Multi-station lifting stacking robot

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a multi-station lifting palletizing robot which comprises a stand column base and a lifting column, the lifting column is an assembly body of the robot, the lifting column is installed on the stand column base in an electric driving and rotating mode, and an electric sliding rail is arranged on the front side of a column body of the lifting column. The device further comprises a sliding block, a connecting arm, a first motor, a first rotating arm and the like. A sliding block is installed on the electric sliding rail on the lifting column, a connecting arm is fixedly connected to the sliding block, the connecting arm and the lifting column are perpendicularly arranged, and a first rotating arm is rotationally installed at the end, away from the lifting column, of the connecting arm. By means of the combined design of the electric sliding rail, the first rotating arm and the second rotating arm, the robot can process objects on a plurality of stations at the same time, the working efficiency and flexibility are greatly improved, and meanwhile complex stacking tasks can be carried out.

Description

TECHNICAL FIELD

[0001] The utility model relates to a stacking robot technical field especially relates to a multi-station lifting stacking robot. BACKGROUND

[0002] With the development of industrial automation, the demand for improving production efficiency, reducing labor cost and enhancing production line flexibility is increasing, in modern industry, stacking robots are widely used, mainly used for carrying goods from the production line to the pallet to create neat stacks.

[0003] Traditional stacking robots are generally limited to single-station operation mode, lack the ability to handle multiple-station tasks simultaneously, which means they are less efficient in environments that require service to multiple loading points or complex layouts, and cannot flexibly respond to rapid switching and operation requirements between multiple stations, secondly, due to the lack of support for multiple stations, enterprises often need to configure a robot for each station when deploying a stacking robot, which not only increases the cost of equipment procurement, but also occupies more space resources, therefore we propose a multi-station lifting stacking robot to improve the flexibility and efficiency of production line lifting stacking operation. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, a multi-station lifting stacking robot is provided.

[0005] The technical scheme of the utility model is: a multi-station lifting stacking robot, comprising a column seat and a lifting column, the lifting column is the assembly main body of the robot, the lifting column is installed on the column seat, the front side of the column body of the lifting column is provided with an electric sliding rail; further comprising a sliding block, a connecting arm, a motor one, a rotating arm one, an electric suction cup one, a connecting frame, a rotating arm two and an electric suction cup two, the electric sliding rail on the lifting column is installed with a sliding block, the sliding block is fixedly connected with a connecting arm, the connecting arm and the lifting column are vertically arranged, the end of the connecting arm away from the lifting column is rotatably installed with a rotating arm one, the end of the connecting arm is fixedly installed with a motor one through a connecting plate, the motor one is connected with the rotating arm one through a shaft coupling, the connecting arm is vertically fixedly connected with a connecting frame expanded on the left and right sides of the box, the two ends of the connecting frame are symmetrically installed with a rotating arm two, the end of the rotating arm two is installed with an electric suction cup two.

[0006] As a preferred technical scheme of the utility model, the connecting frame is fixedly installed with a motor two through a connecting plate, the motor two is connected with the rotating shaft of the rotating arm two through a shaft coupling, the motor two is used for further adjusting the stacking position of the electric suction cup two on the rotating arm two, further improving the flexibility of the stacking work of the robot.

[0007] As a preferred technical scheme of the utility model, the electric sucking disc one and the electric sucking disc two are detachably installed on the rotating arm one and the rotating arm two, and the electric sucking disc one and the electric sucking disc two can be replaced by other grabbing parts according to the actual stacking objects, thereby expanding the application range of the stacking objects of the robot.

[0008] As a preferred technical scheme of the utility model, the sliding block is fixedly installed with a gas pump, and the gas pump is provided with a cleaning part, which is used for cleaning the electric sucking disc one and the electric sucking disc two, so that the electric sucking disc one and the electric sucking disc two maintain good adsorption, and the service life of the electric sucking disc one and the electric sucking disc two is prolonged.

[0009] As a preferred technical scheme of the utility model, the cleaning part comprises a connecting pipe, a hose, a supporting plate and a nozzle, the connecting pipe is communicated with the gas outlet of the gas pump, the connecting pipe is a hard pipeline, the connecting pipe is bifurcated towards the left and right sides, the middle part and the left and right sides of the connecting pipe are all communicated with the hose, the hose is connected to the end part of the corresponding rotating arm one and rotating arm two, the end part of the rotating arm one and the rotating arm two is fixedly connected with the supporting plate, the supporting plate is rotatably installed with the nozzle, the nozzle faces the corresponding electric sucking disc one and electric sucking disc two, and the nozzle is used for blowing and cleaning the electric sucking disc one and the electric sucking disc two.

[0010] As a preferred technical scheme of the utility model, the supporting plate is installed with a motor, the output shaft of the motor is connected with the rotating shaft of the nozzle, and the motor is used for flexibly driving the nozzle to rotate, so that the nozzle can comprehensively clean the electric sucking disc one and the electric sucking disc two, and the objects to be stacked can also be cleaned, thereby improving the stability of the electric sucking disc one and the electric sucking disc two in adsorbing objects.

[0011] The utility model discloses the beneficial effect:

[0012] 1, the utility model discloses a combination design of electric slide rail, rotating arm one and rotating arm two, so that the robot can handle multiple objects on the work station simultaneously, greatly improve work efficiency and flexibility, and can perform more complex stacking tasks.

[0013] 2, the utility model discloses the design of motor one and motor two, allows the accurate angle adjustment of rotating arm one and rotating arm two, so that the position and posture of the electric sucking disc can be adjusted according to actual demand to adapt to objects of different shapes and sizes.

[0014] 3, the utility model discloses the integrated gas pump and cleaning part system, can effectively remove the dust and sundries on the surface of the electric sucking disc, maintains its good adsorption performance, not only helps to improve the success rate of stacking operation, but also prolongs the service life of the electric sucking disc. DRAWINGS

[0015] Figure 1 It is a three-dimensional structure schematic view of the utility model.

[0016] Figure 2 It is a schematic view of the utility model rotary arm one, electric chuck one, rotary arm two and electric chuck two.

[0017] Figure 3 It is a connection relationship view of the utility model air pump, connecting pipe, hose and nozzle and other components.

[0018] Figure 4 It is a schematic view of the utility model support plate, nozzle and motor cooperation relationship.

[0019] In the figure, marked: 1-stand, 101-lifting column, 102-electric slide rail, 2-sliding block, 3-connecting arm, 31-motor one, 4-rotary arm one, 5-electric chuck one, 6-connecting frame, 7-motor two, 8-rotary arm two, 9-electric chuck two, 10-air pump, 11-connecting pipe, 12-hose, 13-support plate, 14-nozzle, 15-motor. Specific implementation

[0020] The utility model will be further described in detail below in combination with the drawings and specific implementation, but not limit the protection scope and application scope of the utility model.

[0021] In order to make the purpose, technical scheme and advantage of the utility model more clear, the utility model will be further described in detail below in combination with the drawings. Only this declaration, the up, down, left, right, front, back, inside, outside and other orientation words appearing or about to appear in the text of the utility model, only with the drawings of the utility model for the base, it is not the specific limitation of the utility model.

[0022] A kind of multi-station lifting and stacking robot, such as Figures 1-4As shown, including the column seat 1 and lifting column 101, lifting column 101 for the assembly of the robot body, the column seat 1 on the electric drive rotating installation of lifting column 101, the column body front side of lifting column 101 is provided with electric slide rail 102; It also includes sliding block 2, connecting arm 3, motor 31, rotating arm 4, electric chuck 5, connecting frame 6, rotating arm 8 and electric chuck 9, the electric slide rail 102 on the lifting column 101 is installed on the sliding block 2, the sliding block 2 is fixedly connected with the connecting arm 3, the connecting arm 3 and the lifting column 101 are vertically arranged, the connecting arm 3 is rotatably connected with the rotating arm 4 at the end away from the lifting column 101, the connecting arm 3 is fixedly connected with the motor 31 through the connecting plate, the motor 31 is connected with the rotating arm 4 through the coupling, the connecting arm 3 is vertically fixedly connected with the connecting frame 6 which is expanded on the left and right sides of the box, the connecting frame 6 is symmetrically provided with the rotating arm 8 at both ends, the rotating arm 8 is provided with the electric chuck 9 at the end, the corresponding electric chuck 5 and electric chuck 9 are driven by the rotating arm 4 and rotating arm 8, and the electric chuck 5 and electric chuck 9 can be used to suck the objects on the multi-station after being powered, and the electric chuck 5 and electric chuck 9 can be used to complete the lifting and stacking operation of multiple objects simultaneously by cooperating with the column seat 1 to drive the lifting column 101 to rotate and lift.

[0023] As shown in Figure 2 , the connecting frame 6 is fixedly connected with the motor 7 through the connecting plate, the motor 7 is connected with the rotating shaft of the rotating arm 8 through the coupling, and the motor 7 is used to further adjust the stacking position of the electric chuck 9 on the rotating arm 8, thereby further improving the flexibility of the robot stacking work.

[0024] As shown in Figure 2 , the electric chuck 5 and the electric chuck 9 are detachably installed on the rotating arm 4 and the rotating arm 8, and the electric chuck 5 and the electric chuck 9 can be replaced by other grabbing parts according to the actual stacking objects, thereby expanding the application range of the robot stacking objects.

[0025] As shown in Figure 1 and Figure 3 , the sliding block 2 is fixedly connected with the air pump 10, the air pump 10 is provided with a cleaning part, the cleaning part is used to clean the electric chuck 5 and the electric chuck 9, so that the electric chuck 5 and the electric chuck 9 can maintain good adsorption, thereby prolonging the service life of the electric chuck 5 and the electric chuck 9.

[0026] As shown in Figure 3As shown, the cleaning piece includes a connecting pipe 11, a hose 12, a support plate 13 and a nozzle 14, the outlet of the air pump 10 is communicated with the connecting pipe 11, the connecting pipe 11 is a hard pipe, the connecting pipe 11 bifurcates towards the left and right sides, the middle and the left and right sides of the connecting pipe 11 are communicated with the hose 12, the hose 12 is connected to the end of the rotary arm one 4 and the rotary arm two 8, the end of the rotary arm one 4 and the rotary arm two 8 is fixedly connected with the support plate 13, the support plate 13 is rotatably installed with the nozzle 14, the nozzle 14 faces the electric suction disc one 5 and the electric suction disc two 9, and the nozzle 14 is used for blowing and cleaning the electric suction disc one 5 and the electric suction disc two 9.

[0027] As shown in Figure 3 and Figure 4 The motor 15 is installed on the support plate 13, the output shaft of the motor 15 is connected with the rotating shaft of the nozzle 14, the motor 15 is used for flexibly driving the nozzle 14 to rotate, so that the nozzle 14 can comprehensively clean the electric suction disc one 5 and the electric suction disc two 9, and the stability of the electric suction disc one 5 and the electric suction disc two 9 in adsorbing the articles can be improved.

[0028] When the stacking operation is performed by using the robot, the driving system in the column seat 1 controls the lifting column 101 to rotate and lift, and the electric sliding rail 102 drives the sliding block 2 to move vertically along the lifting column 101, so that the connecting arm 3 and the connecting frame 6 are adjusted in the horizontal direction as a whole, the operator sets the program according to the stacking requirement, the motor one 31 drives the rotary arm one 4 to rotate around the end of the connecting arm 3, so that the electric suction disc one 5 is accurately positioned to the target working position, the motors two 7 on the two sides of the connecting frame 6 drive the rotary arm two 8 to swing, so that the electric suction disc two 9 is moved to another working position, the electric suction disc one 5 and the electric suction disc two 9 are powered on to adsorb the articles, the lifting column 101 transfers the articles to the stacking area through the rotating and lifting actions, and the multi-layer stacking of the articles is realized through the coordinated movement of the rotary arms, during the adsorption process, the air pump 10 is started and high-pressure gas is delivered to each nozzle 14 through the connecting pipe 11 and the hose 12, the motor 15 drives the nozzle 14 to rotate, so that the surface of the electric suction disc and the articles to be stacked are cleaned, and the adsorption stability is ensured, if it is required to process articles with special shapes or special materials, the electric suction disc can be quickly disassembled and replaced with other grabbing pieces, and the multi-axis linkage of the lifting column 101 and the electric sliding rail 102 is matched, so that the synchronous grabbing, cleaning and accurate stacking of articles with multiple working positions and multiple specifications are realized, the robot is designed through the electric control cooperation and the modularity, the efficient operation and the flexible adaptability are taken into account, and the stacking efficiency and the reliability are significantly improved.

[0029] The embodiments of the utility model are explained in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge of the person skilled in the art without departing from the purpose of the utility model.

Claims

1. A multi-station lifting palletizing robot, comprising a column base (1) and a lifting column (101), the lifting column (101) is electrically driven and mounted on the column base (1), and an electric sliding rail (102) is arranged on the front side of the column body of the lifting column (101); characterized in that It also includes a sliding block (2), a connecting arm (3), a motor one (31), a rotating arm one (4), an electric suction cup one (5), a connecting frame (6), a rotating arm two (8) and an electric suction cup two (9), the electric sliding rail (102) on the lifting column (101) is installed with a sliding block (2), the sliding block (2) is fixedly connected with a connecting arm (3), the connecting arm (3) and the lifting column (101) are vertically arranged, the end of the connecting arm (3) away from the lifting column (101) is rotatably mounted with a rotating arm one (4), and the end of the connecting arm (3) is fixedly installed with a motor one (31) through a connecting plate, the motor one (31) is connected with the rotating arm one (4) through a shaft coupling, the connecting arm (3) is vertically fixedly connected with a connecting frame (6) which is unfolded on the left and right sides of the box, the both ends of the connecting frame (6) are symmetrically mounted with a rotating arm two (8), and the end of the rotating arm two (8) is mounted with an electric suction cup two (9).

2. A multi-station lift-piling robot as claimed in claim 1, characterized in that, The connecting frame (6) is fixedly installed with a motor two (7) through a connecting plate, the motor two (7) is connected with the rotating shaft of the rotating arm two (8) through a shaft coupling, and the motor two (7) is used to further adjust the stacking position of the electric suction cup two (9) on the rotating arm two (8).

3. A multi-station lift-piling robot as claimed in claim 2, characterized in that, The electric suction cup one (5) and the electric suction cup two (9) are detachably installed on the rotating arm one (4) and the rotating arm two (8), and the electric suction cup one (5) and the electric suction cup two (9) can be rotated and replaced with other grabbing parts according to the actual stacking objects.

4. A multi-station lift-piling robot as claimed in claim 3, characterized in that, The sliding block (2) is fixedly installed with an air pump (10), the air pump (10) is provided with a cleaning part, and the cleaning part is used to clean the electric suction cup one (5) and the electric suction cup two (9).

5. A multi-station lift-piling robot as claimed in claim 4, characterized in that, The cleaning part includes a connecting pipe (11), a hose (12), a support plate (13) and a nozzle (14), the air outlet of the air pump (10) is communicated with the connecting pipe (11), the connecting pipe (11) is a hard pipe, the connecting pipe (11) is bifurcated towards the left and right sides, the middle and both sides of the connecting pipe (11) are communicated with the hoses (12), the hoses (12) are connected to the ends of the corresponding rotating arm one (4) and rotating arm two (8), the ends of the rotating arm one (4) and the rotating arm two (8) are fixedly connected with the support plates (13), and the support plates (13) are rotatably installed with the nozzles (14), and the nozzles (14) are towards the corresponding electric suction cup one (5) and electric suction cup two (9).

6. A multi-station lift-piling robot as claimed in claim 5, characterized in that, A motor (15) is installed on the support plate (13), the output shaft of the motor (15) is connected with the rotating shaft of the nozzle (14), and the motor (15) is used to flexibly drive the nozzle (14) to rotate.

Images