A palletizing robot designed to prevent swaying

Abstract

This utility model discloses a palletizing robot to prevent swaying, comprising a robot base, a robot support column fixed to the top of the robot base, a first motor mounted at the bottom of the robot support column, a lead screw mounted at the output end of the first motor, and a movable seat fitted around the lead screw. One end of the movable seat extends to the outside of the robot support column and a robot arm is mounted thereon via a pivot. A gripper is mounted on one side of the bottom end of the robot arm. A second motor is mounted on the top of the movable seat at the pivot position. An arc-shaped support frame is provided below the robot arm, and a guide rail is provided at the top of the arc-shaped support frame. A support slider is mounted on the bottom end of the robot arm via a bearing, and small rollers are mounted on the inner walls of the support sliders on both sides of the guide rail. This utility model provides stable support and guidance for the robot arm, effectively preventing the robot arm and gripper from swaying up and down, ensuring stable and reliable gripping of goods.

Description

Technical Field

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

[0002] A palletizing robot is an automated industrial device primarily used to neatly stack (palletize) or disassemble packaged goods of different shapes and sizes (such as boxes, bags, and containers) onto pallets, production lines, or other carriers according to preset rules. Its core function is to achieve efficient, stable, and automated handling and stacking of goods. Palletizing robots are widely used in scenarios requiring large-scale handling, such as automobile manufacturing, logistics warehousing, food and beverage, pharmaceuticals, and home appliances.

[0003] Palletizing robots need to rotate horizontally when transferring goods, but during the rotation process, the robot is prone to swaying up and down due to insufficient stability, which affects the stability of gripping goods. Moreover, long-term swaying will accelerate the wear of the rotating shaft. Therefore, we propose a palletizing robot to prevent swaying. Utility Model Content

[0004] The purpose of this invention is to provide a palletizing robot that prevents swaying, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a palletizing robot to prevent swaying, comprising a robot base, a robot support column fixed to the top of the robot base, a first motor installed at the bottom of the robot support column, a lead screw installed at the output end of the first motor, and a movable seat fitted around the lead screw, the movable seat threadedly engaging with the lead screw, one end of the movable seat extending to the outside of the robot support column and a robot arm installed via a rotating shaft, and a gripper installed on one side of the bottom end of the robot arm, a second motor installed at the top of the movable seat at the rotating shaft position, and the output end of the second motor fixedly connected to the rotating shaft, an arc-shaped support frame provided below the robot arm, and a guide rail provided at the top of the arc-shaped support frame, a support slider installed at the bottom end of the robot arm via a bearing, the support slider engaging with the guide rail, and small rollers installed on the inner walls of the support sliders on both sides of the guide rail.

[0006] Preferably, the guide rail has a crossbeam welded inside, the crossbeam has an inverted T-shaped structure, and the top of the crossbeam is welded to the movable seat.

[0007] Preferably, there are four sets of small rollers, and the small rollers are in contact with the guide rail.

[0008] Preferably, a first limiting block and a second limiting block are fixed at both ends of the guide rail.

[0009] Preferably, an oil storage tank is installed at the top of the robotic arm support, and a piston plate is provided inside the oil storage tank, with the outer wall of the piston plate tightly fitted to the inner wall of the oil storage tank.

[0010] Preferably, a cylinder is installed at the top of the oil storage tank, and the output end of the cylinder extends into the interior of the oil storage tank and is fixedly connected to a piston plate. The cylinder drives the piston plate to move downward, and the piston plate presses out the lubricating oil inside the oil storage tank.

[0011] Preferably, an oil delivery hose is installed on the outer wall of the bottom of the oil storage tank, and one end of the oil delivery hose passes through the movable seat and extends to one side of the rotating shaft. The oil delivery hose drips lubricating oil onto the rotating shaft to lubricate it, which can prevent dry friction from increasing resistance and delay the wear of the rotating shaft.

[0012] Preferably, an oil filling port is provided on the outer wall of the top of the oil storage tank, and a plunger is provided inside the oil filling port. The plunger is tightly engaged with the oil filling port to facilitate the addition of lubricating oil.

[0013] This utility model provides a palletizing robot that prevents swaying, which has significant technical advantages and positive effects compared with the prior art, as detailed below:

[0014] 1. By installing an arc-shaped support frame and guide rail under the robotic arm, the support slider at the bottom of the robotic arm slides along the guide rail, effectively supporting the robotic arm and ensuring its stability during horizontal rotation. Small rollers installed on the inner wall of the support slider fit snugly against the guide rail, reducing sliding friction and converting it into rolling friction, significantly improving the smoothness of the robotic arm's rotation. This effectively prevents the robotic arm and gripper from swaying up and down during rotation, ensuring the stability and reliability of grasping goods.

[0015] 2. The inverted T-shaped crossbeam welded inside the guide rail is welded to the movable seat, enhancing the rigidity and stability of the entire mechanical structure and preventing structural deformation during prolonged high-intensity operation. A first limit block and a second limit block are fixed at both ends of the guide rail, limiting the movement range of the support slider and preventing mechanical damage due to excessive movement.

[0016] 3. The oil storage tank and piston plate design at the top of the robotic arm's support column, driven by a cylinder, pushes lubricating oil out and drips it onto the rotating shaft via a hose, achieving continuous lubrication. This lubrication system effectively prevents dry friction on the shaft, reduces resistance and wear, and extends the shaft's service life. The oil filler port at the top of the storage tank and the internal plunger design facilitate lubrication, simplify maintenance, and improve the equipment's maintainability.

[0017] 4. The second motor drives the rotating shaft, enabling the robotic arm to rotate quickly and smoothly horizontally, improving the efficiency of cargo transfer. Due to the smooth rotation of the robotic arm and the stability of its gripping of cargo, the risk of cargo falling due to the arm's swing is significantly reduced, improving operational safety. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the front cross-sectional structure of this utility model;

[0019] Figure 2 For the present utility model Figure 1 Enlarged structural diagram at point A in the middle;

[0020] Figure 3 This is a top view of the arc-shaped support frame of this utility model;

[0021] Figure 4 This is a magnified view of the support slider structure of this utility model from below;

[0022] Figure 5 This is an enlarged structural schematic diagram of the oil storage tank of this utility model.

[0023] In the diagram: 1. Robotic arm base; 2. Robotic arm support; 3. First motor; 4. Lead screw; 5. Movable seat; 6. Oil tank; 7. Second motor; 8. Rotary shaft; 9. Robotic arm; 10. Gripper; 11. Arc-shaped support frame; 12. Guide rail; 13. Support slider; 14. First limit block; 15. Second limit block; 16. Crossbeam; 17. Small roller; 18. Cylinder; 19. Piston plate; 20. Oil delivery hose; 21. Filler port; 22. Plunger. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Therefore, the following detailed description of the embodiments of this utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but merely to illustrate selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0026] Please see Figure 1-5 The present invention provides an embodiment of a palletizing robot that prevents swaying, comprising a robot base 1, a robot support column 2 fixed to the top of the robot base 1, a first motor 3 installed at the bottom of the robot support column 2, a lead screw 4 installed at the output end of the first motor 3, and a movable seat 5 fitted on the outside of the lead screw 4, the movable seat 5 being threadedly engaged with the lead screw 4, one end of the movable seat 5 extending to the outside of the robot support column 2 and a robot arm 9 installed through a rotating shaft 8, and a gripper 10 installed on one side of the bottom end of the robot arm 9, a second motor 7 installed at the top of the movable seat 5 at the position of the rotating shaft 8, and the output end of the second motor 7 being fixedly connected to the rotating shaft 8;

[0027] Specifically, the gripper 10 grabs the goods, the first motor 3 drives the lead screw 4 to rotate, which causes the movable seat 5 to move the robotic arm 9 and the gripper 10 upward, lifting the goods upward. The second motor 7 drives the rotating shaft 8 to rotate, which causes the robotic arm 9 to rotate horizontally, transferring the goods.

[0028] A curved support frame 11 is provided below the robotic arm 9, and a guide rail 12 is provided at the top of the curved support frame 11. A support slider 13 is installed at the bottom of the robotic arm 9 through a bearing. The support slider 13 engages with the guide rail 12. Small rollers 17 are installed on the inner walls of the support slider 13 on both sides of the guide rail 12.

[0029] Specifically, the arc-shaped support frame 11 supports the robotic arm 9, and the support slider 13 at the bottom of the robotic arm 9 slides along the guide rail 12, making the rotation of the robotic arm 9 stable and reliable. Furthermore, the small roller 17 rolls along the guide rail 12, which improves the smoothness of the rotation of the robotic arm 9, thereby effectively preventing the robotic arm 9 and the gripper 10 from swinging up and down, and ensuring that the gripping of goods is stable and reliable.

[0030] The guide rail 12 has a crossbeam 16 welded inside. The crossbeam 16 has an inverted T-shaped structure, and the top of the crossbeam 16 is welded to the movable seat 5.

[0031] There are four sets of small rollers 17, and the small rollers 17 are in contact with the guide rail 12;

[0032] The guide rail 12 is fixed with a first limiting block 14 and a second limiting block 15 at its two ends respectively;

[0033] An oil storage tank 6 is installed at the top of the robotic arm support 2, and a piston plate 19 is installed inside the oil storage tank 6. The outer wall of the piston plate 19 is tightly fitted with the inner wall of the oil storage tank 6.

[0034] A cylinder 18 is installed at the top of the oil storage tank 6, and the output end of the cylinder 18 extends into the interior of the oil storage tank 6 and is fixedly connected to the piston plate 19.

[0035] An oil delivery hose 20 is installed on the outer wall of the bottom of the oil storage tank 6, and one end of the oil delivery hose 20 passes through the movable seat 5 and extends to one side of the rotating shaft 8;

[0036] Specifically, cylinder 18 drives piston plate 19 to move down, piston plate 19 presses out lubricating oil inside oil tank 6, oil delivery hose 20 drips lubricating oil onto rotating shaft 8 to lubricate rotating shaft 8, thereby preventing dry friction from increasing resistance and delaying wear of rotating shaft 8.

[0037] An oil filling port 21 is provided on the outer wall of the top of the oil storage tank 6, and a plunger 22 is provided inside the oil filling port 21, which is tightly engaged with the oil filling port 21.

[0038] In this embodiment, the following steps are taken: First, the gripper 10 grabs the goods. The first motor 3 drives the lead screw 4 to rotate, causing the movable seat 5 to move the robotic arm 9 and the gripper 10 upwards, lifting the goods. The second motor 7 drives the rotating shaft 8 to rotate, causing the robotic arm 9 to rotate horizontally and transfer the goods. During this process, the arc-shaped support frame 11 supports the robotic arm 9. The support slider 13 at the bottom of the robotic arm 9 slides along the guide rail 12, making the rotation of the robotic arm 9 stable and reliable. Furthermore, the small roller 17 rolls along the guide rail 12, improving the smoothness of the rotation of the robotic arm 9, thereby effectively preventing the robotic arm 9 and the gripper 10 from swinging up and down, ensuring a stable and reliable gripping of the goods. Then, the cylinder 18 drives the piston plate 19 to move downwards, and the piston plate 19 presses out the lubricating oil inside the oil tank 6. The oil delivery hose 20 drips the lubricating oil onto the rotating shaft 8 to lubricate it, thereby preventing dry friction from increasing resistance and delaying the wear of the rotating shaft 8.

[0039] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

Claims

1. A palletizing robot capable of preventing swing, comprising a robot base (1), a robot support column (2) fixed to the top end of the robot base (1), a first motor (3) installed at the bottom of the robot support column (2), a lead screw (4) installed at the output end of the first motor (3), and a movable seat (5) sleeved outside the lead screw (4) and threadedly engaged with the lead screw (4), characterized in that, One end of the movable seat (5) extends to the outside of the robotic arm support (2) and a robotic arm (9) is mounted on the rotating shaft (8). A gripper (10) is mounted on one side of the bottom end of the robotic arm (9). A second motor (7) is mounted on the top of the movable seat (5) at the position of the rotating shaft (8). The output end of the second motor (7) is fixedly connected to the rotating shaft (8). An arc-shaped support frame (11) is provided below the robotic arm (9). A guide rail (12) is provided on the top of the arc-shaped support frame (11). A support slider (13) is mounted on the bottom end of the robotic arm (9) through a bearing. The support slider (13) engages with the guide rail (12). Small rollers (17) are mounted on the inner walls of the support sliders (13) on both sides of the guide rail (12).

2. The anti-sway palletizing robot according to claim 1, characterized in that: The guide rail (12) has a crossbeam (16) welded inside. The crossbeam (16) has an inverted T-shaped structure, and the top of the crossbeam (16) is welded to the movable seat (5).

3. The palletizing robot according to claim 1, characterized in that: There are four sets of small rollers (17), and the small rollers (17) are in contact with the guide rail (12).

4. The anti-swing palletizing robot according to claim 1, characterized in that: The guide rail (12) is fixed at both ends with a first limiting block (14) and a second limiting block (15).

5. The anti-swing palletizing robot according to claim 1, wherein: An oil storage tank (6) is installed at the top of the robotic arm support (2), and a piston plate (19) is provided inside the oil storage tank (6). The outer wall of the piston plate (19) is in close contact with the inner wall of the oil storage tank (6).

6. The anti-swing palletizing robot according to claim 5, characterized in that: A cylinder (18) is installed at the top of the oil storage tank (6), and the output end of the cylinder (18) extends into the interior of the oil storage tank (6) and is fixedly connected to the piston plate (19).

7. The anti-swing palletizing robot according to claim 5, wherein: An oil delivery hose (20) is installed on the outer wall of the bottom of the oil storage tank (6), and one end of the oil delivery hose (20) passes through the movable seat (5) and extends to one side of the rotating shaft (8).

8. The anti-swing palletizing robot of claim 5, wherein: The oil storage tank (6) has an oil filling port (21) on its outer wall at the top, and a plunger (22) is provided inside the oil filling port (21), with the plunger (22) tightly engaged with the oil filling port (21).

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