Mechanical arm type palletizer

Abstract

The utility model relates to the technical field of stacking, disclose a kind of mechanical arm formula stacking machine, including mobile gripper, mobile gripper includes slide, linear slider, synchronous belt, driving part and tow chain rail;Slide is along vertical direction and is opened longitudinal slot, and longitudinal slot both sides are respectively provided tow chain rail and three synchronous wheels arranged in equilateral triangle, and three synchronous wheels are all rotationally arranged on slide;Tow belt is pulled out from tow chain rail, but its rigid structure can keep shape, and tow belt is pushed back into tow chain rail, neatly stored up.The mobile gripper design of the mechanical arm formula stacking machine, high efficiency, stable and accurate lifting is realized by the combination of synchronous belt and triangular synchronous wheel.This structure makes the utility model have the outstanding advantages of compact structure, stable operation, long service life and easy maintenance, especially suitable for high-speed, high-frequency automatic stacking operation.

Description

Technical Field

[0001] This utility model relates to the field of palletizing technology, specifically to a robotic arm palletizer. Background Technology

[0002] Palletizing robots are widely used in machine tool loading and unloading, automated production lines for stamping machines, automated assembly lines, and palletizing operations. Existing palletizing robotic arms mainly adopt Cartesian coordinate, cylindrical coordinate, and articulated structures, with articulated palletizing robots being particularly popular due to their compact structure, flexible movement, and large workspace. Traditional robotic arm palletizers often use screw drives or hydraulic drives for their vertical lifting mechanisms. For example, Chinese patent CN115009883B proposes a smart palletizing robotic arm that controls the opening and closing of the pick-and-place plate via a screw slide and incorporates a flattening device to improve the flatness of bagged materials. While this solution solves the problem of material placement balance, the screw drive structure is prone to high inertia and slow response during high-speed operation, and long-term thread wear can lead to a decrease in positioning accuracy. Therefore, there is an urgent need for a new palletizing machine solution with a compact structure and smooth transmission. Utility Model Content

[0003] The main purpose of this invention is to provide a robotic arm palletizer to solve the problems of existing intelligent palletizing robotic arms, such as the large inertia and slow response of the screw drive structure during high-speed operation, and the decrease in positioning accuracy due to thread wear during long-term use.

[0004] To achieve the above objectives, this utility model provides a robotic arm palletizer, including a movable gripper, which includes a slide table, a linear slider, a timing belt, a drive unit, and a drag chain rail. The slide table has a longitudinal groove along the vertical direction. On both sides of the longitudinal groove, there are drag chain rails and three synchronous pulleys arranged in an equilateral triangle. All three synchronous pulleys are mounted on the slide table. The linear slider is slidably placed in the longitudinal groove, and its top end is connected to the slide table via a drag belt. The bottom end of the linear slider passes through the longitudinal groove and is equipped with a gripper. One side of the tow belt is embedded in the cable chain groove of the cable chain rail; The top end of the timing belt is fixedly connected to the linear slider, and the bottom end is fixedly connected to the bottom end of the linear slider after being wound around three timing pulleys in sequence. The drive unit is connected to a synchronous wheel located away from the linear slider to drive its rotation; The bottom end of the vertically installed drag chain rail is fixedly connected to the slide table.

[0005] A preferred embodiment is that the driving component is a first motor, the base of the first motor is fixedly connected to the slide, and the output shaft is fixedly connected to a synchronous wheel away from the linear slider.

[0006] A preferred option is to use a rubber material for the tow strap.

[0007] A preferred embodiment is that the robotic arm palletizer also includes a frame, the top of which includes a rectangular frame. Two wide slide rails are fixed to the two width edges of the rectangular frame, and these two slide rails are arranged along the width of the rectangular frame. A wide slider slides on each slide rail. The robotic arm palletizer also includes a traverse carriage, which is fixed on two wide sliders; The transverse car is connected to a drive mechanism for moving it along the wide slide rail, and at least one movable gripper is provided for the movement.

[0008] A preferred embodiment is that the drive mechanism includes two first racks and a dual-output gearbox; The dual-output gearbox is fixedly mounted on the transverse car, and its input end is connected to the second motor. The base of the second motor is fixedly connected to the dual-output gearbox. The two output ends of the dual-output gearbox are connected to universal joints. Each universal joint is hinged to a rotating shaft at the end away from the dual-output gearbox. The rotating shaft is mounted on the transverse car. The end of the rotating shaft away from the universal joint is fixed with a first spur gear. The two first spur gears correspond to and mesh with the two first racks.

[0009] A preferred embodiment is that the transverse car has a through groove in the middle and two long slide rails are fixed in parallel. Two long slide rails are located on both sides of the through groove, and both are arranged along the length of the rectangular frame; Two long sliders are fixed on the slide table; Two long sliders correspond one-to-one with two long slide rails and slide on the long slide rails; The linear slider passes through a through slot. The transverse transfer vehicle is equipped with a second rack, which is arranged along the length of the rectangular frame. A third motor is fixedly mounted on the slide table. The output shaft of the third motor passes through the second spur gear of the slide table fixed sleeve, and the second spur gear meshes with the second rack.

[0010] A preferred embodiment is that the frame also includes four legs, the tops of which correspond one-to-one with and are fixedly connected to the four corners of the rectangular frame.

[0011] The beneficial effects of the above scheme are: The drive unit rotates the synchronous pulleys away from the linear slider, driving the linear slider to slide vertically along the longitudinal groove of the slide table via the winding transmission of the synchronous belt. The synchronous belt is wound sequentially around three synchronous pulleys arranged in an equilateral triangle, with its two ends fixed to the top and bottom of the linear slider, forming a closed loop. When the drive unit rotates the synchronous pulleys, it pulls the synchronous belt. The movement of the synchronous belt is directly converted into linear motion of the linear slider within the longitudinal groove of the slide table. During the lifting and lowering of the linear slider, one end of the drag belt is fixed to the slide table, the other end is fixed to the top of the linear slider, and its middle section is embedded in the groove of the drag chain rail. The drag belt is pulled out of the drag chain rail, but its rigid structure maintains its shape, and the drag belt is pushed back into the drag chain rail for neat storage. The moving gripper design of this robotic arm palletizer achieves efficient, stable, and precise lifting and lowering through the combination of the synchronous belt and the triangular synchronous pulleys. This structure gives this new type of palletizer the outstanding advantages of compact structure, stable operation, long service life, and easy maintenance, making it particularly suitable for high-speed, high-frequency automated palletizing operations. Attached Figure Description

[0012] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0013] Figure 1 This is a three-dimensional structural diagram of the movable gripper of this utility model; Figure 2 This is a front view schematic diagram of the movable gripper structure of this utility model; Figure 3 This is a three-dimensional structural schematic diagram of the present invention; Figure 4 yes Figure 3 Enlarged structural diagram of region A in the middle; Figure 5 This is a three-dimensional structural schematic diagram of the present invention from another perspective.

[0014] Explanation of reference numerals in the attached figures 1. Moving gripper; 11. Slide table; 12. Linear slider; 13. Synchronous belt; 14. Drive unit; 15. Cable track; 111. Long slider; 110. Longitudinal groove; 17. Synchronous pulley; 18. Towing belt; 2. Gripper; 3. Frame; 31. Rectangular frame; 32. Wide slide rail; 33. Support leg; 4. Lateral carriage; 40. Drive mechanism; 41. First rack; 42. Dual-output gearbox; 43. Second motor; 44. Universal joint; 45. Rotating shaft; 46. First spur gear; 400. Through groove; 47. Long slide rail; 48. Second rack; 50. Third motor; 51. Second spur gear. Detailed Implementation

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Many specific details are set forth in the following description to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Example

[0016] like Figure 1 , Figure 2 As shown, this embodiment provides a robotic arm palletizer, including a movable gripper 1. The movable gripper 1 includes a slide table 11, a linear slider 12, a timing belt 13, a drive unit 14, and a drag chain rail 15. The slide table 11 has a vertical groove 110. The drag chain rail 15 and three timing wheels 17 arranged in an equilateral triangle are respectively arranged on both sides of the vertical groove 110. All three timing wheels 17 are mounted on the slide table 11. The linear slider 12 slides in the vertical groove 110, and the top of the linear slider 12 is connected to the slide table 11 via a drag belt 18. The bottom of the linear slider 12 passes through the vertical groove 110 and is equipped with a gripper 2. The two grippers in this invention utilize existing technology, so they will not be described in detail here. Please refer to patent announcement numbers: CN222858050U - Chinese Utility Model Patent: A Gripper; CN222818922U - Chinese Utility Model Patent: A Clamping Gripper; or CN223225339U - Chinese Utility Model Patent: A Gripper Device for Bagged Materials. Figure 1 As shown, one side of the tow belt 18 is embedded in the cable chain groove of the cable chain rail 15. The tow belt 18 is made of rubber. The top end of the timing belt 13 is fixedly connected to the linear slider 12, and the bottom end of the timing belt 13 is wound around three timing pulleys 17 in sequence and then fixedly connected to the bottom end of the linear slider 12. The drive unit 14 is connected to the timing pulley 17 away from the linear slider 12 to drive its rotation. The drive unit 14 is a first motor, the base of the first motor is fixedly connected to the slide table 11, and the output shaft of the first motor is fixedly connected to the timing pulley 17 away from the linear slider 12. The bottom end of the vertically arranged cable chain rail 15 is fixedly connected to the slide table 11.

[0017] The drive unit 14 (i.e., the first motor) drives the synchronous pulley 17, which is away from the linear slider 12, to rotate. This rotation, via the winding of the synchronous belt 13, causes the linear slider 12 to slide vertically along the longitudinal groove 110 of the slide table 11. The synchronous belt 13 is wound sequentially around three synchronous pulleys 17 arranged in an equilateral triangle, with its two ends fixed to the top and bottom of the linear slider 12, forming a closed loop. When the drive unit 14 drives the synchronous pulleys 17 to rotate, it pulls the synchronous belt 13. The movement of the synchronous belt 13 is directly converted into linear motion of the linear slider 12 within the longitudinal groove 110 of the slide table 11. During the lifting and lowering of the linear slider 12, one end of the drag belt 18 is fixed to the slide table 11, and the other end is fixed to the top of the linear slider 12, with its middle section embedded in the groove of the drag chain rail 15. The drag belt 18 is pulled out of the drag chain rail 15, but its rigid structure maintains its shape. The drag belt 18 is then pushed back into the drag chain rail 15 and neatly stored. The moving gripper 1 of this robotic arm palletizer achieves efficient, stable, and precise lifting through a combination of a synchronous belt 13 and a triangular synchronous pulley 17. This structure gives this new type of palletizer the outstanding advantages of compact structure, stable operation, and easy maintenance, making it particularly suitable for high-speed, high-frequency automated palletizing operations.

[0018] like Figures 3-5 As shown, the robotic arm palletizer also includes a frame 3. The top of the frame 3 includes a rectangular frame 31. Two wide slide rails 32 are fixed to the two width edges of the rectangular frame 31. The two wide slide rails 32 are arranged along the width direction of the rectangular frame 31. A wide slider (not shown) slides on each wide slide rail 32. The frame 3 also includes four legs 33. The tops of the four legs 33 arranged in a matrix correspond one-to-one with and are fixedly connected to the four corners of the rectangular frame 31. The robotic arm palletizer also includes a transverse carriage 4, which is fixedly mounted on the two wide sliders. The transverse carriage 4 is connected to a drive mechanism 40 for moving it along the direction of the wide slide rails 32, and at least one movable gripper 1 is movably mounted on the transverse carriage 4. The drive mechanism 40 includes two first racks 41 and a dual-output gearbox 42. The dual-output gearbox 42 is fixedly mounted on the transverse carriage 4, and the input end of the dual-output gearbox 42 is drively connected to a second motor 43. The base of the second motor 43 is fixedly connected to the dual-output gearbox 42. Figure 4 As shown, the two output ends of the dual-output gearbox 42 are connected to universal joints 44. Each universal joint 44, at its end furthest from the dual-output gearbox 42, is hinged to a rotating shaft 45. Both rotating shafts 45 are mounted on the transverse carriage 4. A first spur gear 46 is fixedly fitted at the end of the rotating shaft 45 furthest from the universal joint 44. The two first spur gears 46 correspond one-to-one with and mesh with the two first racks 41. For example... Figure 3As shown, the transverse carriage 4 has a through groove 400 in the middle, and two long slide rails 47 are fixedly mounted parallel to each other on the transverse carriage 4. The two long slide rails 47 are located on both sides of the through groove 400, and both long slide rails 47 are arranged along the length direction of the rectangular frame 31. Two long sliders 111 are fixed on the slide table 11. The two long sliders 111 correspond one-to-one with the two long slide rails 47, and the long sliders 111 slide on the long slide rails 47. The linear slider 12 is set through the through groove 400. A second rack 48 is fixed on the transverse carriage 4, and the second rack 48 is arranged along the length direction of the rectangular frame 31. Figure 2 As shown, a third motor 50 is fixedly mounted on the slide table 11. The output shaft of the third motor 50 passes through the slide table 11 and a second spur gear 51 is fixedly mounted on it. The second spur gear 51 meshes with the second rack 48.

[0019] The workflow of the above scheme is as follows: The second motor 43 drives the dual-output gearbox 42, which in turn drives the first spur gear 46 to rotate via two universal joints 44 and a rotating shaft 45. The first spur gear 46 meshes with the first rack 41 fixed to the width border of the rectangular frame 31 of the frame 3, driving the transverse carriage 4 to move laterally along the wide slide rail 32, thereby adjusting the position of the transverse carriage 4 in the width direction of the frame 3. The third motor 50 drives the second spur gear 51 to rotate, which meshes with the second rack 48 fixed on the transverse carriage 4. Through the sliding of the long slider 111 on the long slide rail 47, the slide table 11 moves longitudinally along the length direction of the rectangular frame 31. The first motor drives the synchronous pulley 17 to rotate, and the synchronous belt 13 pulls the linear slider 12 to perform fine lifting and lowering adjustments in the height direction along the longitudinal groove 110 of the slide table 11. The three-axis linkage completes the precise positioning of the gripper 2 in three-dimensional space above the target object. During the descent of the linear slider 12, the drag belt 18 is pulled out from the drag chain groove of the drag chain rail 15, and its rubber material maintains a rigid shape. The top of the synchronous belt 13 is fixed to the top of the linear slider 12, and the bottom of the synchronous belt 13 is fixed to the bottom, forming a closed-loop transmission. The equilateral triangular layout of the synchronous pulley 17 ensures that the synchronous belt 13 is evenly stressed, reducing vibration and improving gripping stability. The traverse carriage 4 moves along the wide slide rail 32 via the drive mechanism 40, transporting the gripped items from the initial position to above the palletizing area. The dual-output gearbox 42 and universal joint 44 design ensures synchronization on both sides during lateral movement, avoiding uneven loading. The traverse carriage 4 can be equipped with multiple moving grippers 1. By independently controlling the lifting, lateral, and longitudinal movements of each gripper, multiple items can be transported and palletized synchronously, improving work efficiency. The first motor rotates in the opposite direction, the synchronous belt 13 drives the linear slider 12 to rise, and the gripper 2 releases the items to the target palletizing position. The tow belt 18 retracts synchronously into the drag chain rail 15, and the cables are neatly stored. The traverse carriage 4 returns to the initial position along the wide slide rail 32, and the slide table 11 is reset to the ready state via the third motor 50.

[0020] Obviously, the described embodiments are only some, not all, of the embodiments of this 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.

Claims

1. A robotic arm palletizer, characterized in that, The moving gripper includes a slide table, a linear slider, a timing belt, a drive unit, and a cable chain rail. The slide table has a vertical groove running through it. On both sides of the vertical groove, there are drag chain rails and three synchronous pulleys arranged in an equilateral triangle. All three synchronous pulleys are mounted on the slide table. The bottom end of the drag chain rail is fixedly connected to the slide table. The linear slider is slidably disposed in the longitudinal groove, and its top end is connected to the slide table via a drag belt. The bottom end of the linear slider is provided with a gripper passing through the longitudinal groove. One side of the towing belt is embedded in the cable groove of the cable track; The top end of the synchronous belt is fixedly connected to the linear slider, and the bottom end is fixedly connected to the bottom end of the linear slider after being wound around three synchronous pulleys in sequence. The drive unit is connected to a synchronous wheel located away from the linear slider to drive its rotation.

2. The robotic arm palletizer according to claim 1, characterized in that, The driving component is a first motor, the base of the first motor is fixedly connected to the slide table, and the output shaft is fixedly connected to the synchronous wheel away from the linear slider.

3. The robotic arm palletizer according to claim 1, characterized in that, The towing strap is made of rubber.

4. The robotic arm palletizer according to claim 1, characterized in that, It also includes a frame, the top of which includes a rectangular frame. Two wide slide rails are fixed to the two width edges of the rectangular frame. The two wide slide rails are arranged along the width direction of the rectangular frame, and a wide slider is slidably mounted on each of the wide slide rails. The robotic arm palletizer also includes a traverse carriage, which is fixed on the two wide sliders; The transverse carriage is connected to a drive mechanism for moving it along the direction of the wide slide rail, and at least one of the moving grippers is movably provided.

5. The robotic arm palletizer according to claim 4, characterized in that, The drive mechanism includes two first racks and a dual-output gearbox; The dual-output gearbox is fixedly mounted on the transverse car, and its input end is connected to the second motor. The base of the second motor is fixedly connected to the dual-output gearbox. The two output ends of the dual-output gearbox are connected to universal joints. Each universal joint is hinged to a rotating shaft at the end away from the dual-output gearbox. The rotating shaft is mounted on the transverse vehicle. Each rotating shaft is fixedly fitted with a first spur gear at the end away from the universal joint. The two first spur gears correspond one-to-one with the two first racks and mesh with them.

6. The robotic arm palletizer according to claim 4, characterized in that, The transverse car has a through groove in the middle and two long slide rails are fixed in parallel. The two long slide rails are located on both sides of the through groove, and are both arranged along the length of the rectangular frame; Two long sliders are fixed on the slide table; The two long sliders correspond one-to-one with the two long slide rails and slide on the long slide rails; The linear slider is disposed through the through slot; The transverse moving vehicle is fixed with a second rack, which is arranged along the length of the rectangular frame; The slide is fixedly equipped with a third motor, and the output shaft of the third motor passes through the second spur gear fixed to the slide, and the second spur gear meshes with the second rack.

7. The robotic arm palletizer according to claim 4, characterized in that, The frame also includes four legs, the tops of which correspond one-to-one with and are fixedly connected to the four corners of the rectangular frame.

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