A column robot

Abstract

The application relates to a column robot, which comprises a column body, a rotating assembly arranged below the column body, a lifting assembly arranged on the column body, a mechanical arm horizontally arranged on the lifting assembly, an adjusting assembly arranged at the end of the mechanical arm away from the lifting assembly, the adjusting assembly comprising a supporting plate and a connecting plate, a driving motor arranged on the connecting plate, a driving gear arranged between the connecting plate and the supporting plate, a coaxial fixed connection of a driving motor output shaft and the driving gear through the connecting plate, a rack meshed with the driving gear on the two sides close to the width of the supporting plate, a sliding plate fixedly arranged at one end of the two racks, the two sliding plates located on the two sides of the driving gear, a grabbing assembly arranged below the sliding plate, starting the driving motor, rotating the driving motor output shaft, rotating the driving gear, moving the two racks in opposite directions, driving the two sliding plates to move along the sliding grooves, reaching the required distance for grabbing, realizing the adjustment of the grabbing distance, and improving the efficiency of the stacking.

Description

Technical Field

[0001] This application relates to the field of industrial automation, and in particular to a column robot. Background Technology

[0002] A column-mounted robot is an automated device that uses a vertical column to support a robotic arm. Its core structure includes a base, column, rotary joint, and end effector. It is mainly used to replace traditional manual palletizing and realizes functions such as grasping, moving, and placing materials. It features high precision and high efficiency.

[0003] For related technologies, please refer to Chinese Patent No. CN221680112U, which discloses a column-type palletizing robot, including a base, a base fixedly connected to the top of the base, a power component fixedly connected to the top of the base, a threaded column fixedly connected to the top of the power component, a vertical sliding groove opened on the outer periphery of the threaded column, a limiting strip slidably connected inside the vertical sliding groove, a threaded tube fixedly connected to the outer side of the limiting strip, and a secondary extension column threadedly connected to the outer periphery of the threaded tube.

[0004] Regarding the aforementioned technologies, the grippers cannot adjust their spacing according to the size of the material, and the corresponding grippers can only be replaced manually, which reduces the efficiency of palletizing. Utility Model Content

[0005] In order to enable the gripper spacing to be adjusted and improve the palletizing efficiency, this application provides a column robot.

[0006] This application provides a column-supporting robot, which adopts the following technical solution: A column robot includes a column body with a base at its base. A rotating component is housed within the base. A lifting component is mounted on the column body, and a robotic arm is horizontally mounted on the lifting component. An adjustment component is located at the end of the robotic arm furthest from the lifting component. The adjustment component includes a support plate and a connecting plate. The connecting plate has the same cross-section as the support plate and is positioned above the support plate. Two fixed plates are fixedly mounted between the connecting plate and the support plate. A drive motor is mounted on the connecting plate, and a drive gear is mounted between the connecting plate and the support plate. The output shaft of the drive motor passes through the connecting plate and is coaxially and fixedly connected to the drive gear. Racks mesh with both sides of the drive gear near the fixed plates. Both racks move along the length of the fixed plates. Sliding plates are fixedly mounted at the ends of the two racks furthest from each other. Sliding slots that cooperate with the sliding plates are opened on the sides of the two fixed plates closest to each other. The two ends of the sliding plates are located within the sliding slots and are slidably connected to the fixed plates. A gripping component is located below each of the two sliding plates.

[0007] By adopting the above technical solution, when it is necessary to adjust the spacing of the gripping components, the drive motor is started, the output shaft of the drive motor rotates, the drive gear rotates, the two racks move along the length of the fixed plate, and the two racks move in opposite directions, driving the two sliding plates to move along the sliding groove. The gripping components under the two sliding plates move in opposite directions, thereby realizing the adjustment of the gripping spacing and improving the efficiency of palletizing.

[0008] Optionally, the gripping assembly includes a rotating motor and two connecting blocks. The two connecting blocks are fixedly connected to the bottom of the sliding plate. A rotating rod is rotatably arranged between the two connecting blocks. A support frame is provided on the side of the connecting block away from the rotating rod. The rotating motor is fixedly mounted on the support frame. The output shaft of the rotating motor is coaxially fixedly connected to the end of the rotating rod near the support frame. A gripper is provided on the rotating rod.

[0009] By adopting the above technical solution, two rotating motors are started, and the output shafts of the two rotating motors rotate in opposite directions. The two rotating rods rotate in opposite directions, and the grippers on the two rotating rods rotate with the rotating rods. The two grippers close synchronously to grasp the material.

[0010] Optionally, the gripper includes a plurality of drive rods and a plurality of connecting rods. The rotating rod is fixedly connected to the plurality of drive rods. The ends of the plurality of drive rods away from the rotating rod are connected one-to-one with the ends of the plurality of connecting rods. The connection between the drive rod and the rotating rod is inclined. The connection angle between the drive rod and the connecting rod is an obtuse angle. The end of the connecting rod away from the drive rod is provided with a claw tip. The claw tips of the grippers on the two rotating rods are arranged facing each other.

[0011] By adopting the above technical solution, the inclined setting of the connecting rod increases the contact area with the material, increases the gripping force of the claw, and makes it easier for the claw tip to grasp the material.

[0012] Optionally, the support plate is provided with two guide plates, each of which has a guide opening for the rack to pass through, and the two racks correspond one-to-one with the two guide openings.

[0013] By adopting the above technical solution, the guide port provides a limit to the movement of the rack, thereby improving the stability of the rack movement.

[0014] Optionally, the rotating assembly includes a gear ring and a ball bearing. The ball bearing includes an outer ring and an inner ring. The outer ring and the inner ring are rotatably connected. The inner wall of the gear ring is fixedly connected to the outer wall of the outer ring. A connecting gear is meshed on the gear ring. A starter motor is provided on the base. The output shaft of the starter motor is coaxially and fixedly connected to the connecting gear. The top end of the outer ring is fixedly connected to the column, and the bottom end of the inner ring is fixedly connected to the base.

[0015] By adopting the above technical solution, the starter motor is started, the output shaft of the starter motor rotates, the connecting gear rotates, the gear ring rotates, the outer ring rotates, the column on the outer ring can rotate, driving the robotic arm and gripping component on the column to move, facilitating the movement of the gripper, and facilitating the handling and stacking of materials.

[0016] Optionally, the lifting assembly includes a lifting motor and a sprocket. The top of the column is fixedly connected to the lifting motor, the output shaft of the lifting motor is fixedly connected to the sprocket, a chain is meshed with the outer wall of the sprocket, a lifting plate is provided at one end of the chain, two first guide rails are provided on the outer wall of the column, and two lifting sliders are provided on the side of the lifting plate near the outer wall of the column. The lifting sliders are located inside the first guide rails and are slidably connected to the first guide rails.

[0017] By adopting the above technical solution, the lifting motor is started, the output shaft of the lifting motor rotates, which drives the sprocket to rotate, the chain to move, and the lifting plate is raised and lowered along the first guide rail, which in turn drives the gripping component to rise and fall, thus facilitating the stacking of materials.

[0018] Optionally, the robotic arm includes a rotating arm and an extending arm. One end of the rotating arm is connected to the side of the lifting plate away from the outer wall of the column. A rotary motor is provided at the end of the rotating arm away from the lifting plate. The output end of the rotary motor passes through the rotating arm and is fixedly connected to the extending arm. The bottom of the extending arm is fixedly connected to the top of the connecting plate.

[0019] By adopting the above technical solution, the rotary motor is started, the output shaft of the rotary motor rotates, and the extension arm swings with the rotation of the output shaft of the rotary motor to adjust the angle of the gripper, making it convenient to grasp the material.

[0020] Optionally, a counterweight is provided at the end of the chain away from the lifting plate, a second guide rail is provided on the outer wall of the column, and a counterweight slider is provided on the side of the counterweight near the second guide rail. The counterweight slider is located inside the second guide rail and is slidably connected to the second guide rail.

[0021] By adopting the above technical solution, the counterweight balances the weight of the material gripped by the gripper, preventing tilting due to unequal weight on both sides of the column. The second guide rail provides a limit to the movement of the counterweight, improving the stability of the counterweight during movement.

[0022] In summary, this application includes at least one of the following beneficial technical effects: 1. When it is necessary to adjust the spacing of the gripping components, start the drive motor. The output shaft of the drive motor rotates, which in turn drives the gears to rotate. The two racks move along the length of the support plate in opposite directions, causing the two sliding plates to move along the sliding groove. The gripping components under the two sliding plates move in opposite directions, thereby adjusting the gripping spacing and improving the efficiency of palletizing. 2. Start the two rotating motors. The output shafts of the two rotating motors rotate in opposite directions, and the two rotating rods rotate in opposite directions. The grippers on the two rotating rods rotate with the rotating rods and close synchronously to grasp the material. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a column robot.

[0024] Figure 2 This is a schematic diagram used to illustrate the connection relationship between the first guide rail and the lifting slider in this application.

[0025] Figure 3 It is used for display Figure 2 An enlarged schematic diagram of part A in the middle.

[0026] Figure 4 This is a schematic diagram illustrating the structure of the adjustment component in this application.

[0027] Figure 5 This is a schematic diagram illustrating the structure of the grabbing component in this application.

[0028] Figure 6 This is a schematic diagram illustrating the structure of the rotating component in this application.

[0029] Explanation of reference numerals in the attached drawings: 1. Column; 11. Base; 12. First guide rail; 13. Second guide rail; 14. Counterweight; 141. Counterweight slider; 2. Lifting assembly; 21. Lifting motor; 22. Sprocket; 23. Chain; 24. Lifting plate; 241. Lifting slider; 3. Rotating assembly; 31. Gear ring; 32. Ball bearing; 321. Outer ring; 322. Inner ring; 33. Connecting gear; 34. Starter motor; 4. Robotic arm; 41. Rotating arm; 4 2. Extending arm; 43. Rotary motor; 5. Adjustment assembly; 51. Support plate; 511. Guide plate; 5111. Guide opening; 52. Connecting plate; 53. Fixing plate; 54. Drive motor; 55. Drive gear; 56. Rack; 57. Sliding plate; 571. Sliding groove; 6. Gripping assembly; 61. Rotary motor; 611. Support frame; 62. Connecting block; 63. Rotating rod; 7. Gripper; 71. Drive rod; 72. Connecting rod; 73. Gripper tip. Detailed Implementation

[0030] The present application will be further described in detail below with reference to all the accompanying drawings.

[0031] This application discloses a column robot.

[0032] like Figure 1 and Figure 2A column robot includes a column 1 with a lifting assembly 2 mounted on it. The lifting assembly 2 includes a lifting motor 21 and a sprocket 22. The top of the column 1 is fixedly connected to the lifting motor 21, and the output shaft of the lifting motor 21 is fixedly connected to the sprocket 22. A chain 23 is meshed with the outer wall of the sprocket 22, and a lifting plate 24 is mounted on one end of the chain 23. Two first guide rails 12 are mounted on the outer wall of the column 1, and two lifting sliders 241 are mounted on the side of the lifting plate 24 near the outer wall of the column 1. The lifting sliders 241 are located within the first guide rails 12 and are slidably connected to them. When the lifting motor 21 is started, its output shaft rotates, causing the sprocket 22 to rotate, the chain 23 to move, and the lifting plate 24 to rise and fall along the first guide rails 12 to adjust its height.

[0033] like Figure 2 and Figure 3 A counterweight 14 is installed at the end of the chain 23 away from the lifting plate 24. A second guide rail 13 is installed on the outer wall of the column 1. A counterweight slider 141 is installed on the side of the counterweight 14 near the second guide rail 13. The counterweight slider 141 is located inside the second guide rail 13 and is slidably connected to the second guide rail 13. The counterweight 14 balances the weight of the gripped material to prevent tilting due to unequal weight on both sides of the column 1. The second guide rail 13 provides a limit to the movement of the counterweight 14, improving the stability of the counterweight 14 during movement.

[0034] like Figure 1 A robotic arm 4 is horizontally mounted on a lifting plate 24. An adjustment component 5 is installed at the end of the robotic arm 4 furthest from the lifting plate 24. The robotic arm 4 includes a rotating arm 41 and an extending arm 42. One end of the rotating arm 41 is connected to the side of the lifting plate 24 furthest from the outer wall of the column 1. A rotary motor 43 is installed at the end of the rotating arm 41 furthest from the lifting plate 24. The output end of the rotary motor 43 passes through the rotating arm 41 and is fixedly connected to the extending arm 42. The bottom of the extending arm 42 is fixedly connected to the top of the connecting plate 52. When the rotary motor 43 is started, its output shaft rotates, and the extending arm 42 swings as the output shaft of the rotary motor 43 rotates, thus positioning the material by the robotic arm 4.

[0035] like Figure 4 and Figure 5The adjustment component 5 includes a support plate 51 and a connecting plate 52. The connecting plate 52 has the same cross-section as the support plate 51 and is located above the support plate 51. Two fixed plates 53 are fixedly installed between the connecting plate 52 and the support plate 51. A drive motor 54 is installed on the connecting plate 52. A drive gear 55 is installed between the connecting plate 52 and the support plate 51. The output shaft of the drive motor 54 passes through the connecting plate 52 and is coaxially and fixedly connected with the drive gear 55. The drive gear 55 has racks 56 meshing on both sides near the fixed plates 53. Both racks 56 move along the length of the fixed plates 53. Sliding plates 57 are fixedly installed on the ends of the two racks 56 that are far apart from each other. Sliding slots 571 that cooperate with the sliding plates 57 are opened on the sides of the two fixed plates 53 that are close to each other. The two ends of the sliding plates 57 are located in the sliding slots 571 and are slidably connected with the fixed plates 53. A gripping component 6 is installed below the two sliding plates 57. When the spacing of the gripping components 6 needs to be adjusted, the drive motor 54 is started. The output shaft of the drive motor 54 rotates, the drive gear 55 rotates, and the two racks 56 move along the length of the fixed plate 53. The two racks 56 move in opposite directions, which drives the two sliding plates 57 to move along the sliding groove 571. The gripping components 6 under the two sliding plates 57 move in opposite directions, thereby adjusting the gripping spacing and improving the efficiency of palletizing.

[0036] like Figure 4 Two guide plates 511 are installed on the support plate 51. Each guide plate 511 has a guide opening 5111 for the rack 56 to pass through. The two racks 56 correspond one-to-one with the two guide openings 5111. The guide openings 5111 provide a limit for the movement of the rack 56, improving the stability of the rack 56's movement.

[0037] like Figure 5 The gripping component 6 includes a rotary motor 61 and two connecting blocks 62. The two connecting blocks 62 are fixedly connected to the bottom of the sliding plate 57. A rotating rod 63 is rotatably mounted between the two connecting blocks 62. A support frame 611 is mounted on the side of the connecting blocks 62 away from the rotating rod 63. The rotary motor 61 is fixedly mounted on the support frame 611. The output shaft of the rotary motor 61 is coaxially and fixedly connected to the end of the rotating rod 63 near the support frame 611. A gripper 7 is mounted on the rotating rod 63. When the two rotary motors 61 are started, the output shafts of the two rotary motors 61 rotate in opposite directions, and the two rotating rods 63 rotate in opposite directions. The grippers 7 on the two rotating rods 63 rotate with the rotating rods 63, and the two grippers 7 close synchronously to grip the material.

[0038] like Figure 5The gripper 7 includes several drive rods 71 ​​and several connecting rods 72. A rotating rod 63 is fixedly connected to the drive rods 71. The ends of the drive rods 71 ​​furthest from the rotating rod 63 are connected one-to-one to the ends of the connecting rods 72. The drive rods 71 ​​are installed at an angle to the rotating rod 63, and the connection angle between the drive rods 71 ​​and the connecting rods 72 is an obtuse angle. A claw tip 73 is installed on the end of the connecting rod 72 furthest from the drive rod 71. The claw tips 73 of the grippers 7 on the two rotating rods 63 are installed facing each other. The inclined installation of the connecting rods 72 increases the contact area with the material, increasing the gripping force of the grippers 7, and the claw tips 73 facilitate the gripping of the material.

[0039] like Figure 2 and Figure 6 A base 11 is installed below the column 1, and a rotating assembly 3 is installed inside the base 11. The rotating assembly 3 includes a gear ring 31 and a ball bearing 32. The ball bearing 32 includes an outer ring 321 and an inner ring 322. The outer ring 321 and the inner ring 322 are rotatably connected. The inner wall of the gear ring 31 is fixedly connected to the outer wall of the outer ring 321. A connecting gear 33 is meshed on the gear ring 31. A starter motor 34 is installed on the base 11. The output shaft of the starter motor 34 is coaxially and fixedly connected to the connecting gear 33. The top end of the outer ring 321 is fixedly connected to the column 1, and the bottom end of the inner ring 322 is fixedly connected to the base 11. When the starter motor 34 is started, the output shaft of the starter motor 34 rotates, the connecting gear 33 rotates, driving the gear ring 31 to rotate. The outer ring 321 rotates, and the column 1 on the outer ring 321 rotates, driving the robotic arm 4 and the gripping assembly 6 on the column 1 to move, facilitating the movement of the gripper 7, and facilitating the handling and stacking of materials.

[0040] The implementation principle of a column robot according to an embodiment of this application is as follows: the gripper 7 is rotated to the angle where the material is located by the rotating component 3, the gripper 7 is raised and lowered to the height where the material is located by the lifting component 2, the gripper 7 is swung to the position where the material is located by the robotic arm 4, the drive motor 54 is started, the output shaft of the drive motor 54 rotates, driving the drive gear 55 to rotate, the two racks 56 meshing with the drive gear 55 move in opposite directions, driving the two sliding plates 57 to move in opposite directions, the gripping components 6 on the two sliding plates 57 move, realizing the adjustment of the distance between the two gripping components 6, at the same time, the two rotating motors 61 are started, the two rotating motors 61 rotate in opposite directions, the two rotating motors 61 drive the two rotating rods 63 to rotate in opposite directions, the grippers 7 on the two rotating rods 63 close, realizing the gripping of the material.

[0041] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A column robot, comprising a column (1), characterized in that: A base (11) is provided below the column (1), and a rotating component (3) is provided inside the base (11). A lifting component (2) is provided on the column (1), and a mechanical arm (4) is horizontally provided on the lifting component (2). An adjustment component (5) is provided at the end of the mechanical arm (4) away from the lifting component (2). The adjustment component (5) includes a support plate (51) and a connecting plate (52). The connecting plate (52) has the same cross-section as the support plate (51) and is located above the support plate (51). Two fixing plates (53) are fixedly provided between the connecting plate (52) and the support plate (51). A drive motor (54) is provided on the connecting plate (52). The connecting plate (52) and the support plate (51) are connected by a drive motor (54). A drive gear (55) is provided between the two fixed plates (53). The output shaft of the drive motor (54) passes through the connecting plate (52) and is coaxially fixedly connected to the drive gear (55). The drive gear (55) is meshed with racks (56) on both sides near the fixed plate (53). Both racks (56) move along the length of the fixed plate (53). A sliding plate (57) is fixedly provided at the ends of the two racks (56) that are far apart from each other. A sliding groove (571) that cooperates with the sliding plate (57) is opened on the side of the two fixed plates (53) that are close to each other. Both ends of the sliding plate (57) are located in the sliding groove (571) and are slidably connected to the fixed plate (53). A gripping component (6) is provided below the two sliding plates (57).

2. The column robot according to claim 1, characterized in that: The gripping component (6) includes a rotating motor (61) and two connecting blocks (62). The two connecting blocks (62) are fixedly connected to the bottom of the sliding plate (57). A rotating rod (63) is rotatably arranged between the two connecting blocks (62). A support frame (611) is provided on the side of the connecting block (62) away from the rotating rod (63). The rotating motor (61) is fixedly mounted on the support frame (611). The output shaft of the rotating motor (61) is coaxially fixedly connected to the end of the rotating rod (63) near the support frame (611). A gripper (7) is provided on the rotating rod (63).

3. A column robot according to claim 2, characterized in that: The gripper (7) includes several driving rods (71) and several connecting rods (72). The rotating rod (63) is fixedly connected to several driving rods (71). The ends of several driving rods (71) away from the rotating rod (63) are connected to the ends of several connecting rods (72) one by one. The connection between the driving rod (71) and the rotating rod (63) is inclined. The connection angle between the driving rod (71) and the connecting rod (72) is an obtuse angle. The end of the connecting rod (72) away from the driving rod (71) is provided with a claw tip (73). The claw tips (73) of the grippers (7) on the two rotating rods (63) are arranged facing each other.

4. A column robot according to claim 1, characterized in that: The support plate (51) is provided with two guide plates (511), and each of the two guide plates (511) has a guide opening (5111) for the rack (56) to pass through. The two racks (56) correspond one-to-one with the two guide openings (5111).

5. A column robot according to claim 1, characterized in that: The rotating assembly (3) includes a gear ring (31) and a ball bearing (32). The ball bearing (32) includes an outer ring (321) and an inner ring (322). The outer ring (321) and the inner ring (322) are rotatably connected. The inner wall of the gear ring (31) is fixedly connected to the outer wall of the outer ring (321). A connecting gear (33) is meshed on the gear ring (31). A starter motor (34) is provided on the base (11). The output shaft of the starter motor (34) is coaxially fixedly connected to the connecting gear (33). The top end of the outer ring (321) is fixedly connected to the column (1), and the bottom end of the inner ring (322) is fixedly connected to the base (11).

6. A column robot according to claim 1, characterized in that: The lifting assembly (2) includes a lifting motor (21) and a sprocket (22). The top of the column (1) is fixedly connected to the lifting motor (21). The output shaft of the lifting motor (21) is fixedly connected to the sprocket (22). A chain (23) is meshed with the outer wall of the sprocket (22). A lifting plate (24) is provided at one end of the chain (23). Two first guide rails (12) are provided on the outer wall of the column (1). Two lifting sliders (241) are provided on the side of the lifting plate (24) near the outer wall of the column (1). The lifting sliders (241) are located inside the first guide rails (12) and are slidably connected to the first guide rails (12).

7. A column robot according to claim 6, characterized in that: The robotic arm (4) includes a rotating arm (41) and an extending arm (42). One end of the rotating arm (41) is connected to the side of the lifting plate (24) away from the outer wall of the column (1). A rotary motor (43) is provided at the end of the rotating arm (41) away from the lifting plate (24). The output end of the rotary motor (43) passes through the rotating arm (41) and is fixedly connected to the extending arm (42). The bottom of the extending arm (42) is fixedly connected to the top of the connecting plate (52).

8. A column robot according to claim 6, characterized in that: A counterweight (14) is provided at the end of the chain (23) away from the lifting plate (24). A second guide rail (13) is provided on the outer wall of the column (1). A counterweight slider (141) is provided on the side of the counterweight (14) close to the second guide rail (13). The counterweight slider (141) is located inside the second guide rail (13) and is slidably connected to the second guide rail (13).

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