Collaborative robot stacking workstation

Abstract

The utility model discloses a collaborative robot stacking work station which effectively solves the problems that a robot cannot be rapidly transferred and deployed, and position fine adjustment is inconvenient to carry out. Comprising a base, left and right opposite supports are arranged on the front and rear sides of the lower end of the base respectively, fixing seats are slidably connected to the left and right sides of the middle of the base respectively, a supporting assembly is arranged at the lower end of the base and can drive the supports and the fixing seats to descend synchronously to make contact with the ground, and a positioning plate is slidably connected to the upper end of a bottom plate; according to the mechanical arm, the support, the fixing base and the supporting assembly are arranged, the supporting assembly can be used for driving the support and the fixing base to ascend and descend, then the base is jacked up, the universal wheels are made to break away from the ground, the position of the base is fixed, and the working stability of the mechanical arm is improved; the universal wheels can be used for moving the whole base, position changing and transferring are achieved, and the purpose of rapidly transferring and deploying the robot is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a stacking workstation technical field, concretely relates to a collaborative robot stacking workstation. BACKGROUND

[0002] Industrial robot is a kind of machine for industrial production, by self power and control ability to realize various functions, it universally exists in various industrial production, stacking industrial robot is a kind of stacking robot specially designed for stacking, stacking industrial robot is more suitable in use relative to ordinary industrial robot, stacking machine is the paper box that has been loaded into container, according to certain arrangement code is placed on tray, stack board (wood, plastic), carries out automatic stacking, can stack multiple layers, then pushes out, it is convenient for fork truck to be stored in warehouse, stacking machine is the material bag, paper box or other packaging materials according to the work mode of customer process requirement automatically stacked into pile and transported to the equipment of the piled material, but, the existing stacking robot is usually directly fixed and installed beside the transport conveyor belt, in the case of having multiple conveyor belts, if there is idle conveyor belt, the stacking robot beside the conveyor belt will be idle, and in the installation process, it needs to be installed after fine measurement of its installation position, and the position needs to be adjusted after disassembly and reinstallation, which is not convenient for the position adjustment of robot, and needs to be solved urgently. CONTENT OF THE UTILITY MODEL

[0003] In view of the above situation, in order to overcome the defects of the prior art, the purpose of the utility model is to provide a collaborative robot stacking workstation, which effectively solves the problems that the robot cannot be quickly transferred and deployed and is inconvenient to be finely adjusted in position.

[0004] The technical scheme solved is that the utility model includes base, two left and right opposite supports are respectively arranged on the front and back of the lower end of the base, fixed seats are respectively slidably connected on the left and right sides of the middle of the base, a supporting assembly is arranged on the lower end of the base, the supporting assembly can drive multiple supports and fixed seats to synchronously descend and contact the ground, a positioning plate is slidably connected on the upper end of the base, a positioning assembly is arranged on the upper end of the base, the positioning assembly can drive the positioning plate to move left and right or front and back, a mechanical seat is fixedly connected on the upper end of the moving plate, a mechanical arm is fixedly connected on the upper end of the mechanical seat, and a gripper is arranged on the upper side of the mechanical arm.

[0005] The supporting assembly includes two left and right symmetrical moving plates, the moving plates are slidably connected with the base, waist-shaped grooves are respectively arranged on the front and back of the moving plates, sleeve rods corresponding to the supports are rotatably connected with the lower end of the base, the sleeve rods are coaxially sleeved with the corresponding supports, L-shaped connecting rods are fixedly connected with the outer walls of the sleeve rods, one end of the connecting rod is located in the waist-shaped groove on the corresponding side, drive grooves are arranged on the outer walls of the supports, and drive pins are fixedly connected in the drive grooves on the corresponding side of the sleeve rods.

[0006] The lower end of the base is rotationally connected with a swing rod, the opposite ends of the two moving plates are respectively fixedly connected with slide rods, the left and right sides of the swing rod are respectively rotationally connected with slide blocks, the slide blocks are slidably connected with the slide rods on the corresponding sides, the lower end of the base is fixedly connected with a hydraulic rod, and the output end of the hydraulic rod is fixedly connected with the moving plate on the left side.

[0007] The front and rear sides of the fixed seat are respectively provided with inclined grooves, the opposite ends of the two moving plates are respectively fixedly connected with L-shaped push rods, and the front and rear sides of one end of the push rods are respectively located in the inclined grooves on the corresponding sides.

[0008] The positioning assembly comprises a lead screw, the lead screw is rotationally connected with supporting plates on the front and rear sides, the supporting plates are slidably connected with the base, rotating rods are arranged on the left and right sides of the lead screw, the rotating rods are rotationally connected with the supporting plates on the corresponding sides on the front and rear sides, moving wheels are fixedly connected with the rotating rods on the front and rear sides, the middle part of the lead screw is threadedly connected with a positioning plate, the left and right sides of the positioning plate are rotationally connected with the rotating rods on the corresponding sides, the upper end of the base is provided with two opposite limiting grooves, and the rotating wheels are located in the limiting grooves on the corresponding sides.

[0009] The front end of the lead screw is fixedly connected with an end face spline one, the front end of the front supporting plate is fixedly connected with a mounting plate, the mounting plate is fixedly connected with a driving motor, the output end of the driving motor is fixedly connected with a hexagonal prism, the hexagonal prism is provided with an extension rod which can move forward and backward, the rear end of the extension rod is fixedly connected with an end face spline two which can be engaged with the end face spline one, the front end of the extension rod is fixedly connected with a gear, and the upper end of the base is fixedly connected with a rack which can be engaged with the gear.

[0010] The supporting plate is fixedly connected with a hydraulic cylinder, the output end of the hydraulic cylinder is fixedly connected with an L-shaped connecting plate, and the connecting plate is rotationally connected with the extension rod.

[0011] The lower end of the base is provided with two opposite universal wheels on the left and right sides.

[0012] The base, the fixed seat and the supporting assembly are arranged, the base and the fixed seat can be lifted by the supporting assembly, the base is lifted, the universal wheels are separated from the ground, the position of the base is fixed, the stability of the mechanical arm is improved, the base can be moved as a whole by the universal wheels when the base and the fixed seat are lifted, the position is changed and shifted, the robot is quickly shifted and deployed, the position of the robot is finely adjusted by the positioning plate and the positioning assembly, the device is not needed to be disassembled and adjusted again, and the application range of the device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is the isometric view of the utility model.

[0014] Figure 2It is the overhead view schematic diagram of the positioning plate in the utility model.

[0015] Figure 3 It is the bottom view schematic diagram of the bottom plate in the utility model.

[0016] Figure 4 It is the bottom view schematic diagram of the hydraulic rod in the utility model.

[0017] Figure 5 It is the explosion main view schematic diagram of the support in the utility model.

[0018] Figure 6 It is the explosion bottom view schematic diagram of the support in the utility model.

[0019] Figure 7 It is the utility model Figure 2 A's enlarged view.

[0020] In the drawing: 1, base; 2, support; 3, fixed seat; 4, positioning plate; 5, mechanical seat; 6, mechanical arm; 7, clamping jaw; 8, moving plate; 9, waist-shaped slot; 10, sleeve rod; 11, connecting rod; 12, drive slot; 13, drive pin; 14, swing rod; 15, sliding rod; 16, sliding block; 17, hydraulic rod; 18, inclined slot; 19, push rod; 20, lead screw; 21, support plate; 22, rotating rod; 23, moving wheel; 24, end face spline one; 25, mounting plate; 26, drive motor; 27, hexagonal prism; 28, extension rod; 29, end face spline two; 30, gear; 31, rack; 32, hydraulic cylinder; 33, link plate. Specific implementation

[0021] The specific implementation of the utility model is further explained in detail in combination with the accompanying drawings.

[0022] Given by Figures 1 to 7 Including base 1, two left and right opposite supports 2 are respectively arranged on the lower end of base 1, the left and right sides of the middle part of base 1 are respectively slidably connected with fixed seat 3, the lower end of base 1 is provided with a supporting assembly, the supporting assembly can drive multiple supports 2 and fixed seat 3 to descend synchronously and contact with the ground, the upper end of bottom plate is slidably connected with positioning plate 4, the upper end of base 1 is provided with a positioning assembly, the positioning assembly can drive positioning plate 4 to move left and right or front and back, the upper end of moving plate 8 is fixedly connected with mechanical seat 5, the upper end of mechanical seat 5 is fixedly connected with mechanical arm 6, the upper side of mechanical arm 6 is provided with clamping jaw 7.

[0023] As shown in the drawings, the base 1 is arranged to facilitate the movement of the whole, the support 2, the fixed seat 3 and the support assembly can drive the support 2 and the fixed seat 3 to rise and fall by the support assembly, and then the base 1 is lifted up, the universal wheel is separated from the ground, and then the position of the base 1 is fixed, the stability of the mechanical arm 6 is improved, and when the support 2 and the fixed seat 3 are lifted up, the base 1 can be moved as a whole by the universal wheel, the position is changed and transferred, the purpose of quickly transferring and deploying the robot is achieved, the positioning plate 4 and the positioning assembly are arranged, the position of the positioning plate 4 can be changed by the positioning assembly, the position of the robot is finely adjusted, the device is not necessary to be disassembled and adjusted again, and the application range of the device is improved.

[0024] The support assembly comprises two left-right symmetrical moving plates 8, the moving plate 8 is in sliding connection with the base 1, the moving plate 8 is provided with a waist-shaped groove 9 on the front and back sides, the base 1 is rotatably connected with a sleeve rod 10 corresponding to the support 2 at the lower end, the sleeve rod 10 is coaxially sleeved with the support 2 on the corresponding side, the sleeve rod 10 is fixedly connected with an L-shaped connecting rod 11 on the outer wall, one end of the connecting rod 11 is located in the waist-shaped groove 9 on the corresponding side, the outer wall of the support 2 is provided with a driving groove 12, and the sleeve rod 10 is fixedly connected with a driving pin 13 located in the driving groove 12 on the corresponding side.

[0025] As shown in the drawings, the moving plate 8, the waist-shaped groove 9, the sleeve rod 10, the connecting rod 11, the driving groove 12 and the driving pin 13 are arranged, the sleeve rod 10 can be driven to rotate by the movement of the moving plate 8 through the connecting rod 11, then the support 2 can be driven to descend through the driving groove 12 and the driving pin 13, and the purpose of supporting the ground is achieved.

[0026] The lower end of the base 1 is rotatably connected with a swing rod 14, the opposite ends of the two moving plates 8 are fixedly connected with slide rods 15 respectively, the swing rod 14 is rotatably connected with slide blocks 16 on the left and right sides respectively, the slide blocks 16 are in sliding connection with the slide rods 15 on the corresponding side, the lower end of the base 1 is fixedly connected with a hydraulic rod 17, and the output end of the hydraulic rod 17 is fixedly connected with the moving plate 8 on the left side.

[0027] As shown in the drawings, the swing rod 14, the slide rod 15, the slide block 16 and the hydraulic rod 17 are arranged, when the moving plate 8 on the left side is pushed to move by the hydraulic rod 17, the moving rod on the right side can move synchronously, then the synchronous relative or opposite movement of the two moving plates 8 is realized, and the lifting control of all supports 2 is realized.

[0028] The front and back sides of the fixed seat 3 are respectively provided with inclined grooves 18, the opposite ends of the two moving plates 8 are respectively fixedly connected with L-shaped push rods 19, and one end of the push rod 19 is located in the inclined groove 18 on the corresponding side.

[0029] As shown in the figure, the setting of the inclined groove 18 and the push rod 19 can drive the fixed seat 3 to lift and make it contact with the ground by the action of the push rod 19 and the inclined groove 18, so as to improve the stability of the installed base 1.

[0030] The positioning assembly comprises a lead screw 20, the lead screw 20 is rotatably connected with a support plate 21 on the front and back sides, the support plate 21 is slidably connected with the base 1, the lead screw 20 is provided with a rotating rod 22 on the left and right sides, the rotating rod 22 is rotatably connected with the corresponding support plate 21 on the front and back sides, the rotating rod 22 is fixedly connected with a moving wheel 23 on the front and back sides, the middle part of the lead screw 20 is threadedly connected with a positioning plate 4, the positioning plate 4 is rotatably connected with the corresponding rotating rod 22 on the left and right sides, and the upper end of the base 1 is provided with two front and back opposite limiting grooves, and the rotating wheel is located in the corresponding limiting groove.

[0031] As shown in the figure, the setting of the lead screw 20, the support plate 21, the rotating rod 22, the moving wheel 23 and the limiting groove can drive the positioning plate 4 to be finely positioned in the front and back directions by the rotation of the lead screw 20, and the positioning plate 4 can be finely positioned in the left and right directions by the moving wheel 23, and the limiting groove can avoid the problem of positioning failure caused by the deflection of the moving wheel 23.

[0032] The front end of the lead screw 20 is fixedly connected with an end face spline one 24, the front end of the front support plate 21 is fixedly connected with a mounting plate 25, the mounting plate 25 is fixedly connected with a driving motor 26, the output end of the driving motor 26 is fixedly connected with a hexagonal prism 27, the hexagonal prism 27 is provided with an extension rod 28 which can move forward and backward, the rear end of the extension rod 28 is fixedly connected with an end face spline two 29 which can engage with the end face spline one 24, the front end of the extension rod 28 is fixedly connected with a gear 30, and the upper end of the base 1 is fixedly connected with a rack 31 which can engage with the gear 30.

[0033] As shown in the figure, the setting of the end face spline one 24, the mounting plate 25, the driving motor 26, the hexagonal prism 27, the extension rod 28, the end face spline two 29, the gear 30 and the rack 31 can drive the hexagonal prism 27 and the extension rod 28 to rotate by the driving motor 26, and then drive the gear 30 and the end face spline two 29 to rotate, when the end face spline two 29 engages with the end face spline one 24, the lead screw 20 rotates, and the front and back positioning of the positioning plate 4 can be realized, when the gear 30 engages with the rack 31, the moving wheel 23 rotates, and the left and right positioning of the positioning plate 4 can be realized, and the purpose of fast and fine positioning can be realized, the hexagonal prism 27 and the lead screw 20 both have self-locking property, and the positioning rod can be prevented from moving randomly during use.

[0034] The support plate 21 is fixedly connected with a hydraulic cylinder 32, the output end of the hydraulic cylinder 32 is fixedly connected with an L-shaped connecting plate 33, and the connecting plate 33 is rotatably connected with the extension rod 28.

[0035] As shown in the figure, the hydraulic cylinder 32 and the connecting rod are arranged to change the position of the extension rod 28, so that the gear 30 can engage with the rack 31 or the end face spline two 29 engages with the end face spline one 24, to realize different functions.

[0036] The base 1 is provided with two pairs of universal wheels on the front and rear sides of the lower end.

[0037] As shown in the figure, the universal wheels are arranged to facilitate the overall movement and deployment.

[0038] In use, the universal wheels are used to move the whole to a suitable position, then the hydraulic rod 17 is started, the hydraulic rod 17 drives all the supports 2 and the fixed seat 3 to descend through the support assembly, so that the base 1 can be supported, the universal wheels are separated from the ground, and the workstation position is fixed;

[0039] Then the driving motor 26 is started, at this time the end face spline two 29 engages with the end face spline one 24, the lead screw 20 rotates, the lead screw 20 drives the positioning plate 4 to move forward and backward, so that the forward and backward positioning of the mechanical arm 6 is realized, and after positioning, the driving motor 26 is turned off.

[0040] Then the hydraulic cylinder 32 is started to drive the extension rod 28 to move forward through the connecting rod, so that the gear 30 engages with the rack 31, at this time the end face spline one 24 disengages from the end face spline two 29, at this time the driving motor 26 is started, the driving motor 26 drives the moving wheel 23 to rotate through the gear 30 and the rack 31, the support plate 21 moves left and right, and the left and right positions of the positioning plate 4 are accurately positioned, after positioning, the driving motor 26 is turned off, at this time the self-locking of the driving motor 26 can avoid the left and right movement of the positioning plate 4, and after positioning, the use can be carried out.

[0041] In the utility model, the motor and the hydraulic device are prior art, which will not be described in detail here.

[0042] The specific embodiments described in the present application are only illustrative of the spirit of the utility model. Those skilled in the art to which the utility model belongs can make various modifications or supplements to the described specific embodiments or use similar ways instead, but will not deviate from the spirit of the utility model or exceed the scope defined by the appended claims.

Claims

1. A collaborative robotic palletizing station comprising a base (1), characterized in that, The base (1) is provided with two left and right opposite supports (2) on the lower end of the base (1), and the middle part of the base (1) is slidably connected with a fixing seat (3) on the left and right sides of the base (1). The base (1) is provided with a supporting assembly at the lower end of the base (1), which can drive the plurality of supports (2) and the fixing seat (3) to be lowered synchronously and contacted with the ground. The upper end of the base plate is slidably connected with a positioning plate (4), and the upper end of the base (1) is provided with a positioning assembly. The positioning assembly can drive the positioning plate (4) to move left and right or front and back. The upper end of the moving plate (8) is fixedly connected with a mechanical seat (5), and the upper end of the mechanical seat (5) is fixedly connected with a mechanical arm (6). The upper side of the mechanical arm (6) is provided with a clamping jaw (7).

2. A collaborative robotic palletizing workstation as claimed in claim 1, characterized in that, The supporting assembly comprises two left and right symmetrical moving plates (8), the moving plate (8) is slidably connected with the base (1), and the moving plate (8) is provided with a waist-shaped groove (9) on the front and back sides thereof. The lower end of the base (1) is rotatably connected with a sleeve rod (10) corresponding to the support (2), the sleeve rod (10) is coaxially sleeved with the support (2) on the corresponding side, the outer wall of the sleeve rod (10) is fixedly connected with an L-shaped connecting rod (11), one end of the connecting rod (11) is located in the waist-shaped groove (9) on the corresponding side, and the outer wall of the support (2) is provided with a driving groove (12). The sleeve rod (10) is fixedly connected with a driving pin (13) located in the driving groove (12) on the corresponding side.

3. A collaborative robotic palletizing workstation according to claim 2, characterized in that, The lower end of the base (1) is rotatably connected with a swing rod (14), the opposite ends of the two moving plates (8) are fixedly connected with slide rods (15), the left and right sides of the swing rod (14) are rotatably connected with slide blocks (16), the slide blocks (16) are slidably connected with the slide rods (15) on the corresponding side, and the lower end of the base (1) is fixedly connected with a hydraulic rod (17). The output end of the hydraulic rod (17) is fixedly connected with the moving plate (8) on the left side.

4. The collaborative robotic palletizing workstation of claim 2, wherein, The fixing seat (3) is provided with an inclined groove (18) on the front and back sides thereof, and the opposite ends of the two moving plates (8) are fixedly connected with L-shaped push rods (19). The front and back sides of one end of the push rod (19) are located in the inclined groove (18) on the corresponding side.

5. The collaborative robotic palletizing workstation of claim 1, wherein, The positioning assembly comprises a lead screw (20), the lead screw (20) is rotatably connected with a support plate (21) on the front and back sides thereof, the support plate (21) is slidably connected with the base (1), the lead screw (20) is provided with a rotating rod (22) on the left and right sides thereof, the rotating rod (22) is rotatably connected with the support plate (21) on the corresponding side, the rotating rod (22) is fixedly connected with a moving wheel (23) on the front and back sides thereof, the middle part of the lead screw (20) is threadedly connected with the positioning plate (4), the left and right sides of the positioning plate (4) are rotatably connected with the rotating rod (22) on the corresponding side, and the upper end of the base (1) is provided with two front and back opposite limiting grooves. The rotating wheel is located in the limiting groove on the corresponding side.

6. A collaborative robotic palletizing workstation as claimed in claim 5, characterized in that, The front end of the lead screw (20) is fixedly connected with an end face spline one (24), the front end of the front side support plate (21) is fixedly connected with a mounting plate (25), the mounting plate (25) is fixedly connected with a driving motor (26), the output end of the driving motor (26) is fixedly connected with a hexagonal prism (27), the hexagonal prism (27) is provided with an extension rod (28) capable of moving forward and backward, the rear end of the extension rod (28) is fixedly connected with an end face spline two (29) capable of meshing with the end face spline one (24), the front end of the extension rod (28) is fixedly connected with a gear (30), and the upper end of the base (1) is fixedly connected with a rack (31) capable of meshing with the gear (30).

7. The collaborative robotic palletizing workstation of claim 5, wherein, The support plate (21) is fixedly connected with a hydraulic cylinder (32), the output end of the hydraulic cylinder (32) is fixedly connected with an L-shaped connecting plate (33), and the connecting plate (33) is rotatably connected with the extension rod (28).

8. The collaborative robotic palletizing workstation of claim 1, wherein, The lower end of the base (1) is provided with two left and right opposite universal wheels on the front and back sides.

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