Stacking manipulator with deviation rectifying function

Abstract

The utility model relates to the field of manipulator, specifically disclose a kind of with rectification function's stacking manipulator, including stacking manipulator, the end of stacking manipulator is provided with clamping backing plate, the side of clamping backing plate is equipped with rectification mechanism, rectification mechanism includes: guide slide rail, the upper surface of two guide slide rails is equipped with screw rod moving frame, the inside of screw rod moving frame is located the upper surface of guide slide rail and is equipped with positive and negative tooth screw rod, one end of positive and negative tooth screw rod is equipped with driving motor, the outside end of two guide slides is equipped with swing groove, the inside of swing groove is provided with telescopic link. Utilize driving positive and negative tooth screw rod whole rotation, will synchronous drive guide slider move towards the end of guide slide rail after, after guide slide rail and guide slider whole corresponding in the outermost end of stack, then control two guide slides mutually close and move, then telescopic link will extrude workpiece outside stack to central position, carry out lateral rectification treatment.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, specifically a palletizing robotic arm with a correction function. Background Technology

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs, providing higher production efficiency for modern manufacturing. Palletizing machines have a wide range of applications in the palletizing industry. Palletizing robots greatly save labor and space. Palletizing robots are flexible, precise, fast, efficient, and highly stable, with high work efficiency. Palletizing robots can be equipped with 3D cameras installed on the robot gripper. After the product is in place, the robot automatically starts to take pictures and scan the product for positioning.

[0003] However, while current palletizing robots can photograph the objects to be clamped, they are not very convenient to clamp when the objects shift. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a palletizing robot with a correction function, which solves the problems mentioned in the background.

[0005] This utility model provides the following technical solution: a palletizing robot with a correction function, comprising a palletizing robot, wherein a clamping pad is provided at the end of the palletizing robot, and a correction mechanism is installed on one side of the clamping pad. The correction mechanism includes: a guide slide rail, wherein two guide sliders are provided inside the guide slide rail, and a screw moving frame is installed on the upper surface of each of the two guide slide rails. A positive and negative threaded screw is installed inside the screw moving frame on the upper surface of the guide slide rail, and a drive motor is installed at one end of the positive and negative threaded screw. A swing groove is installed on the outer end of each of the two guide sliders, and a telescopic rod is provided inside the swing groove.

[0006] As a further embodiment of this utility model: a rotating lug is installed on one side of the guide rail on the side surface of the clamping pad, a suction cup is installed on the lower surface of the clamping pad, and a camera is installed on the upper surface of the clamping pad.

[0007] As a further embodiment of this utility model: a third swing arm is installed on one side of the camera on the upper surface of the clamping pad, a second swing arm is installed at one end of the third swing arm, a first swing arm is installed at one end of the second swing arm, and a base is installed at the lower end of the first swing arm.

[0008] As a further embodiment of this utility model: the lead screw moving frame is fixedly connected to the guide slider, and the lead screw moving frame is meshed and rotatably connected to the positive and negative threaded lead screw.

[0009] As a further improvement of this utility model, the second swing arm is rotatably connected to both the first and third swing arms.

[0010] As a further improvement of this utility model, the guide slide rail is movably connected to the rotating ear plate.

[0011] As a further improvement of this utility model: an elastic pivot is installed between the telescopic rod and the swing groove, and a limit buckle is installed between the telescopic rod on the side away from the clamping pad and the swing groove.

[0012] As a further improvement of this utility model, the guide slider is slidably connected to the guide rail.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] By rotating the drive screws, the guide sliders are moved toward the end of the guide rail. After the guide rails and guide sliders are aligned with the outermost end of the stack, the two guide sliders are moved closer to each other. The telescopic rod will then press the workpieces on the outer side of the stack toward the center, thus performing lateral correction.

[0015] By slowly pushing the clamping pad towards one end, the stacked workpieces are vertically corrected by the frictional force of the workpieces, thus facilitating subsequent adsorption processing using suction cups. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a palletizing robot with a correction function.

[0017] Figure 2 This is a schematic diagram of the structure of a palletizing robot with a correction function that holds a pad.

[0018] Figure 3 A bottom view of a palletizing robot with a correction function holding a pad in its hand;

[0019] Figure 4 A side view of the correction mechanism in the hand of a palletizing robot with correction function;

[0020] Figure 5 This is an enlarged schematic diagram of the correction mechanism in a palletizing machine with correction function.

[0021] In the diagram: 1. Palletizing robot; 2. First swing arm; 3. Second swing arm; 4. Third swing arm; 5. Clamping pad; 6. Correction mechanism; 7. Base; 501. Camera; 502. Rotating ear plate; 503. Suction cup; 601. Guide rail; 602. Guide slider; 603. Swing groove; 604. Telescopic rod; 605. Positive and negative threaded screw; 606. Drive motor; 607. Screw moving frame. Detailed Implementation

[0022] 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.

[0023] like Figure 1-5 As shown, this embodiment provides a palletizing robot with a correction function, including a palletizing robot 1. A clamping pad 5 is provided at the end of the palletizing robot 1. A correction mechanism 6 is installed on one side of the clamping pad 5. The correction mechanism 6 includes a guide rail 601, with two guide sliders 602 disposed inside the guide rail 601. The guide sliders 602 are slidably connected to the guide rail 601. A lead screw moving frame 607 is installed on the upper surface of each of the two guide rails 601. The lead screw moving frame 607 is fixedly connected to the guide sliders 602. Inside the moving frame 607, on the upper surface of the guide slide rail 601, a positive and negative threaded rod 605 is installed. The moving frame 607 is meshed and rotatably connected with the positive and negative threaded rod 605. A drive motor 606 is installed at one end of the positive and negative threaded rod 605. A swing groove 603 is installed on the outer end of each of the two guide sliders 602. A telescopic rod 604 is provided inside the swing groove 603. An elastic rotating shaft is installed between the telescopic rod 604 and the swing groove 603. A limit buckle is installed between the telescopic rod 604 and the swing groove 603 on the side of the telescopic rod 604 away from the clamping pad 5.

[0024] like Figure 2-3 As shown, in this embodiment, a rotating ear plate 502 is installed on one side of the guide slide rail 601 on the side surface of the clamping pad 5. The guide slide rail 601 is movably connected to the rotating ear plate 502. A suction cup 503 is installed on the lower surface of the clamping pad 5. A camera 501 is installed on the upper surface of the clamping pad 5. A third swing arm 4 is installed on one side of the camera 501 on the upper surface of the clamping pad 5. A second swing arm 3 is installed at one end of the third swing arm 4. A first swing arm 2 is installed at one end of the second swing arm 3. The second swing arm 3 is rotatably connected to the first swing arm 2 and the third swing arm 4. A base 7 is installed at the lower end of the first swing arm 2.

[0025] The working principle of this utility model is as follows: When in use, the palletizing robot 1 controls the orientation of the bottom clamping pad 5 using the first swing arm 2, the second swing arm 3, and the third swing arm 4. Then, the camera 501 installed on the clamping pad 5 captures and identifies the workpiece to be clamped at the stack position. If the offset is too large to be directly clamped by the suction cup 503, the locking limit between the telescopic rod 604 and the swing groove 603 is broken. Under the action of the elastic rotating shaft, the telescopic rod 604 swings towards the clamping pad 5. The drive motor 606 then drives the positive and negative threaded rods 605 to rotate. The two guide sliders 602 then rotate on their respective surfaces. The installed lead screw moving frame 607 synchronously drives the guide slider 602 to move toward the end of the guide rail 601 on the outside of the positive and negative thread lead screw 605. After the control clamping pad 5 is aligned above the stack, the guide rail 601 and the guide slider 602 are aligned at the outermost end of the stack. Then, the two guide sliders 602 are controlled to move closer to each other. The telescopic rod 604 will squeeze the workpiece on the outside of the stack toward the center. Then, the clamping pad 5 is used to drive the correction mechanism 6 to slowly push it toward one end, thus pushing and correcting the workpiece in the stack. This makes it convenient for subsequent adsorption processing using the suction cup 503.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] 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 with a deviation rectifying function, comprising a palletizing robot (1), characterized in that, The palletizing robot (1) is provided with a clamping pad (5) at its end. A correction mechanism (6) is installed on one side of the clamping pad (5). The correction mechanism (6) includes: a guide slide rail (601). Two guide sliders (602) are provided inside the guide slide rail (601). A screw moving frame (607) is installed on the upper surface of both guide slide rails (601). A positive and negative thread screw (605) is installed inside the screw moving frame (607) on the upper surface of the guide slide rail (601). A drive motor (606) is installed at one end of the positive and negative thread screw (605). A swing groove (603) is installed on the outer end of both guide sliders (602). A telescopic rod (604) is provided inside the swing groove (603).

2. The palletizing robot with a deviation rectifying function according to claim 1, wherein A rotating ear plate (502) is installed on one side of the guide rail (601) on the side surface of the clamping pad (5), a suction cup (503) is installed on the lower surface of the clamping pad (5), and a camera (501) is installed on the upper surface of the clamping pad (5).

3. The palletizing robot with a deviation rectifying function according to claim 2, wherein A third swing arm (4) is mounted on one side of the camera (501) on the upper surface of the clamping pad (5). A second swing arm (3) is mounted on one end of the third swing arm (4), and a first swing arm (2) is mounted on one end of the second swing arm (3). A base (7) is mounted on the lower end of the first swing arm (2).

4. The palletizing robot with a deviation rectifying function according to claim 1, wherein The lead screw moving frame (607) is fixedly connected to the guide slider (602), and the lead screw moving frame (607) is meshed and rotatably connected to the positive and negative threaded lead screw (605).

5. The palletizing robot with a deviation rectifying function according to claim 3, wherein The second swing arm (3) is rotatably connected to the first swing arm (2) and the third swing arm (4).

6. The palletizing robot with a deviation rectifying function according to claim 2, wherein The guide rail (601) is movably connected to the rotating ear plate (502).

7. A palletizing robot with correction function according to claim 1, characterized in that, An elastic pivot is installed between the telescopic rod (604) and the swing groove (603), and a limit buckle is installed between the telescopic rod (604) on the side away from the clamping pad (5) and the swing groove (603).

8. A palletizing robot with correction function according to claim 1, characterized in that, The guide slider (602) is slidably connected to the guide rail (601).

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