Industrial robot stacking device

Abstract

The utility model relates to the technical field of industrial machinery, in particular to an industrial robot stacking device which comprises a base, a supporting column arranged at the top of the base, a back-and-forth rotating assembly, a clamping and transporting mechanism and a bearing frame. The back-and-forth rotating assembly is arranged at the top of the supporting column. The clamping and transporting mechanism is arranged on the back-and-forth rotating assembly; the bearing frame is arranged on the side face of the back-and-forth rotating assembly, a moving plate is arranged above the bearing frame, and the top of the moving plate is connected with the clamping and conveying mechanism. Through the arrangement of the clamping and conveying mechanism, the air cylinder drives the pressing plate to extrude the air bag so as to generate airflow, the airflow is blown to the upper surface of a material through the air blowing pipe, dust on the material is blown away, the surface of the material can be ensured to be clean and free of impurities, friction force between the clamping jaw and the material is increased, and clamping stability is improved; and the materials can be prevented from slipping or moving in the clamping process, and the stacking accuracy and safety are guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial machinery technical field especially relates to a kind of industrial robot stacking device. BACKGROUND

[0002] Industrial robot stacking device is widely used in manufacturing, logistics and other fields, such as plastic particles, aluminum ingot, packaging and handling of automobile parts, and goods stacking in logistics and warehousing. With the continuous progress of technology and the continuous expansion of application scenarios, the market demand of stacking robot will continue to grow.

[0003] Chinese patent with publication number CN213568473U discloses an industrial robot stacking device, comprising a first support and a second support, the first support and the second support are fixedly connected with guide rails on both sides of the top of the side close to each other, an activity plate is arranged between the top of the two guide rails, and a fixed block is fixedly connected to the top of the activity plate. The utility model discloses a threaded rod and fixed block structure, which drives the threaded rod to rotate by using a servo motor to realize the transverse movement of the activity plate, drives the electromagnet to move up and down directly by the hydraulic cylinder, so as to realize the stacking operation of the steel plate material. Compared with the existing mechanical arm structure, the driving and transmission mode is simple, the parts used are common parts on the market, the selling price is low, the use cost is low, the subsequent maintenance operation is simple, and when the distance between the goods taking and stacking needs to be expanded, only the lengthened threaded rod, guide rail and rectangular rod need to be replaced. The expansion operation is simple and low in difficulty.

[0004] However, the above-mentioned disclosed scheme has the following disadvantages: the existing industrial robot stacking device cannot remove the dust on the top of the material before clamping, which leads to poor clamping effect and easy sliding and overturning, which will cause damage to the material and affect the stacking work. UTILITY MODEL CONTENTS

[0005] The utility model aims at the problem of unstable clamping of material in the background art and provides an industrial robot stacking device.

[0006] The technical scheme of the utility model: an industrial robot stacking device, comprising a base and a support column arranged on the top of the base; further comprising:

[0007] The reciprocating rotation assembly is arranged on the top of the support column and is used for moving the material to and from the stacking site;

[0008] The clamping and conveying mechanism is arranged on the reciprocating rotation assembly and is used for blowing off the dust on the upper surface of the material to be stacked and conveying it in all directions;

[0009] And the support frame is arranged on the side of the reciprocating rotating assembly, the upper portion of the support frame is provided with a moving plate, the top of the moving plate is connected with the clamping and conveying mechanism, the moving plate is driven by the clamping and conveying mechanism to move, and the moving plate is in contact with the support frame and is limited by the support frame when moving to the top of the support frame, and the clamping and conveying mechanism continues to move to clamp the material in all directions.

[0010] Preferably, the reciprocating rotating assembly comprises a rotating plate, a guide groove, a fixed column and a connecting plate.

[0011] The rotating plate is arranged on the outer side of the supporting column, the guide groove is arranged on the rotating plate, the fixed column is arranged on the top of the supporting column, the connecting plate is arranged on the top of the fixed column, the inner side of the end of the connecting plate away from the fixed column is provided with a motor, the output end of the motor is provided with a rotating shaft, the bottom of the rotating shaft is provided with a rotating rod, and the end of the rotating rod away from the rotating shaft is provided with a guide rod.

[0012] Preferably, the clamping and conveying mechanism comprises a lifting assembly, a clamping assembly and a dust removal assembly.

[0013] The lifting assembly is arranged on the rotating plate and is used for driving the clamping assembly and the dust removal assembly to move up and down.

[0014] The clamping assembly is arranged on the bottom of the lifting assembly and is used for clamping the material in all directions.

[0015] The dust removal assembly is arranged on the top of the moving plate and is used for blowing away the dust on the top of the material before clamping the material.

[0016] Preferably, the lifting assembly comprises a cylinder, a push rod, a pressing frame, a linkage rod and a sliding groove one.

[0017] The cylinder is arranged on the top of the rotating plate, the push rod is arranged on the output end of the cylinder, the pressing frame is arranged on the bottom of the push rod, the linkage rod is rotatably arranged on the end of the pressing frame away from the push rod, the end of the linkage rod away from the pressing frame is rotatably provided with a sliding block, and the sliding groove one is arranged on the moving plate.

[0018] Preferably, the clamping assembly comprises a sliding rod, a clamping plate two, a sliding groove two and a clamping plate one.

[0019] The sliding rod is arranged on the bottom of the sliding block, the clamping plate two is arranged on the top of the sliding rod, the end of the clamping plate two away from the sliding rod is provided as an upward inclined surface, the material is conveniently scooped up to be clamped, the sliding groove two is arranged on the sliding rod, the clamping plate one is slidably arranged on the inner side of the sliding groove two, the top of the clamping plate is provided with an elastic tube, the outer side of the elastic tube is provided with a spring, and the top of the elastic tube is provided with a fixed block.

[0020] Preferably, the dust removal assembly comprises a pressing plate, a mounting tube and an air bag.

[0021] The pressing plate is arranged on the side of the pressing frame, the mounting pipe is arranged on the top of the moving plate, the air bag is slidably arranged in the inside of the mounting pipe, and the bottom of the air bag is provided with the blowing pipe.

[0022] Compared with the prior art, the utility model has the beneficial technical effects that:

[0023] 1、Through the setting of the clamping and conveying mechanism, the cylinder drives the pressing plate to extrude the air bag to generate airflow, the airflow is blown to the upper surface of the material through the blowing pipe, thereby blowing off the dust on the material, which can ensure that the material surface is clean and free of impurities, thereby increasing the friction between the clamping jaw and the material, improving the stability of clamping, helping to prevent the material from slipping or moving during clamping, ensuring the accuracy and safety of stacking, then the clamping plate one and the clamping plate two clamp the material, the clamping plate one slides on the sliding rod to clamp the material of different sizes, so that the production line can process more types of products, without frequent replacement of clamping tools or adjustment of production line layout, and the clamping force and position are automatically adjusted, reducing the dependence on manual operation and improving the production efficiency.

[0024] 2、Through the setting of the back-and-forth rotating assembly, the motor drives the rotating plate to rotate back and forth, the rotating plate transports the material to the designated place through the clamping and conveying mechanism, then returns, which can make the automation degree of the device higher, further reduce the intervention of manual operation, enhance the accuracy of stacking, and make the stacking efficiency of the material higher through continuous work. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic view of an embodiment of the utility model;

[0026] Figure 2 It is a structural schematic view of the back-and-forth rotating assembly;

[0027] Figure 3 It is a structural schematic view of the clamping and conveying mechanism;

[0028] Figure 4 It is a structural schematic view of the bottom of the clamping and conveying mechanism.

[0029] Reference signs: 1, base; 2, support column; 301, rotating plate; 302, guide groove; 303, connecting plate; 304, motor; 305, fixed column; 306, rotating shaft; 307, rotating rod; 308, guide rod; 401, air cylinder; 402, supporting frame; 403, push rod; 404, pressing frame; 405, pressing plate; 406, air bag; 407, mounting pipe; 408, blowing pipe; 409, connecting rod; 410, sliding block; 411, moving plate; 412, sliding groove I; 413, sliding rod; 414, fixed block; 415, telescopic pipe; 416, spring; 417, clamping plate I; 418, clamping plate II; 419, sliding groove II. DETAILED DESCRIPTION

[0030] Example one

[0031] As Figures 1-2 shown, the utility model provides a kind of industrial robot stacking device, including base 1, the support column 2 being set in the top of base 1, back-and-forth rotating assembly, clamping transport mechanism and supporting frame 402:

[0032] back-and-forth rotating assembly is set in the top of support column 2, for moving material to and fro to stacking site;

[0033] clamping transport mechanism is set on back-and-forth rotating assembly, for blowing dust on the upper surface of the material to be stacked and carrying out omnibearing clamping transport;

[0034] supporting frame 402 is set in the side of back-and-forth rotating assembly, and the top of supporting frame 402 is equipped with moving plate 411, and the top of moving plate 411 is connected with clamping transport mechanism, and moving plate 411 is moved under the drive of clamping transport mechanism, and when moving to the top of supporting frame 402, it is contacted with supporting frame 402 and is limited by supporting frame 402, and at this time, clamping transport mechanism continues to move and carries out omnibearing clamping to material.

[0035] The back-and-forth rotating assembly comprises a rotating plate 301, a guide groove 302, a fixing column 305 and a connecting plate 303; the rotating plate 301 is rotatably arranged on the outer side of the supporting column 2, the guide groove 302 is arranged on the rotating plate 301, the fixing column 305 is arranged on the top of the supporting column 2, the connecting plate 303 is arranged on the top of the fixing column 305, the inner side of the end of the connecting plate 303 away from the fixing column 305 is provided with a motor 304, the output end of the motor 304 is provided with a rotating shaft 306, the bottom of the rotating shaft 306 is provided with a rotating rod 307, the end of the rotating rod 307 away from the rotating shaft 306 is provided with a guide rod 308, the outer side of the guide rod 308 is slidably connected with the outer side of the guide groove 302, the motor 304 is started, the motor 304 drives the rotating shaft 306 to rotate, the rotating shaft 306 drives the guide rod 308 to rotate through the rotating rod 307, the guide rod 308 drives the rotating plate 301 to rotate when rotating in the guide groove 302, and the guide rod 308 drives the rotating plate 301 to move to the left when rotating in the front half part, drives the rotating plate 301 to return to the original position when rotating in the back half part, so that the back-and-forth rotation is realized.

[0036] Embodiment two

[0037] As Figures 3-4 shown, the utility model discloses an industrial robot stacking device, compared with embodiment one, this embodiment introduces the structure of the clamping transport mechanism in detail.

[0038] The clamping conveying mechanism comprises a lifting assembly, a clamping assembly and a dust cleaning assembly; the lifting assembly is arranged on the rotating plate 301 and is used to drive the clamping assembly and the dust cleaning assembly to move up and down; the clamping assembly is arranged at the bottom of the lifting assembly and is used to clamp different sizes of materials in all directions; the dust cleaning assembly is arranged at the top of the moving plate 411 and is used to blow away the dust on the top of the materials before clamping. The lifting assembly comprises a pneumatic cylinder 401, a push rod 403, a pressing frame 404, a connecting rod 409 and a sliding groove 412; the pneumatic cylinder 401 is arranged at the top of the rotating plate 301, the push rod 403 is arranged at the output end of the pneumatic cylinder 401, the pressing frame 404 is arranged at the bottom of the push rod 403, the connecting rod 409 is rotationally arranged at the end of the pressing frame 404 away from the push rod 403, the connecting rod 409 is annularly arranged at four positions around the pressing frame 404, the end of the connecting rod 409 away from the pressing frame 404 is rotationally arranged with a sliding block 410, and the sliding groove 412 is arranged on the moving plate 411 and is annularly arranged at four positions around the moving plate 411. The outer side of the sliding block 410 and the inner side of the sliding groove 412 are slidingly connected. When the pneumatic cylinder 401 is started, the pneumatic cylinder 401 drives the push rod 403 to move, the push rod 403 drives the pressing frame 404 to move, the pressing frame 404 drives the moving plate 411 to move through the connecting rod 409, and when the moving plate 411 is pressed to the top of the supporting frame 402, the moving plate 411 is stopped by the supporting frame 402 for limiting. At this time, the pressing frame 404 and the moving plate 411 can move relatively. The pressing frame 404 moves to press or pull the four connecting rods 409 at the same time, and the connecting rods 409 drive the four sliding blocks 410 to move towards each other and move away from each other at the same time. The clamping assembly comprises a sliding rod 413, a clamping plate 418, a sliding groove 419 and a clamping plate 417; the sliding rod 413 is arranged at the bottom of the sliding block 410, the clamping plate 418 is arranged at the top of the sliding rod 413, the end of the clamping plate 418 away from the sliding rod 413 is arranged as an upward slope, which facilitates the clamping of the materials by shoveling, the sliding groove 419 is arranged on the sliding rod 413, the clamping plate 417 is slidingly arranged on the inner side of the sliding groove 419, the end of the clamping plate 417 away from the sliding rod 413 is arranged as a downward slope, the top of the clamping plate is provided with an extension pipe 415, the outer side of the extension pipe 415 is provided with a spring 416, the top of the extension pipe 415 is provided with a fixing block 414, the side surface of the fixing block 414 is connected with the sliding rod 413, the sliding block 410 synchronously drives the four sliding rods 413 to synchronously move when moving synchronously, the sliding rod 413 moves to drive the clamping plate 417 and the clamping plate 418 to synchronously move, thereby clamping the materials. When clamping, the clamping plate 418 shovels the materials through the slope, and the slope of the clamping plate 417 is expanded through the materials, so that the clamping plate 417 moves upward. At this time, the spring 416 and the extension pipe 415 are squeezed downward to stably clamp the materials.The dust cleaning assembly comprises a pressing plate 405, a mounting pipe 407 and an air bag 406; the pressing plate 405 is arranged on the side of the pressing frame 404, the mounting pipe 407 is arranged on the top of the moving plate 411, the air bag 406 is slidingly arranged on the inner side of the mounting pipe 407, the bottom of the air bag 406 is provided with a blowing pipe 408, after the moving plate 411 is dragged by the supporting frame 402, the pressing frame 404 continues to move to press down the pressing plate 405, at this time, the relative movement between the pressing frame 404 and the moving plate 411 can occur, and the pressing plate 405 extrudes the air bag 406 to generate airflow during the movement, and the airflow blows to the clamping plate one 417 and the clamping plate two 418 through the blowing pipe 408, so that the dust on the top of the material at the position is removed, and the clamping effect is increased.

[0039] In summary, when the utility model is used, the controller is used to set the starting time of the motor 304 and the air cylinder 401, the air cylinder 401 drives the push rod 403 to move when starting, the push rod 403 drives the pressing frame 404 to move, the pressing frame 404 drives the moving plate 411 to move through the connecting rod 409, and the moving plate 411 is dragged by the supporting frame 402 to be limited when being pressed down to the top of the supporting frame 402, at this time, the pressing frame 404 moves to press the four connecting rods 409 at the same time, the connecting rods 409 drive the four sliding blocks 410 to move towards each other at the same time, the pressing plate 405 moves downward under the action of the pressing frame 404 during the movement, the pressing plate 405 extrudes the air bag 406 to generate airflow, the airflow blows to the clamping plate one 417 and the clamping plate two 418 through the blowing pipe 408, so that the dust on the top of the material at the position is removed, then the clamping plate two 418 scoops up the material through the inclined surface after the clamping plate one 417 and the clamping plate two 418 move to the edge of the material, the inclined surface of the clamping plate one 417 is opened by the material, so that the clamping plate one 417 moves upward, at this time, the spring 416 and the telescopic pipe 415 are extruded downward to stably clamp the material, after the material clamping is completed, the controller is started to start the motor 304, the motor 304 drives the rotating shaft 306 to rotate, the rotating shaft 306 drives the guide rod 308 to rotate through the rotating rod 307, the guide rod 308 drives the rotating plate 301 to rotate when rotating in the guide groove 302, and the guide rod 308 drives the rotating plate 301 to move left when rotating in the first half, the clamping plate one 417 and the clamping plate two 418 are separated from the material after the rotating plate 301 rotates by ninety degrees and the push rod 403 is driven by the air cylinder 401 to move back, so that the material is stacked at a specified position, then the motor 304 continues to rotate, at this time, the rotating shaft 306 drives the rotating plate 301 to return to the original position, and then the material is repeatedly stacked and piled up.

[0040] The above describes the embodiments of the utility model in detail in combination with the drawings, but the utility model is not limited to this, and various changes can be made within the knowledge range of the persons skilled in the art without departing from the purpose of the utility model.

Claims

1. An industrial robot palletizing device comprising a base (1) and a support column (2) arranged on top of the base (1); characterized in that, Also include: The reciprocating rotation assembly is arranged at the top of the support column (2), and is used for moving the materials to the stacking position; The clamping and conveying mechanism is arranged on the reciprocating rotation assembly, and is used for blowing off the dust on the upper surface of the material to be stacked and conveying the material in all directions; And the supporting frame (402) is arranged on the side of the reciprocating rotation assembly, and the upper surface of the supporting frame (402) is provided with a moving plate (411), the top of the moving plate (411) is connected with the clamping and conveying mechanism, the moving plate (411) is driven by the clamping and conveying mechanism to move, and when the moving plate (411) moves to the top of the supporting frame (402), the moving plate (411) is in contact with the supporting frame (402) and is limited by the supporting frame (402), and at this time, the clamping and conveying mechanism continues to move to clamp the material in all directions.

2. The industrial robotic palletizing device of claim 1, wherein, The reciprocating rotation assembly comprises a rotating plate (301), a guide groove (302), a fixed column (305) and a connecting plate (303); The rotating plate (301) is rotatably arranged on the outer side of the support column (2), the guide groove (302) is arranged on the rotating plate (301), the fixed column (305) is arranged on the top of the support column (2), the connecting plate (303) is arranged on the top of the fixed column (305), and the inner side of the end of the connecting plate (303) away from the fixed column (305) is provided with a motor (304), the output end of the motor (304) is provided with a rotating shaft (306), the bottom of the rotating shaft (306) is provided with a rotating rod (307), and the end of the rotating rod (307) away from the rotating shaft (306) is provided with a guide rod (308).

3. The industrial robotic palletizing device of claim 2, wherein, The clamping and conveying mechanism comprises a lifting assembly, a clamping assembly and a dust removal assembly; The lifting assembly is arranged on the rotating plate (301) and is used for driving the clamping assembly and the dust removal assembly to move up and down; The clamping assembly is arranged at the bottom of the lifting assembly and is used for clamping the material in all directions; The dust removal assembly is arranged on the top of the moving plate (411) and is used for blowing off the dust on the top of the material before clamping the material.

4. The industrial robotic palletizing device of claim 3, wherein, The lifting assembly comprises a cylinder (401), a push rod (403), a pressing frame (404), a connecting rod (409) and a sliding groove (412); The cylinder (401) is arranged on the top of the rotating plate (301), the push rod (403) is arranged on the output end of the cylinder (401), the pressing frame (404) is arranged on the bottom of the push rod (403), the connecting rod (409) is rotatably arranged on the end of the pressing frame (404) away from the push rod (403), the end of the connecting rod (409) away from the pressing frame (404) is rotatably provided with a sliding block (410), and the sliding groove (412) is arranged on the moving plate (411).

5. The industrial robotic palletizing device of claim 4, wherein, The clamping assembly comprises a sliding rod (413), a clamping plate (418), a sliding groove (419) and a clamping plate (417); The sliding rod (413) is arranged at the bottom of the sliding block (410), the clamping plate two (418) is arranged at the top of the sliding rod (413), and the end of the clamping plate two (418) away from the sliding rod (413) is arranged as an upward slope, facilitating the shoveling and clamping of materials, the chute two (419) is arranged on the sliding rod (413), the clamping plate one (417) is slidably arranged at the inner side of the chute two (419), the top of the clamping plate is provided with the telescopic pipe (415), the outer side of the telescopic pipe (415) is provided with the spring (416), and the top of the telescopic pipe (415) is provided with the fixed block (414).

6. The industrial robotic palletizing device of claim 4, wherein, The ash removal assembly comprises a pressing plate (405), a mounting pipe (407) and an air bag (406); The pressing plate (405) is arranged on the side of the pressing frame (404), the mounting pipe (407) is arranged on the top of the moving plate (411), and the air bag (406) is slidably arranged in the mounting pipe (407). The bottom of the air bag (406) is provided with a blowing pipe (408).

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