Manipulator for robot palletizer

Abstract

A mechanical arm for a palletizing robot comprises an equipment hanging scaffold, a guide rail frame, a guide rail, a driving box, a worm gear, a worm and a carrying hook positioning shaft, the upper portion of the equipment hanging scaffold is provided with a robot bolt base, the lower portion of the equipment hanging scaffold is fixedly connected with a transverse frame, the side portion of the equipment hanging scaffold is fixedly connected with an auxiliary support, and the lower portion of the auxiliary support is fixedly connected with the transverse frame. A gear shaft groove is formed in the transverse frame, matched with a gear shaft and connected with the gear shaft, the gear shaft rotates in the gear shaft groove, the lower portion of the transverse frame is fixedly connected with a gear motor, an output shaft of the gear motor is fixedly connected with the gear shaft, the upper portion of the gear shaft is fixedly connected with a gear, and the side portion of the transverse frame is fixedly connected with a rack guide rod. The rack guide rod is matched with the rack frame and connected with the rack frame, and the rack frame slides in the rack guide rod.

Description

TECHNICAL FIELD

[0001] The utility model relates to a stacking machine field, especially a kind of manipulator for stacking robot. BACKGROUND

[0002] The existing patent (announcement number: CN221716942U) proposes a kind of manipulator for stacking robot. Contain: support plate, support plate bottom is fixedly arranged with vertical plate;Power arm is rotationally arranged in the two sides of vertical plate;Clamping arm one end is rotationally connected with the other end of power arm, clamping arm other end is provided with clamping part, the one end of support arm is rotationally arranged in the outside of vertical plate, the other end of support arm is rotationally arranged in the outside of clamping arm, support arm and power arm are mutually parallel arrangement, however this device " the clamping arm one end is rotationally connected with the other end of power arm " wherein equipment is clamped by the two groups of clamping arms of support plate lower part, when relatively heavy material is suspended and transported, since clamping arm is placed in material two sides, possibly guarantee the stability of heavy goods grabbing. SUMMARY

[0003] The utility model provides a kind of manipulator for stacking robot, which is clamped by the two groups of clamping jaws of horizontal frame lower part after being suspended, and the worm gear motor drives the rotation of worm wheel after the rear part of clamping jaw, so that the rotation of worm wheel drives the rotation of supporting hook positioning shaft, thereby supporting hook is assisted to support in the lower part of material, to increase the stability of equipment grabbing and conveying.

[0004] The utility model aims to realize by the following technical scheme:

[0005] A kind of manipulator for stacking robot, including equipment crane platform, guide rail frame, guide rail, drive box, worm wheel, worm, supporting hook positioning shaft, the upper portion of the equipment crane platform has robot bolt seat, equipment crane platform lower part is fixedly connected with horizontal frame, equipment crane platform side is fixedly connected with auxiliary support, auxiliary support lower part is fixedly connected with horizontal frame, horizontal frame interior has gear shaft slot, gear shaft slot is adapted to gear shaft, gear shaft slot is connected gear shaft, gear shaft rotates in gear shaft slot interior, horizontal frame lower part is fixedly connected with gear motor, gear motor output shaft is fixedly connected with gear shaft, gear shaft upper portion is fixedly connected with gear, horizontal frame side is fixedly connected with rack guide rod, rack guide rod is adapted to rack frame, rack guide rod is connected rack frame, rack frame slides in rack guide rod interior, rack frame side has rack, gear is engaged in rack side portion, rack frame lower part has suspension bracket, horizontal frame interior has suspension bracket sliding groove, suspension bracket sliding groove is adapted to suspension bracket, suspension bracket sliding groove is connected suspension bracket, suspension bracket slides in suspension bracket sliding groove interior, suspension bracket lower part is fixedly connected with guide rail frame, horizontal frame lower part is fixedly connected with guide rail.

[0006] The guide rail is adapted to the guide rail frame, the guide rail is connected to the guide rail frame, the guide rail frame slides inside the guide rail, the lower part of the guide rail frame is fixedly connected to the clamp, the front part of the clamp is fixedly connected to the clamp pad, the two sets of clamp pads are in corresponding positions, and the rear part of the clamp is fixedly connected to the drive box.

[0007] The drive box is adapted to the worm gear, the drive box is connected to the worm gear, the worm gear rotates inside the drive box, the upper part of the drive box has a worm groove, the worm has a worm shaft inside the worm, the worm groove is adapted to the worm shaft, the worm groove is connected to the worm shaft, and the worm shaft rotates inside the worm groove. Beneficial effects

[0008] 1. During the use of the palletizing robot of this utility model, after the manipulator clamps and suspends the material in the air through two sets of clamps at the bottom of the crossbeam, the worm gear motor at the rear of the clamp drives the worm wheel to rotate. At the same time, the worm wheel drives the positioning shaft of the support hook to rotate, and simultaneously drives the support hook to rotate, thereby providing auxiliary support for the support hook under the material, thus increasing the stability of the equipment when gripping and conveying.

[0009] 2. During the operation of the palletizing robot of this utility model, the worm motor at the rear of the gripper drives the internal worm gear to rotate, which in turn drives the worm gear to drive the support hook to provide auxiliary support under the material. Because the transmission principle of the worm and worm gear has a self-locking function, the equipment maintains the adjusted angle during operation, thereby enhancing the stability of the equipment.

[0010] 3. During the operation of the palletizing robot of this utility model, the gear motor inside the crossbeam drives the gear to rotate, which in turn drives the two sets of rack frames to move. Since the teeth of the rack and the gear are both side-mounted, it prevents debris from falling between the teeth of the rack and the gear and causing jamming, thereby further increasing the stability of the equipment. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a robotic arm structure for a palletizing robot according to the present invention.

[0012] Figure 2 This is a partial cross-sectional schematic diagram of a robotic arm structure for a palletizing robot according to the present invention.

[0013] Figure 3 This is a partial cross-sectional schematic diagram of a robotic arm suspension slide structure for a palletizing robot according to the present invention.

[0014] Figure 4 This is a partial cross-sectional schematic diagram of the manipulator frame structure for a palletizing robot according to the present invention.

[0015] Figure 5 This is a schematic diagram of a robotic gripper structure for a palletizing robot according to the present invention.

[0016] Figure 6 This is a partial cross-sectional three-dimensional assembly diagram of the manipulator drive box structure for a palletizing robot according to the present invention. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:

[0018] Example 1:

[0019] A robotic arm for a palletizing robot includes a device lifting platform 01, a guide rail frame 14, a guide rail 15, a drive box 18, a worm gear 19, a worm 21, and a load hook positioning shaft 24. The device lifting platform 01 has a robot bolt seat 02 on its upper part, a horizontal frame 03 fixedly connected to its lower part, and a secondary support 04 fixedly connected to its side. The lower part of the secondary support 04 is also fixedly connected to the horizontal frame 03. The horizontal frame 03 has a gear shaft groove 05 that is adapted to a gear shaft 06. The gear shaft groove 05 connects to the gear shaft 06, and the gear shaft 06 rotates within the gear shaft groove 05. A gear motor 07 is fixedly connected to its lower part, and the output shaft of the gear motor is fixedly connected to the gear shaft 06. A gear 08 is fixedly connected to the upper part of the gear shaft 06. A rack guide rod 09 is fixedly connected to the side of the horizontal frame 03, and the rack guide rod 09 is adapted to a rack frame 10. The rack guide rod 09 is connected to the rack frame 10, and the rack frame 10 slides inside the rack guide rod 09. The rack frame 10 has a rack 11 on its side, and the gear 08 meshes with the rack 11 on its side. During the operation of the palletizing robot's manipulator, the gear motor 07 inside the cross frame 03 drives the gear 08 to rotate, so that the gear 08 drives the two sets of rack frames 10 to move. Since the teeth of the rack 11 and the gear 08 are both side-mounted, it prevents debris from falling between the teeth of the rack 11 and the gear 08 and causing jamming, thereby further increasing the stability of the equipment. The rack frame 10 has a suspension 12 at its lower part, and the cross frame 03 has a suspension groove 13 inside. The suspension groove 13 is adapted to the suspension 12 and is connected to the suspension 12. The suspension 12 slides inside the suspension groove 13. The lower part of the suspension 12 is fixedly connected to the guide rail frame 14, and the lower part of the cross frame 03 is fixedly connected to the guide rail 15.

[0020] Example 2:

[0021] The guide rail 15 of this utility model is adapted to the guide rail frame 14. The guide rail 15 is connected to the guide rail frame 14, and the guide rail frame 14 slides inside the guide rail 15. The lower part of the guide rail frame 14 is fixedly connected to the clamp 16. During the use of the palletizing robot's manipulator, the worm motor 23 at the rear of the clamp 16 drives the internal worm 21 to drive the worm wheel 19 to rotate, so that the worm wheel 19 drives the carrying hook 27 to provide auxiliary support under the material. Because the transmission principle of the worm 21 and the worm wheel 19 has a self-locking function, the equipment maintains the adjusted angle during operation, thereby enhancing the stability of the equipment. The front part of the clamp 16 is fixedly connected to the clamp pad 17, and the two sets of clamp pads 17 are in corresponding positions. The rear part of the clamp 16 is fixedly connected to the drive box 18.

[0022] Example 3:

[0023] The drive box 18 of this utility model is adapted to the worm gear 19. The drive box 18 is connected to the worm gear 19, and the worm gear 19 rotates inside the drive box 18. The upper part of the drive box 18 has a worm groove 20, and the worm 21 has a worm shaft 22 inside. The worm groove 20 is adapted to the worm shaft 22, and the worm groove 20 is connected to the worm shaft 22. The worm shaft 22 rotates inside the worm groove 20.

[0024] Example 4:

[0025] The worm gear 21 of this utility model meshes with the upper part of the worm wheel 19. The rear part of the drive box 18 is fixedly connected to the worm motor 23. The output shaft of the worm motor is fixedly connected to the worm shaft 22. The side of the worm wheel 19 is fixedly connected to the load hook positioning shaft 24. The rear part of the clamp 16 has a load hook positioning groove 25, which is adapted to the load hook positioning shaft 24.

[0026] Example 5:

[0027] The positioning groove 25 of the present invention is connected to the positioning shaft 24 of the hook. The positioning shaft 24 rotates inside the positioning groove 25. The lower part of the positioning shaft 24 has a hook bracket 26. The lower part of the hook bracket 26 is fixedly connected to the hook 27. During the use of the palletizing robot's manipulator, after the two sets of clamps 16 at the lower part of the crossbar 03 clamp and suspend it, the worm motor 23 at the rear of the clamp 16 drives the worm wheel 19 to rotate. The worm wheel 19 drives the positioning shaft 24 to rotate and at the same time drives the hook 27 to rotate, so that the hook 27 provides auxiliary support under the material, thereby increasing the stability of the equipment when gripping and conveying. The hook 27 corresponds to the lower part of the clamp pad 17.

[0028] Example 6:

[0029] Installation steps of this utility model: Fix the lower part of the equipment hanging plate 01 to the crossbeam 03; fix the side of the equipment hanging plate 01 to the auxiliary support 04; fix the lower part of the auxiliary support 04 to the crossbeam 03; rotate the gear shaft 06 inside the gear shaft groove 05; fix the lower part of the crossbeam 03 to the gear motor 07; fix the output shaft of the gear motor to the gear shaft 06; fix the upper part of the gear shaft 06 to the gear 08; fix the side of the crossbeam 03 to the rack guide rod 09; slide the rack frame 10 inside the rack guide rod 09; mesh the gear 08 on the side of the rack 11; slide the suspension 12 inside the suspension groove 13; fix the lower part of the suspension 12 to the guide rail frame 14; fix the lower part of the crossbeam 03 to the guide rail 15; and... The frame 14 slides inside the guide rail 15, the lower part of the guide rail frame 14 is fixedly connected to the clamp 16, the front part of the clamp 16 is fixedly connected to the clamp pad 17, the positions of the two sets of clamp pads 17 are aligned, the rear part of the clamp 16 is fixedly connected to the drive box 18, the worm wheel 19 rotates inside the drive box 18, the worm shaft 22 rotates inside the worm groove 20, the worm 21 meshes with the upper part of the worm wheel 19, the rear part of the drive box 18 is fixedly connected to the worm motor 23, the output shaft of the worm motor is fixedly connected to the worm shaft 22, the side of the worm wheel 19 is fixedly connected to the load hook positioning shaft 24, the load hook positioning shaft 24 rotates inside the load hook positioning groove 25, the lower part of the load hook bracket 26 is fixedly connected to the load hook 27, and the position of the load hook 27 corresponds to the lower part of the clamp pad 17.

[0030] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A manipulator for a palletizing robot, characterized in that : Including equipment hanging disc (01), guide rail frame (14), guide rail (15), drive box (18), worm gear (19), worm (21), support hook positioning shaft (24), the upper part of the equipment hanging disc (01) has a robot bolt seat (02), the lower part of the equipment hanging disc (01) is fixedly connected with the cross frame (03), the side part of the equipment hanging disc (01) is fixedly connected with the auxiliary support (04), the lower part of the auxiliary support (04) is fixedly connected with the cross frame (03), the inside of the cross frame (03) has a gear shaft slot (05), the gear shaft slot (05) is adapted to the gear shaft (06), the gear shaft slot (05) is connected with the gear shaft (06), the gear shaft (06) rotates in the gear shaft slot (05), the lower part of the cross frame (03) is fixedly connected with the gear motor (07), the gear motor output shaft is fixedly connected with the gear shaft (06), the upper part of the gear shaft (06) is fixedly connected with the gear (08), the side part of the cross frame (03) is fixedly connected with the rack guide rod (09), the rack guide rod (09) is adapted to the rack frame (10), the rack guide rod (09) is connected with the rack frame (10), the rack frame (10) slides in the rack guide rod (09), the side part of the rack frame (10) has a rack (11), the gear (08) is engaged on the side part of the rack (11), the lower part of the rack frame (10) has a suspension (12), the inside of the cross frame (03) has a suspension sliding groove (13), the suspension sliding groove (13) is adapted to the suspension (12), the suspension sliding groove (13) is connected with the suspension (12), the suspension (12) slides in the suspension sliding groove (13), the lower part of the suspension (12) is fixedly connected with the guide rail frame (14), the lower part of the cross frame (03) is fixedly connected with the guide rail (15).

2. The robot gripper according to claim 1, wherein : The guide rail (15) is adapted to the guide rail frame (14), the guide rail (15) is connected with the guide rail frame (14), the guide rail frame (14) slides in the guide rail (15), the lower part of the guide rail frame (14) is fixedly connected with the clamp (16), the front part of the clamp (16) is fixedly connected with the clamp pad (17), the positions of the two groups of clamp pads (17) correspond, the rear part of the clamp (16) is fixedly connected with the drive box (18).

3. A manipulator for a palletizing robot according to claim 2, characterized in that : The drive box (18) is adapted to the worm gear (19), the drive box (18) is connected with the worm gear (19), the worm gear (19) rotates in the drive box (18), the upper part of the drive box (18) has a worm groove (20), the inside of the worm (21) has a worm shaft (22), the worm groove (20) is adapted to the worm shaft (22), the worm groove (20) is connected with the worm shaft (22), the worm shaft (22) rotates in the worm groove (20).

4. The robot gripper for palletizing according to claim 3, wherein : The worm (21) is engaged on the upper part of the worm gear (19), the rear part of the drive box (18) is fixedly connected with the worm motor (23), the worm motor output shaft is fixedly connected with the worm shaft (22), the side part of the worm gear (19) is fixedly connected with the support hook positioning shaft (24), the rear part of the clamp (16) has a support hook positioning slot (25), the support hook positioning slot (25) is adapted to the support hook positioning shaft (24).

5. The robot gripper for palletizing according to claim 1, wherein The supporting hook positioning groove (25) is connected with the supporting hook positioning shaft (24), the supporting hook positioning shaft (24) rotates inside the supporting hook positioning groove (25), the lower part of the supporting hook positioning shaft (24) is provided with the supporting hook support (26), the lower part of the supporting hook support (26) is fixedly connected with the supporting hook (27), and the supporting hook (27) corresponds to the position of the lower part of the clamp pad (17).

Images