to the lead screw. The first-stage telescopic arm (32) is set on the lead screw nut.

4. The four-axis depalletizing robot device according to claim 2, characterized in that, The secondary telescopic boom (33) is equipped with a set of synchronous pulleys and a synchronous belt. The upper end of one side of the synchronous belt is connected to the primary telescopic boom (32) through a belt clamp, and the lower end of the other side is connected to the secondary telescopic boom (33) through a belt clamp.

5. The four-axis depalletizing robot device according to claim 2, characterized in that, The left and right motion module (5) includes a left and right drive servo motor (50) mounted on the front and rear moving frame (4), a left and right drive pulley (51) mounted on the output end of the left and right drive servo motor (50), a left and right drive synchronous belt (52) connected to the left and right drive pulley (51), and a synchronous belt clamp (53) mounted on the left and right drive synchronous belt (52). The fixed arm (30) is mounted on the synchronous belt clamp (53).

6. The four-axis depalletizing robot device according to claim 5, characterized in that, The bottom of the front and rear moving frame (4) is provided with a left and right translation slide rail (40), and the upper end of the fixed arm (30) is provided with a left and right translation slider (41) that slides in cooperation with the left and right translation slide rail (40).

7. The four-axis depalletizing robot device according to claim 1, characterized in that, The front and rear motion module (6) includes a front and rear drive servo motor (60) mounted on the main frame (7), a front and rear drive transmission shaft (61) mounted on the output end of the front and rear drive servo motor (60), bearing seats (62) mounted on both sides of the main frame (7) and used for mounting the front and rear drive transmission shaft (61), front and rear drive pulleys (63) connected to the ends of the front and rear drive transmission shaft (61), a front and rear drive synchronous belt (64) mounted on the front and rear drive pulleys (63), and a synchronous belt clamp (53) mounted on the front and rear drive synchronous belt (64). The front and rear moving frame (4) is mounted on the synchronous belt clamp (53).

8. The four-axis depalletizing robot device according to claim 7, characterized in that, The main frame (7) is provided with a front-to-back translation slide rail (70), and the front-to-back moving frame (4) is provided with a front-to-back translation slider (71) that slides in cooperation with the front-to-back translation slide rail (70).

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