Carrying and stacking robot

Abstract

The utility model discloses a carrying and stacking robot which comprises a base, a rotating mounting table used for rotating is mounted at the top of the base, a carrying and stacking mechanism used for carrying and stacking is mounted at the top of the rotating mounting table, and a position adjusting mechanism is mounted in the base in a penetrating mode. By means of the arrangement of the position adjusting mechanism, when the goods placing position continuously changes, an electric sliding base drives the carrying and stacking mechanism to longitudinally move through an adjusting assembly, along with the continuous change of the goods placing position, a third servo motor works to drive a rotating rod to rotate, and a belt wheel is in transmission connection with a transmission belt; the two transmission gears are driven to rotate synchronously, then the transmission gears and the racks are in meshed connection to drive the base and the carrying and stacking mechanism on the top of the base to transversely move along the transverse rod, and therefore the goods placing position can be rapidly adjusted when changed, and the situation that manual intervention or position readjustment is needed, and the production efficiency is affected is avoided.

Description

Technical Field

[0001] This utility model relates to the field of handling robot technology, specifically a handling and palletizing robot. Background Technology

[0002] With the development of technology, most enterprise products are mass-produced on assembly lines through production equipment, which greatly improves production efficiency. In the existing technology, product packaging is transported to one end by a conveyor belt, and then the product packaging is transferred from the conveyor belt to the transport vehicle. Existing palletizing robots have simple structures, mostly two-axis or three-axis robots, which are not flexible enough and have poor working stability. Most palletizing robots use triangular grippers, which are suitable for gripping small items, but cannot perform gripping work when the box is large, resulting in low applicability.

[0003] In the prior art, as shown in the patent document with authorization announcement number "CN215159236U", the device is based on a four-axis robot adjusting gripper device, which is flexible in use. It is equipped with a device to grasp and stack by moving two sets of gripper bars, so as to be suitable for handling boxes of different sizes, and has the advantages of high stability, good gripping effect and wide applicability.

[0004] However, existing technologies still have significant shortcomings, such as:

[0005] In the existing technology, since the installation position of the palletizing robot is relatively fixed, the placement position of the goods is constantly changing when they are being transported to the transport vehicle. Therefore, due to the fixed position of the robot, it cannot quickly adapt to the palletizing requirements of different placement positions, and often requires manual intervention or readjustment, which seriously affects production efficiency. Utility Model Content

[0006] The purpose of this invention is to provide a palletizing robot to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a palletizing robot, including a base, a rotating mounting platform for rotation is installed on the top of the base, a palletizing mechanism for palletizing is installed on the top of the rotating mounting platform, and a position adjustment mechanism is installed through the interior of the base;

[0008] The position adjustment mechanism includes brackets disposed on both sides of the base. Self-locking casters are fixedly installed on both sides of the bottom of the two brackets. Slide rails are installed on adjacent sides of the two brackets. Electric slide blocks are slidably installed on the surface of the slide rails.

[0009] An adjustment assembly, installed between two electric slides, is used to adjust the handling position of the palletizing mechanism.

[0010] Preferably, the adjustment assembly includes a crossbar fixedly installed between two electric slide blocks, one end of the crossbar passing through the base and slidably connected thereto, and a rack embedded in the top of the crossbar;

[0011] A third servo motor is installed on one side of the inner cavity of the base. A rotating rod is installed on both the output end of the third servo motor and one side of the inner cavity of the base. A transmission gear is installed on the surface of both rotating rods. The bottom of the transmission gear penetrates the base and meshes with a rack.

[0012] Preferably, pulleys are installed on one side of each of the two rotating rod surfaces, and a drive belt is wound around the surface of each pulley, with the two pulleys connected by the drive belt.

[0013] Preferably, the handling and palletizing mechanism includes a mounting frame fixedly installed on the top of the rotating mounting platform. A first servo motor is installed on the top of the mounting frame. The output end of the first servo motor passes through the base and extends into the interior of the base. A lead screw is fixedly installed on the output end of the first servo motor. The bottom end of the lead screw is rotatably connected to the bottom of the inner cavity of the mounting frame. A lifting seat is threaded onto the surface of the lead screw.

[0014] Two electric telescopic rods are installed through one side of the lifting seat. An installation plate is fixedly installed at the telescopic end of the electric telescopic rod. A rotary motor is installed on one side of the installation plate. The output end of the rotary motor passes through the installation plate and extends to one side of the installation plate. A clamping mechanism for clamping the product is fixedly installed at the output end of the rotary motor.

[0015] Preferably, the clamping mechanism includes a mounting housing fixedly mounted on the output end of a rotary motor, a bidirectional screw is rotatably mounted inside the mounting housing, and clamping plates are threadedly connected to both sides of the surface of the bidirectional screw, with one end of each clamping plate penetrating the mounting housing and extending to the outside of the mounting housing;

[0016] A driven bevel gear is threaded onto one side of the surface of the bidirectional screw. A second servo motor is mounted on one side of the mounting housing. The output end of the second servo motor passes through the mounting housing and extends into the interior of the mounting housing. A driving bevel gear is mounted on the output end of the second servo motor. The driving bevel gear and the driven bevel gear are meshed together.

[0017] Preferably, a slide rod is fixedly installed between the two electric slide blocks and on both sides of the crossbar, and one end of each slide rod passes through the base and is slidably connected to the base.

[0018] Compared with the prior art, the beneficial effects of this utility model are:

[0019] 1. By utilizing the position adjustment mechanism, when the placement position of the goods changes continuously, the electric slide uses the adjustment component to drive the handling and palletizing mechanism to move longitudinally. As the placement position of the goods changes continuously, the third servo motor drives the rotating rod to rotate, and through the transmission connection between the pulley and the transmission belt, it drives the two transmission gears to rotate synchronously. Then, through the meshing connection between the transmission gears and the rack, it drives the base and the handling and palletizing mechanism on top to move laterally along the crossbar. This enables the goods placement position to be quickly adjusted when it changes, avoiding the need for manual intervention or readjustment, which would affect production efficiency.

[0020] 2. Utilizing the palletizing mechanism, during the palletizing of goods, the first servo motor drives the lead screw to rotate, and the threaded connection between the lead screw and the lifting seat drives the clamping mechanism to descend and move to one side of the goods. Simultaneously, the electric telescopic rod drives the clamping mechanism to move, and the second servo motor drives the active bevel gear to rotate. The active bevel gear, through its meshing connection with the driven bevel gear, drives the bidirectional screw to rotate. The threaded connection between the bidirectional screw and the clamping plate clamps the goods, and the first servo motor reverses to drive the goods to rise. Then, in conjunction with the rotating mounting table, the goods are palletized. This enables the palletizing of goods of different sizes and further enhances the flexibility of the device. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the position adjustment mechanism of this utility model;

[0023] Figure 3 This is a schematic diagram of the handling and palletizing mechanism of this utility model;

[0024] Figure 4 This is a schematic diagram of the clamping mechanism of this utility model;

[0025] Figure 5 This utility model Figure 4 A magnified structural diagram of point A in the middle.

[0026] In the diagram: 1. Base; 2. Rotary mounting platform; 3. Handling and palletizing mechanism; 31. Mounting frame; 32. First servo motor; 33. Lead screw; 34. Lifting seat; 35. Electric telescopic rod; 36. Mounting plate; 37. Rotary motor; 38. Clamping mechanism; 381. Mounting housing; 382. Bidirectional screw; 383. Clamping plate; 384. Driven bevel gear; 385. Second servo motor; 386. Driven bevel gear; 4. Position adjustment mechanism; 41. Bracket; 42. Self-locking caster wheel; 43. Slide rail; 44. Electric slide block; 45. Adjustment component; 451. Crossbar; 452. Rack; 453. Third servo motor; 454. Rotating rod; 455. Transmission gear; 456. Pulley; 457. Transmission belt; 458. Slide rod. Detailed Implementation

[0027] 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.

[0028] Example 1:

[0029] Please see Figure 1-5 This utility model provides a technical solution: a palletizing robot, including a base 1, a rotating mounting platform 2 for rotation is installed on the top of the base 1, a palletizing mechanism 3 for palletizing is installed on the top of the rotating mounting platform 2, and a position adjustment mechanism 4 is installed through the interior of the base 1.

[0030] The position adjustment mechanism 4 includes brackets 41 disposed on both sides of the base 1. Self-locking casters 42 are fixedly installed on both sides of the bottom of the two brackets 41. Slide rails 43 are installed on the adjacent side of the two brackets 41. Electric slide blocks 44 are slidably installed on the surface of the slide rails 43.

[0031] An adjustment component 45 is installed between two electric slides 44 to adjust the handling position of the palletizing mechanism 3.

[0032] The palletizing mechanism 3 includes a mounting frame 31 fixedly mounted on the top of the rotary mounting table 2. A first servo motor 32 is mounted on the top of the mounting frame 31. The output end of the first servo motor 32 passes through the base 1 and extends into the interior of the base 1. A lead screw 33 is fixedly mounted on the output end of the first servo motor 32. The bottom end of the lead screw 33 is rotatably connected to the bottom of the inner cavity of the mounting frame 31. A lifting seat 34 is threadedly connected to the surface of the lead screw 33. Two electric telescopic rods 35 are installed through one side of the lifting seat 34. A mounting plate 36 is fixedly mounted on the telescopic end of the electric telescopic rods 35. A rotary motor 37 is mounted on one side of the mounting plate 36. The output end of the rotary motor 37 passes through the mounting plate 36 and extends to one side of the mounting plate 36. A clamping mechanism 38 for clamping the product is fixedly mounted on the output end of the rotary motor 37.

[0033] In this embodiment, the clamping mechanism 38 can be raised and lowered to facilitate the handling and stacking of goods. Furthermore, by cooperating with the rotating mounting platform 2, the clamping mechanism 38 can be rotated to adjust to a suitable position.

[0034] The clamping mechanism 38 includes a mounting housing 381 fixedly mounted on the output end of the rotary motor 37. A bidirectional screw 382 is rotatably mounted inside the mounting housing 381. Clamping plates 383 are threadedly connected to both sides of the surface of the bidirectional screw 382. One end of each clamping plate 383 passes through the mounting housing 381 and extends to the outside of the mounting housing 381. A driven bevel gear 384 is threadedly connected to one side of the surface of the bidirectional screw 382. A second servo motor 385 is mounted on one side of the mounting housing 381. The output end of the second servo motor 385 passes through the mounting housing 381 and extends to the inside of the mounting housing 381. A driving bevel gear 386 is mounted on the output end of the second servo motor 385. The driving bevel gear 386 and the driven bevel gear 384 are meshed.

[0035] In this embodiment, the electric telescopic rod 35 drives the clamping mechanism 38 to move, and the second servo motor 385 drives the active bevel gear 386 to rotate. The active bevel gear 386 drives the bidirectional screw 382 to rotate through the meshing connection with the driven bevel gear 384. The bidirectional screw 382 is then used to clamp the goods through the threaded connection with the clamping plate 383. The first servo motor 32 reverses to drive the goods to rise, and then cooperates with the rotating mounting table 2 to stack the goods.

[0036] Example 2:

[0037] Based on Embodiment 1, this embodiment takes into account that although Embodiment 1 can achieve the handling and stacking of goods, the placement position of the goods will change constantly during actual use. Therefore, this embodiment uses the following structure to quickly adapt to the placement requirements of different positions.

[0038] The adjustment assembly 45 includes a crossbar 451 fixedly installed between two electric slide blocks 44. One end of the crossbar 451 passes through the base 1 and is slidably connected thereto. A rack 452 is embedded in the top of the crossbar 451. A third servo motor 453 is installed on one side of the inner cavity of the base 1. A rotating rod 454 is installed on both the output end of the third servo motor 453 and one side of the inner cavity of the base 1. A transmission gear 455 is installed on the surface of both rotating rods 454. The bottom of the transmission gear 455 passes through the base 1 and meshes with the rack 452. A pulley 456 is installed on one side of the surface of both rotating rods 454. A transmission belt 457 is wound around the surface of the pulley 456. The two pulleys 456 are connected by the transmission belt 457.

[0039] In this embodiment, the electric slide 44 uses the adjustment component 45 to drive the handling and palletizing mechanism 3 to move longitudinally, while the third servo motor 453 drives the rotating rod 454 to rotate. The pulley 456 and the transmission belt 457 are connected to drive the two transmission gears 455 to rotate synchronously. The meshing connection between the transmission gears 455 and the rack 452 drives the base 1 and the handling and palletizing mechanism 3 on its top to move laterally along the crossbar 451, so that the placement position of the goods can be quickly adjusted when it changes.

[0040] Slide rods 458 are fixedly installed between the two electric slide blocks 44 and on both sides of the crossbar 451. One end of each slide rod 458 passes through the base 1 and is slidably connected to the base 1.

[0041] In this embodiment, the stability of the base 1 can be maintained during movement, and the load-bearing capacity of the crossbar 451 can be further improved, preventing the crossbar 451 from bending during long-term use and affecting the handling and stacking of goods.

[0042] Working principle: When handling and stacking goods, the first servo motor 32 drives the lead screw 33 to rotate, and the screw 33, through the threaded connection with the lifting seat 34, drives the clamping mechanism 38 to descend and move to one side of the goods. At the same time, the electric telescopic rod 35 drives the clamping mechanism 38 to move, and the second servo motor 385 drives the active bevel gear 386 to rotate. The active bevel gear 386, through its meshing connection with the driven bevel gear 384, drives the bidirectional screw 382 to rotate. The bidirectional screw 382, ​​through the threaded connection with the clamping plate 383, clamps the goods, and the first servo motor 32 reverses to drive the goods to rise. Then, in conjunction with the rotating mounting table 2, the goods are stacked.

[0043] Furthermore, as the placement of goods changes continuously, the electric slide 44 uses the adjustment component 45 to drive the handling and palletizing mechanism 3 to move longitudinally, while the third servo motor 453 drives the rotating rod 454 to rotate. Through the transmission connection between the pulley 456 and the transmission belt 457, the two transmission gears 455 rotate synchronously. Then, through the meshing connection between the transmission gear 455 and the rack 452, the base 1 and the handling and palletizing mechanism 3 on its top move laterally along the crossbar 451, so that the placement of goods can be quickly adjusted when it changes.

[0044] 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 palletizing robot, comprising a base (1), a rotating mounting table (2) for rotation is mounted on the top of the base (1), a palletizing mechanism (3) for palletizing is mounted on the top of the rotating mounting table (2), characterized in that: The inside of the base (1) is provided with a position adjusting mechanism (4); The position adjusting mechanism (4) comprises supports (41) arranged on both sides of the base (1), self-locking universal wheels (42) fixedly installed on both sides of the bottom of the two supports (41), slide rails (43) installed on the adjacent sides of the two supports (41), and electric sliding seats (44) slidably installed on the surfaces of the slide rails (43). An adjusting assembly (45) is installed between the two electric sliding seats (44) for adjusting the carrying position of the carrying and stacking mechanism (3).

2. A palletizing robot according to claim 1, characterized in that The adjusting assembly (45) comprises a cross rod (451) fixedly installed between the two electric sliding seats (44), one end of the cross rod (451) penetrating through the base (1) and being slidably connected thereto, and a rack (452) embeddedly installed on the top of the cross rod (451). A third servo motor (453) is installed on one side of the inner cavity of the base (1), a rotating rod (454) is installed on one side of the inner cavity of the base (1) and the output end of the third servo motor (453), and a transmission gear (455) is installed on the surface of each of the two rotating rods (454), and the bottom of the transmission gear (455) penetrates through the base (1) and is in meshing connection with the rack (452).

3. A palletizing robot according to claim 2, characterized in that A belt pulley (456) is installed on one side of the surface of each of the two rotating rods (454), a transmission belt (457) is wound around the surface of the belt pulley (456), and the two belt pulleys (456) are in transmission connection through the transmission belt (457).

4. A palletizing robot according to claim 3, characterized in that: The carrying and stacking mechanism (3) comprises a mounting frame (31) fixedly installed on the top of the rotating mounting table (2), a first servo motor (32) installed on the top of the mounting frame (31), an output end of the first servo motor (32) penetrating through the base (1) and extending into the inner cavity of the base (1), a screw rod (33) fixedly installed on the output end of the first servo motor (32), the bottom end of the screw rod (33) being rotatably connected with the bottom of the inner cavity of the mounting frame (31), and a lifting seat (34) threadedly connected with the surface of the screw rod (33). Two electric telescopic rods (35) are installed on one side of the lifting seat (34), an installation plate (36) is fixedly installed on the telescopic end of the electric telescopic rod (35), a rotating motor (37) is installed on one side of the installation plate (36), an output end of the rotating motor (37) penetrating through the installation plate (36) and extending to one side of the installation plate (36), and a clamping mechanism (38) for clamping products is fixedly installed on the output end of the rotating motor (37).

5. A palletizing robot according to claim 4, characterized in that: The clamping mechanism (38) comprises an installation housing (381) fixedly installed on the output end of the rotating motor (37), a bidirectional screw rod (382) rotatably installed in the installation housing (381), clamping plates (383) threadedly connected with the surfaces of the two sides of the bidirectional screw rod (382), and one end of each of the two clamping plates (383) penetrating through the installation housing (381) and extending to the outside of the installation housing (381). The side of the surface of the bidirectional screw (382) is threadedly connected with a driven bevel gear (384), one side of the mounting shell (381) is mounted with a second servo motor (385), the output end of the second servo motor (385) penetrates through the mounting shell (381) and extends to the inside of the mounting shell (381), the output end of the second servo motor (385) is mounted with a driving bevel gear (386), and the driving bevel gear (386) is in meshing connection with the driven bevel gear (384).

6. The palletizing robot according to claim 2, characterized in that: Two slide rods (458) are fixedly installed between the two electric sliding seats (44) and on the front and rear sides of the cross rod (451), and one end of each of the two slide rods (458) penetrates through the base (1) and is in sliding connection with the base (1).

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