Tray stacking and unstacking industrial robot

Abstract

The utility model relates to a pallet stacking and unstacking industrial robot, which comprises a mechanical arm, a clamping jaw, a base and an automatic pallet machine, the clamping jaw is fixedly connected with the mechanical arm, the mechanical arm is fixedly connected with the base, and the base is fixedly connected with the automatic pallet machine. The small arm is fixedly connected with a front claw fixing seat, the front claw fixing seat is fixedly connected with a wrist front end rotating flange, the wrist front end rotating flange is fixedly connected with a paw, and the top end of the paw is fixedly connected with a paw rotating flange. The chassis is fixedly connected with the driving arm seat, the driving arm seat is fixedly connected with the chassis rotating motor, the large arm rotating bearing flange is fixedly connected with the large arm rotating arm motor, and the small arm rotating bearing flange is fixedly connected with the small arm rotating arm motor. Corresponding instructions are input to the manipulator to make the manipulator perform corresponding stacking and unstacking actions, and the conveying device automatically conveys the trays through the air cylinder, so that the strength of manual operation is remarkably reduced, the efficiency is improved, and the safety and reliability of the working environment are improved.

Description

Technical Field

[0001] This utility model relates to the field of palletizing robot technology, and in particular to a palletizing and depalletizing industrial robot. Background Technology

[0002] Palletizing and depalletizing industrial robots are widely used in modern industrial automation, involving multiple fields such as mechanics, electronics, control systems, and artificial intelligence. Palletizing robots are used to stack goods or products according to specific rules, while depalletizing robots are used to unpack already stacked goods or products. With the rapid development of industrial automation, enterprises face the need to improve production efficiency, reduce labor costs, and ensure production stability.

[0003] The utility model application with application number 202121818253.1 discloses an automatic palletizing robot for steel strap pallets, which relates to the field of palletizing robots. Existing palletizing and depalletizing industrial robots have certain inconveniences in use. First, existing palletizing and depalletizing robots usually use a gripping method to place goods, which is prone to deviation during gripping. Moreover, due to the different weights of the goods being picked up and placed, the automatic palletizer is prone to tilting during use, which poses certain safety hazards after long-term use. Therefore, a pallet palletizing and depalletizing industrial robot is proposed. Utility Model Content

[0004] This invention proposes a pallet palletizing and depalletizing industrial robot, which has the advantages of high work intensity and easy operation, and solves the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] An industrial robot for palletizing and depalletizing includes a robotic arm, grippers, a base, and an automatic palletizer. The grippers are fixedly connected to the robotic arm, the robotic arm is fixedly connected to the base, and the base is fixedly connected to the automatic palletizer.

[0007] Preferably, the robotic arm includes a base, a chassis, a large arm, a small arm, a large arm rotary bearing flange, and a small arm rotary bearing flange. The chassis is rotatably connected to the large arm rotary bearing flange, the large arm rotary bearing flange is fixedly connected to the bottom end of the large arm, the top end of the large arm is rotatably connected to the bottom end of the small arm rotary bearing flange, and the top end of the small arm rotary bearing flange is fixedly connected to the small arm.

[0008] Preferably, the forearm is fixedly connected to the forearm fixing seat, the forearm fixing seat is fixedly connected to the wrist front rotating flange, the wrist front rotating flange is fixedly connected to the hand claw, and the top of the hand claw is fixedly connected to the hand claw rotating flange.

[0009] Preferably, the chassis is fixedly connected with a driving arm base, the driving arm base is fixedly connected with a chassis rotating motor, the large arm rotating bearing flange is fixedly connected with a large arm rotating arm motor, and the small arm rotating bearing flange is fixedly connected with a small arm rotating arm motor.

[0010] Preferably, the clamp jaw comprises an outer frame, a first sliding rail, a suction cup, a first cylinder and a baffle, the outer frame is fixedly connected with the first sliding rail, the first sliding rail is fixedly connected with the baffle, the baffle is fixedly connected with the cylinder, and the cylinder is fixedly connected with the suction cup.

[0011] Preferably, the automatic tray machine comprises a support frame, a foot base, a panel, a conveying device and a stacking device, the foot base is fixedly connected with the support frame, the support frame is fixedly connected with the panel, the panel is fixedly connected with the conveying device, and the stacking device comprises a support frame and a small panel, and the support frame is fixedly connected with the small panel.

[0012] Preferably, the conveying device comprises a sliding rod plate, a second sliding rail, a round shaft, a gear seat, a clamping shaft seat, a belt, an electric motor gear, a second cylinder and a product box, the sliding rod plate is fixedly connected with the round shaft, one side of the round shaft is fixedly connected with the electric motor gear, the round shaft is fixedly connected with the clamping shaft seat, the clamping shaft seat is fixedly connected with the sliding rod plate, the sliding rod plate is fixedly connected with the second sliding rail, and the product box is placed on the second sliding rail.

[0013] Preferably, the conveying device comprises a moving tray, a third cylinder, a tray bottom, a baffle and a product box, the panel is fixedly connected with the tray bottom, the tray bottom is fixedly connected with the moving tray, the moving tray is fixedly connected with the baffle around, and the baffle is fixedly connected with the third cylinder.

[0014] The utility model discloses a tray stacking and unstacking industrial robot, the device can place the product on the slide rail, input corresponding instruction to the mechanical hand and make corresponding stacking and unstacking action, and the conveying device automatically conveys the tray through the cylinder, which significantly reduces the strength of manual operation, improves the efficiency, and improves the safety and reliability of the working environment. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the whole structure schematic diagram of the utility model.

[0016] Figure 2 It is the mechanical arm structure schematic diagram of the utility model.

[0017] Figure 3 It is the clamp jaw schematic diagram of the utility model.

[0018] Figure 4 It is the whole structure schematic diagram of the automatic tray machine of the utility model.

[0019] Figure 5 To the utility model Figure 1 A place enlarged view.

[0020] The drawing figure sign:1, mechanical arm;2, clamping jaw;3, base;4, automatic tray machine;101, bottom disc;102, drive arm base;103, large arm;104, small arm;105, wrist front end rotating flange;106, hand claw rotating flange;107, front claw fixed base;108, large arm rotating bearing flange;109, small arm rotating bearing flange;110, hand claw;111, bottom disc rotating motor;112, large arm rotating arm motor;113, small arm rotating arm motor;201, outer frame;202, first slide rail;203, suction cup;204, first cylinder;205, baffle;401, support frame;402, foot stand;403, panel;404, conveying device;405, stacking device;406, small panel;407, slide stick board;408, second slide rail;409, round shaft;410, gear base;411, clamping shaft base;412, moving tray;413, belt;414, electric motor gear;415, second cylinder;416, product box;417, third cylinder;418, tray bottom;419, baffle. Specific implementation

[0021] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the specific implementation of the present application is described in detail below with reference to the accompanying drawings.

[0022] According to the embodiment of the utility model, a tray stacking and unstacking industrial robot is provided.

[0023] Embodiment 1

[0024] With reference to Figure 1 The utility model provides an embodiment: including mechanical arm 1, clamping jaw 2, base 3 and automatic tray machine 4, clamping jaw 2 is fixedly connected mechanical arm 1, mechanical arm 1 is fixedly connected base 3, base 3 is fixedly connected automatic tray machine 4. Tray stacking and unstacking robot can work 24 hours uninterruptedly, and the efficiency of stacking and unstacking is improved greatly, and the waiting time of production line is reduced. Stacking and unstacking are usually labor-intensive work, and through automatic robot system, physical labor of personnel and health damage caused by long-term repetitive work can be reduced.

[0025] Embodiment 2

[0026] With reference to Figures 2-3The utility model provides a kind of embodiment provided by the utility model: the mechanical arm 1 includes base 3, chassis 101, big arm 103, small arm 104, big arm rotating bearing flange 108 and small arm rotating bearing flange 109, the chassis 101 rotationally connects big arm rotating bearing flange 108, the big arm rotating bearing flange 108 fixedly connects big arm 103 bottom end, the big arm 103 top end rotationally connects small arm rotating bearing flange 109 bottom end, and the small arm rotating bearing flange 109 top end fixedly connects small arm 104.The chassis 101 fixedly connects drive arm seat 102, and drive arm seat 102 is fixedly connected with chassis rotating motor 111, and big arm rotating bearing flange 108 is fixedly connected with big arm rotating arm motor 112, and small arm rotating bearing flange 109 is fixedly connected with small arm rotating arm motor 113.Mechanical arm 1 can bear heavy load work, can carry heavy, bulky object, and structural design usually has very high durability and stability, suitable for long time high intensity work.The gripper 2 includes outer frame 201, first sliding rail 202, suction cup 203, first cylinder 204 and baffle 205, the outer frame 201 is fixedly connected with first sliding rail 202, and first sliding rail 202 is fixedly connected with baffle 205, and baffle 205 is fixedly connected with cylinder 204, and cylinder 204 is fixedly connected with suction cup 203.Suction cup 203 can flexibly grab the object of various shapes and materials, such as plane, circular, uneven object.It is grabbed by vacuum or air pressure, and it is suitable for different packaging types, such as carton, plastic bag, glass etc.The structure of suction cup 203 is relatively simple, easy to install and debug, can quickly adapt to different types of material, shorten the time of production line adjustment.

[0027] Example 3

[0028] Refer to Figure 4The utility model provides an embodiment provided by the utility model discloses: automatic tray machine 4 including support frame 401, foot stand 402, panel 403, conveying device 404 and stacking device 405, foot stand 402 fixedly connected support frame 401, support frame 401 fixedly connected panel 403, panel 403 fixedly connected conveying device 404, stacking device 405 includes support frame 401 and small panel 406, support frame 401 fixedly connected small panel 406, conveying device 404 includes slide pole board 407, second slide rail 408, round shaft 409, gear seat 410, axle holder 411, belt 413, electric motor gear 414, second cylinder 415 and product box 416, slide pole board 407 fixedly connected round shaft 409, one side fixed connection electric motor gear 414 of round shaft 409, round shaft 409 fixedly connected axle holder 411, axle holder 411 fixedly connected slide pole board 407, slide pole board 407 fixedly connected second slide rail 408, the belt 413 in conveying device 404 and second slide rail 408 can reduce the dependence on manual handling, thereby reduce the labor cost, especially in the case of long distance transportation or high intensity operation. Product box 416 is placed on second slide rail 408. Automatic tray machine 4 can accurately convey tray to the predetermined position through programming control, avoids the problem that may appear when manual handling is wrong, skew, etc.

[0029] Embodiment 4

[0030] Refer to Figure 5 The utility model provides an embodiment provided by the utility model discloses: conveying device 404 includes mobile tray 412, third cylinder 417, tray bottom 418, baffle 419 and product box 416, panel 403 fixedly connected tray bottom 418, tray bottom 418 fixedly connected mobile tray 412, mobile tray 412 periphery fixedly connected baffle 419, baffle 419 fixedly connected third cylinder 417. The stable handling of conveying device 404 can effectively reduce the damage of tray or product, especially when handling fragile or high value goods is particularly important.

[0031] The working principle of the utility model: when the equipment begins to stack, third cylinder 417 is conveyed to the front of mechanical arm 1 through belt 413, and the product box 416 is conveyed to stacking device 405 through the surface suction cup 203 of the clamp jaw 2 on the mechanical arm 1 and the clamp jaw 2 on the mechanical arm 1; when the equipment is unstacked, the product box 413 is sucked and placed on the mobile tray 412 through the surface suction cup 203 of the clamp jaw 2 on the mechanical arm 1, and the mobile tray 412 is driven to the corresponding position by the belt 413. The belt 413 is driven by the rotation of the electric motor gear 414, and the product box 416 can be automatically ejected by the action of the third cylinder 417, saving manpower.

Claims

1. A pallet depalletizing and palletizing industrial robot, characterized in that: Including mechanical arm (1), clamp jaw (2), base (3) and automatic tray machine (4), the clamp jaw (2) is fixedly connected with mechanical arm (1), the mechanical arm (1) is fixedly connected with base (3), and the base (3) is fixedly connected with automatic tray machine (4); The automatic tray machine (4) includes support frame (401), foot base (402), panel (403), conveying device (404) and stacking device (405), the foot base (402) is fixedly connected with support frame (401), the support frame (401) is fixedly connected with panel (403), the panel (403) is fixedly connected with conveying device (404), and the stacking device (405) includes support frame (401) and small panel (406), and the support frame (401) is fixedly connected with small panel (406); The conveying device (404) includes slide pole plate (407), second slide rail (408), round shaft (409), gear base (410), shaft holder (411), belt (413), electric motor gear (414), second cylinder (415) and product box (416), the slide pole plate (407) is fixedly connected with round shaft (409), one side of the round shaft (409) is fixedly connected with electric motor gear (414), the round shaft (409) is fixedly connected with shaft holder (411), the shaft holder (411) is fixedly connected with slide pole plate (407), the slide pole plate (407) is fixedly connected with second slide rail (408), and the product box (416) is placed on the second slide rail (408).

2. A pallet depalletizing and palletizing industrial robot as claimed in claim 1, characterized in that The mechanical arm (1) includes base (3), bottom disc (101), large arm (103), small arm (104), large arm rotating bearing flange (108) and small arm rotating bearing flange (109), the bottom disc (101) is rotatably connected with large arm rotating bearing flange (108), the large arm rotating bearing flange (108) is fixedly connected with the bottom end of large arm (103), the top end of large arm (103) is rotatably connected with the bottom end of small arm rotating bearing flange (109), and the top end of small arm rotating bearing flange (109) is fixedly connected with small arm (104).

3. A pallet depalletizing and palletizing industrial robot as claimed in claim 2, characterized in that: The small arm (104) is fixedly connected with front claw fixed seat (107), the front claw fixed seat (107) is fixedly connected with wrist front end rotating flange (105), the wrist front end rotating flange (105) is fixedly connected with hand claw (110), and the top end of hand claw (110) is fixedly connected with hand claw rotating flange (106).

4. A pallet depalletizing and palletizing industrial robot as claimed in claim 2, characterized in that: The bottom disc (101) is fixedly connected with driving arm seat (102), the driving arm seat (102) is fixedly connected with bottom disc rotating motor (111), the large arm rotating bearing flange (108) is fixedly connected with large arm rotating arm motor (112), and the small arm rotating bearing flange (109) is fixedly connected with small arm rotating arm motor (113).

5. A pallet depalletizing and palletizing industrial robot as claimed in claim 1, characterized in that: The clamp jaw (2) comprises an outer frame (201), a first sliding rail (202), a suction cup (203), a first air cylinder (204) and a baffle (205), the outer frame (201) is fixedly connected with the first sliding rail (202), the first sliding rail (202) is fixedly connected with the baffle (205), the baffle (205) is fixedly connected with the air cylinder (204), and the air cylinder (204) is fixedly connected with the suction cup (203).

6. A pallet depalletizing and palletizing industrial robot as claimed in claim 1, characterized in that: The conveying device (404) comprises a moving tray (412), a third air cylinder (417), a tray bottom (418), a baffle (419) and a product box (416), the panel (403) is fixedly connected with the tray bottom (418), the tray bottom (418) is fixedly connected with the moving tray (412), the moving tray (412) is fixedly connected with the baffle (419) around, and the baffle (419) is fixedly connected with the third air cylinder (417).

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