Displacement mechanism of multi-station stacking robot

Abstract

The utility model provides a shifting mechanism of a multi-station stacking robot, and relates to the technical field of automatic machinery. The multi-station stacking robot shifting mechanism comprises a chassis and a mounting cap, the middle of the periphery of the chassis is fixedly connected to one ends of four supporting bottom feet at equal intervals, sliding grooves are formed in the positions, close to the outer sides, of the lower middle ends of the interiors of the supporting bottom feet correspondingly, and sliding blocks are slidably connected into the sliding grooves correspondingly. The mechanical arms on the four sliding rail arms alternately grab and place goods in turn, the stacking efficiency is effectively improved, energy generated when the vibrator blocks vibrate is absorbed through the first linear springs, the second linear springs, the first viscous dampers and the second viscous dampers, it is ensured that the mechanical arms can stably stack the goods in order, and the mechanical arms are inserted into the inserting blocks through the inserting grooves, so that the stacking efficiency is improved. And a threaded rod is driven by a third servo motor to rotate, a base plate is jacked up through a rolling wheel at the bottom end of a sliding block, so that the position of the device after installation is adjusted, and the device is worthy of being vigorously popularized.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic mechanical technology field, concretely is a kind of multi-station stacking robot displacement mechanism. BACKGROUND

[0002] Automatic stacking machine is machine, electric integration high-tech product, middle, low position stacking machine can satisfy the production needs of medium-low output, can be completed according to the required grouping mode and layer number, the stacking of various products such as material bag, rubber block, box, optimal design makes the pile shape compact, neat.

[0003] The currently commonly used full-automatic stacking robot is divided into coordinate type and mechanical arm type, although automation stacking can be realized, but the frequency of mechanical claw grabbing goods is low, the back-and-forth stroke time of mechanical arm is long, the stacking efficiency is not high, the support is prone to shaking in the process of multiple mechanical claw arms moving to grab and place goods, leading to goods stacking disorderly, and many coordinate type automatic stacking robots are more troublesome to disassemble and assemble, and many automatic stacking robots are difficult to adjust position once fixed and installed. UTILITY MODEL CONTENT

[0004] (I) technical problem solved

[0005] In view of the deficiencies of the prior art, the utility model provides a kind of multi-station stacking robot displacement mechanism, solve the problem of low stacking efficiency, mechanical arm activity associated support shaking, assembly and disassembly are troublesome and not convenient to adjust position after installation.

[0006] (II) technical scheme

[0007] To achieve the above object, the utility model is realized by the following technical scheme: a kind of multi-station stacking robot displacement mechanism, including chassis and installation cap, the middle part of the periphery of the chassis is fixedly connected to one end of four support bottom feet at equal intervals, the inner middle lower end of the support bottom foot is close to the position of outer side, is provided with the sliding slot, the sliding slot is slidably connected with the sliding block, the support bottom foot of the upper end middle part of the sliding slot is all fixedly connected with third servo motor, the rotating shaft of third servo motor is all through the middle part of sliding slot and is fixedly connected to one end of threaded rod, the threaded rod is all with the middle part of corresponding sliding block and is screwed, the bottom end of the sliding block is all provided with the gyro wheel, the bottom end of the periphery of the installation cap is all fixedly connected to one end of slide rail arm at equal intervals, the other end of the slide rail arm is all fixedly connected with end block, the installation block is all provided on the slide rail arm.

[0008] Preferably, a fourth servo motor is fixedly connected to the middle of the top inner side of the chassis, the shaft of the fourth servo motor passes through the middle of the top of the chassis and is fixedly connected to the middle of the bottom of the main rod, the bottom of the main rod is fixedly connected to the middle of the turntable, the bottom of the turntable is slidably connected to the top of the chassis, and an insert block is fixedly connected to the middle of the top of the main rod.

[0009] Preferably, the other end of each of the supporting feet is fixedly connected to the upper end of one side of the column, and the bottom end of each column is fixedly connected to a rubber pad.

[0010] Preferably, a first servo motor is provided on the middle left side of each mounting block, a second servo motor is provided on the middle right side of each mounting block, a slide rail plate is provided on the right side of the middle of each mounting block, a base block is fixedly connected to the lower left side of each slide rail plate, and the bottom end of each base block is fixedly connected to the bottom end of the robotic arm.

[0011] Preferably, each end block has an internal mounting groove, and each mounting groove contains an oscillator block. The right sides of the upper and lower ends of the oscillator block are fixedly connected to one end of a first viscous damper, and the other end of the first viscous damper is fixedly connected to the right side of the middle of the upper and lower ends of the mounting groove. The upper ends of the left and right sides of the oscillator block are fixedly connected to one end of a second viscous damper, and the other end of the second viscous damper is fixedly connected to the upper middle of the left and right sides of the mounting groove. The left sides of the upper and lower ends of the oscillator block are fixedly connected to one end of a first linear spring, and the other end of the first linear spring is fixedly connected to the left side of the middle of the upper and lower ends of the mounting groove. The lower ends of the left and right sides of the oscillator block are fixedly connected to one end of a second linear spring, and the other end of the second linear spring is fixedly connected to the lower middle of the left and right sides of the mounting groove.

[0012] Preferably, the top of the robotic arm is fixedly connected to the middle of the gripper plate, and four suction cups are equidistantly arranged at the bottom of the gripper plate.

[0013] Preferably, the mounting cap has a slot at the bottom center, which engages with the insert block. The mounting cap is fixed at equal intervals around one side of the right-angled edge of the reinforcing plate, and the other side of the right-angled edge of the reinforcing plate is fixedly connected to the slide rail arm.

[0014] Preferably, the top of each slide rail plate is fixedly connected to the middle of the bottom of the stop block.

[0015] Working principle: The fourth servo motor drives the main rod to rotate, which in turn drives the mounting cap and the slide rail arms around it to rotate. The first servo motor then drives the mounting block to move back and forth on the slide rail arms, while the second servo motor drives the slide rail plate to move up and down on one side of the middle of the mounting block. This controls the forward and backward position and vertical height of the robotic arm. The robotic arm, in conjunction with the gripper plate and suction cups, picks up and places goods. The robotic arms on the four slide rail arms take turns picking up and placing goods, increasing the frequency of the suction cups and reducing the travel time of the robotic arm, effectively improving palletizing efficiency. By setting a vibrator block in the mounting slot, when the robotic arm moves and causes the slide rail arms to vibrate, the vibrator... The block vibrates in the mounting slot. The first and second linear springs bear the inertial force of the vibrating block. At the same time, the first and second viscous dampers absorb the energy of the vibrating block, thereby reducing the vibration of the front end of the slide arm and ensuring that the robotic arm can smoothly stack the goods neatly. The plug is fixedly connected to the main rod, and a slot is set in the middle of the bottom end of the mounting cap. During installation and use, the slot at the bottom end of the mounting cap can be directly inserted into the plug on the main rod. Assembly and disassembly are simple and convenient. The third servo motor drives the threaded rod to rotate, allowing the slider to slide downward in the slide groove. At this time, the roller at the bottom end of the slider lifts the chassis, thereby adjusting the position of the equipment after installation.

[0016] (III) Beneficial Effects

[0017] This utility model provides a multi-station palletizing robot transfer mechanism. It has the following beneficial effects:

[0018] 1. This utility model uses a fourth servo motor to drive the main rod to rotate, which in turn drives the mounting cap and the slide rail arms around the mounting cap to rotate. Then, a first servo motor drives the mounting block to move back and forth on the slide rail arms, and a second servo motor drives the slide rail plate to move up and down on one side of the middle of the mounting block. This controls the front and back position and vertical height of the robotic arm. The robotic arm, in conjunction with the gripper plate and suction cups, picks up and places goods. The robotic arms on the four slide rail arms take turns picking up and placing goods, which increases the frequency of the suction cups picking up goods, reduces the travel time of the robotic arm, and effectively improves the palletizing efficiency.

[0019] 2. This utility model sets a vibrator block in the mounting groove. When the robotic arm moves and causes the slide rail arm to vibrate, the vibrator block vibrates in the mounting groove. The first linear spring and the second linear spring bear the inertial force of the vibrator block vibration. At the same time, the first viscous damper and the second viscous damper absorb the energy of the vibrator block vibration, thereby reducing the vibration of the front end of the slide rail arm and ensuring that the robotic arm can stably and neatly stack the goods.

[0020] 3. This utility model has a fixed connecting block at the top center of the main rod and a slot at the bottom center of the mounting cap. When installing and using, the slot at the bottom of the mounting cap can be directly inserted into the connecting block of the main rod. When disassembling, the mounting cap can be directly removed from the connecting block of the main rod. Assembly and disassembly are simple and convenient.

[0021] 4. This utility model features a sliding groove located at the lower end of each support foot near the outer side. A slider is slidably connected within each groove. A third servo motor is fixedly connected to the support foot at the upper center of each groove. The shaft of the third servo motor passes through the middle of the groove and is fixedly connected to one end of a threaded rod. The threaded rod is threadedly connected to the middle of the corresponding slider. Each slider has a roller at its bottom. The third servo motor drives the threaded rod to rotate, causing the slider to slide downwards within the groove. At this time, the roller at the bottom of the slider lifts the chassis, thereby adjusting the position of the equipment after installation. This design is worthy of widespread promotion. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a top view of the structure of this utility model;

[0024] Figure 3 This is a schematic diagram of the disassembled structure of this utility model;

[0025] Figure 4 This is a schematic diagram of the internal structure of the end block of this utility model;

[0026] Figure 5 This is a partial cross-sectional structural diagram of the support base of this utility model.

[0027] The components are as follows: 1. Chassis; 2. Mounting cap; 3. Support foot; 4. Slide rail arm; 5. Robotic arm; 6. Mounting block; 7. First servo motor; 8. Second servo motor; 9. Third servo motor; 10. Fourth servo motor; 11. Column; 12. Rubber pad; 13. Roller; 14. Grip plate; 15. Base block; 16. End block; 17. Main rod; 18. Slide rail plate; 19. Stop block; 20. Reinforcing plate; 21. Turntable; 22. Suction cup; 23. Insert block; 24. Slot; 25. Mounting groove; 26. Vibrator block; 27. First viscous damper; 28. First linear spring; 29. ​​Slider; 30. Threaded rod; 31. Slide groove; 32. Second viscous damper; 33. Second linear spring. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Example:

[0030] like Figures 1-5 As shown, this utility model embodiment provides a multi-station palletizing robot shifting mechanism, including a chassis 1 and a mounting cap 2. The chassis 1 is equidistantly fixed to one end of four supporting feet 3 at its center. Each supporting foot 3 has a sliding groove 31 located at its lower center near the outer side. A slider 29 is slidably connected within each sliding groove 31. A third servo motor 9 is fixedly connected to each supporting foot 3 at the upper center of the sliding groove 31. The shaft of each third servo motor 9 passes through the center of the sliding groove 31 and is fixedly connected to a threaded rod 30. At one end, the threaded rod 30 is threadedly connected to the middle of the corresponding slider 29. The bottom end of the slider 29 is provided with a roller 13. The threaded rod 30 is driven to rotate by the third servo motor 9, so that the slider 29 slides downward in the slide groove 31. At this time, the roller 13 at the bottom end of the slider 29 lifts the chassis 1, thereby adjusting the position of the equipment after installation. The bottom ends of the mounting cap 2 are fixedly connected to one end of the slide rail arm 4 at equal intervals. The other end of the slide rail arm 4 is fixedly connected with an end block 16. The slide rail arm 4 is provided with a mounting block 6.

[0031] A fourth servo motor 10 is fixedly connected to the center of the top inner side of the chassis 1. The shaft of the fourth servo motor 10 passes through the center of the top of the chassis 1 and is fixedly connected to the center of the bottom of the main rod 17. The bottom of the main rod 17 is fixedly connected to the center of the turntable 21. The bottom of the turntable 21 is slidably connected to the top of the chassis 1. An insert block 23 is fixedly connected to the center of the top of the main rod 17. The fourth servo motor 10 drives the main rod 17 to rotate, and the main rod 17 drives the mounting cap 2 and the slide rail arms 4 around the mounting cap 2 to rotate. The first servo motor 7 drives the mounting block 6 to move back and forth on the slide rail arm 4, and the second servo motor 8 drives the slide rail plate 18 to move up and down on one side of the middle of the mounting block 6. This controls the front and back position and the vertical height of the robotic arm 5. The robotic arm 5, in conjunction with the gripper plate 14 and the suction cup 22, picks up and places goods. The robotic arms 5 on the four slide rail arms 4 take turns picking up and placing goods, which increases the frequency of the suction cup 22 picking up goods and reduces the travel time of the robotic arm 5, effectively improving the palletizing efficiency.

[0032] The other end of each support foot 3 is fixedly connected to the upper side of one side of the column 11, and the bottom of each column 11 is fixedly connected to a rubber pad 12.

[0033] A first servo motor 7 is provided on the middle left side of each mounting block 6, a second servo motor 8 is provided on the middle right side of each mounting block 6, a slide rail plate 18 is provided on the right side of the middle of each mounting block 6, a base block 15 is fixedly connected to the lower left side of each slide rail plate 18, and the bottom end of each base block 15 is fixedly connected to the bottom end of the robotic arm 5.

[0034] Each end block 16 has an internal mounting groove 25, and each mounting groove 25 contains an oscillator block 26. The right sides of the upper and lower ends of the oscillator block 26 are fixedly connected to one end of a first viscous damper 27. The other end of the first viscous damper 27 is fixedly connected to the right middle of the upper and lower ends of the mounting groove 25, respectively. The upper ends of the left and right sides of the oscillator block 26 are fixedly connected to one end of a second viscous damper 32. The other end of the second viscous damper 32 is fixedly connected to the upper middle of the left and right sides of the mounting groove 25, respectively. The left sides of the upper and lower ends of the oscillator block 26 are fixedly connected to one end of a first linear spring 28. The other end of the first linear spring 28 is fixedly connected to the upper and lower ends of the mounting groove 25, respectively. On the left side of the middle section, the lower ends of the left and right sides of the vibrator block 26 are fixedly connected to one end of the second linear spring 33. The other end of the second linear spring 33 is fixedly connected to the lower middle end of the left and right sides of the mounting groove 25. By setting the vibrator block 26 in the mounting groove 25, when the robotic arm 5 moves and causes the slide rail arm 4 to vibrate, the vibrator block 26 vibrates in the mounting groove 25. The first linear spring 28 and the second linear spring 33 bear the inertial force of the vibrator block 26 when it vibrates. At the same time, the first viscous damper 27 and the second viscous damper 32 absorb the energy of the vibrator block 26 when it vibrates, thereby reducing the vibration of the front end of the slide rail arm 4 and ensuring that the robotic arm 5 can smoothly stack the goods neatly.

[0035] The top of the robotic arm 5 is fixedly connected to the middle of the gripper plate 14, and four suction cups 22 are equidistantly arranged at the bottom of the gripper plate 14.

[0036] The mounting cap 2 has a slot 24 at the bottom center. The slot 24 engages with the insert block 23. During installation and use, the slot 24 at the bottom of the mounting cap 2 is simply inserted into the insert block 23 of the main rod 17. Assembly and disassembly are simple and convenient. The mounting cap 2 is fixed at equal intervals around one side of the right angle side of the reinforcing plate 20. The other side of the right angle side of the reinforcing plate 20 is fixedly connected to the slide rail arm 4, which increases the stability of the connection between the slide rail arm 4 and the mounting cap 2.

[0037] The top of the slide rail plate 18 is fixedly connected to the middle of the bottom of the stop block 19, and the stop block 19 serves as a limit.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-station palletizing robot displacement mechanism comprising a chassis (1) and a mounting cap (2), characterized in that: The middle part of the periphery of the chassis (1) is equidistantly fixedly connected to one end of four supporting feet (3), the inner middle lower end of the supporting feet (3) is provided with a sliding groove (31) near the outer side, the sliding groove (31) is slidably connected with a sliding block (29), the supporting feet (3) are fixedly connected with a third servo motor (9) at the middle upper end of the sliding groove (31), the rotating shaft of the third servo motor (9) penetrates the middle part of the sliding groove (31) and is fixedly connected to one end of a threaded rod (30), the threaded rod (30) is threadedly connected with the middle part of the corresponding sliding block (29), the bottom end of the sliding block (29) is provided with a roller (13), the bottom end of the periphery of the mounting cap (2) is equidistantly fixedly connected to one end of a sliding rail arm (4), the other end of the sliding rail arm (4) is fixedly connected with an end block (16), and the sliding rail arm (4) is provided with a mounting block (6).

2. The multi-station palletizing robot displacement mechanism of claim 1, wherein: The middle part of the top end of the inner side of the chassis (1) is fixedly connected with a fourth servo motor (10), the rotating shaft of the fourth servo motor (10) penetrates the middle part of the top end of the chassis (1) and is fixedly connected to the middle part of the bottom end of a main rod (17), the bottom end of the main rod (17) is fixedly connected to the middle part of a rotating disc (21), and the bottom end of the rotating disc (21) is slidably connected to the top end of the chassis (1). The middle part of the top end of the main rod (17) is fixedly connected with a plug block (23).

3. The multi-station palletizing robot displacement mechanism of claim 1, wherein: The other end of the supporting feet (3) is fixedly connected to the one side upper end of a vertical column (11), and the bottom end of the vertical column (11) is fixedly connected with a rubber pad (12).

4. The multi-station palletizing robot displacement mechanism of claim 1, wherein: The middle part of the left side of the mounting block (6) is provided with a first servo motor (7), the middle part of the right side of the mounting block (6) is provided with a second servo motor (8), the right side of the middle part of the mounting block (6) is provided with a sliding rail plate (18), the lower left end of the sliding rail plate (18) is fixedly connected with a base block (15), and the bottom end of the base block (15) is fixedly connected to the bottom end of a mechanical arm (5).

5. The multi-station palletizing robot displacement mechanism of claim 1, wherein: The inner part of the end block (16) is provided with a mounting groove (25), the mounting groove (25) is provided with a vibrator block (26), the right side of the upper and lower ends of the vibrator block (26) is fixedly connected to one end of a first viscous damper (27), the other end of the first viscous damper (27) is fixedly connected to the middle right side of the upper and lower ends of the mounting groove (25), the upper ends of the left and right sides of the vibrator block (26) are fixedly connected to one end of a second viscous damper (32), the other end of the second viscous damper (32) is fixedly connected to the middle upper end of the left and right sides of the mounting groove (25), the left side of the upper and lower ends of the vibrator block (26) is fixedly connected to one end of a first linear spring (28), the other end of the first linear spring (28) is fixedly connected to the middle left side of the upper and lower ends of the mounting groove (25), the lower ends of the left and right sides of the vibrator block (26) are fixedly connected to one end of a second linear spring (33), and the other end of the second linear spring (33) is fixedly connected to the middle lower end of the left and right sides of the mounting groove (25).

6. The multi-station palletizing robot displacement mechanism of claim 4, wherein: The top end of the mechanical arm (5) is fixedly connected to the middle part of the gripper plate (14), and the bottom end of the gripper plate (14) is provided with four suction cups (22) at equal intervals.

7. A multi-station palletizing robot displacement mechanism according to claim 1 or claim 2, characterized in that: The middle part of the bottom end of the mounting cap (2) is provided with a slot (24), the slot (24) is clamped with the plug (23), the mounting cap (2) is fixedly arranged on one side of the right angle edge of the reinforcing plate (20) at equal intervals, and the other side of the right angle edge of the reinforcing plate (20) is fixedly connected with the slide rail arm (4).

8. The multi-station palletizing robot displacement mechanism of claim 4, wherein: The top end of the slide rail plate (18) is fixedly connected to the middle part of the bottom end of the stop block (19).

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