CN207903527U - Robot palletizer - Google Patents
Robot palletizer Download PDFInfo
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- CN207903527U CN207903527U CN201721919943.XU CN201721919943U CN207903527U CN 207903527 U CN207903527 U CN 207903527U CN 201721919943 U CN201721919943 U CN 201721919943U CN 207903527 U CN207903527 U CN 207903527U
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- 229910000831 Steel Inorganic materials 0.000 description 2
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Abstract
The utility model provides a kind of robot palletizer,The robot includes the first pipeline,Second pipeline,Steering mechanism,Feeding distribution mechanism,Pipeline driving mechanism and lifting body,Second pipeline connects steering mechanism,Discharge end the first pipeline of direction of steering mechanism,The discharge end of first pipeline connects feeding distribution mechanism,Feeding distribution mechanism is dialled material on the adapting table for dropping down onto two alternating splicings by moving back and forth for shifting block,It accepts driving mechanism and the material on adapting table is delivered to movable loading point,Wherein pipeline driving mechanism supports the first pipeline and drives the movement of the first pipeline,To change the blanking point of feeding distribution mechanism,Lifting body supports one end of the first pipeline connection feeding distribution mechanism,The rise and fall of one end of the first pipeline are controlled by lifting body,Robot is set to better use stack height,Using the above structure,The robot palletizer of the utility model can effectively improve working efficiency,Reduce manual intervention,Reduce the injury to human body.
Description
Technical field
The utility model is related to Palletizer fields, more particularly, to a kind of robot palletizer.
Background technology
Existing bagged cement in entrucking, is transferred in the compartment of vehicle by conveyer belt, then every by manually passing through
Bag cement is in sequence and certain direction is placed in compartment, since cement industry belongs to the larger row of dust pollution
Industry, injury is larger caused by human body.And the weight of every bag of cement, in 50kg, hand labor intensity is big, and man efficiency compared with
It is low.
Utility model content
The main purpose of the utility model is to provide a kind of robot palletizer that work efficiency is high and labor intensive is at low cost.
For the main purpose for realizing above-mentioned, robot palletizer provided by the utility model includes the first pipeline, depiler
Structure, pipeline driving mechanism and lifting body, the first pipeline include that the first transmission belt and the first transmission belt of driving rotate
It is driven tape drive mechanism；The feeding end of feeding distribution mechanism connects the discharge end of the first pipeline, and feeding distribution mechanism includes multiple rollers, drive
Feeder motor, allocation mechanism and two support structures of multiple rotations are moved, allocation mechanism includes that shifting block and driving shifting block move
Dynamic material toggling driving mechanism, shifting block are arranged in the top of roller, and material toggling driving mechanism drives shifting block in axial the along roller
Moved between one end and second end, two support structures are arranged in the lower section of roller, support structure include the first support structure and
Second support structure, the first support structure are arranged along the lower section of the axial first end of roller, and the setting of the second support structure exists
The lower section of the axial second end of roller, support structure include holding for the axial movement of adapting table and driving adapting table along roller
Connect driving mechanism；Pipeline driving mechanism includes two sliding rails and the roller transmission mechanism that is connected with sliding rail, and idler wheel passes
Motivation structure drive the first pipeline moved along the extending direction of sliding rail, roller transmission mechanism include two fixed plates, active rotating shaft,
Driving device, fixed conveyor sprocket wheel and the idler wheel of active rotating shaft rotation, active rotating shaft is driven to be arranged between two fixed plates,
Driven sprocket is installed on active rotating shaft, fixed conveyor sprocket wheel includes the first fixed conveyor sprocket wheel and the second fixed conveyor sprocket wheel,
First fixed conveyor sprocket wheel and the second fixed conveyor sprocket wheel are separately positioned on the both ends of active rotating shaft and are respectively arranged with fixed plate
On；The output end of driving device is equipped with drive sprocket, and drive sprocket is coordinated by chain and driven sprocket；Phase in two fixed plates
It is symmetrically provided with the identical idler wheel of structure, idler wheel is abutted with sliding rail, and the idler wheel in same fixed plate is mutually parallel and positioned at same
One horizontal linear, idler wheel are connected with sliding rail；Lifting body includes shifting axle and connects the fixation motor of shifting axle, mobile
The first pipeline of axis connection is fixed in first support, is arranged on shifting axle with teeth close to one end of feeding distribution mechanism, fixed motor
Item, fixed motor connection gear, gear pinion rack.
It can be seen that on the first pipeline conveying material to the roller of feeding distribution mechanism, during roller conveys material, dial
Block stirs material, and the adapting table below the roller of material whereabouts accepts driving mechanism driving adapting table movement, by the object on adapting table
Material is moved to the enterprising luggage material of charging car, and there are two support structures, two support structures alternately to accept shifting block wherein below roller
Move back and forth the material dialled and fallen, the efficiency of feeding distribution mechanism sub-material can be effectively improved；The first conveying of pipeline driving mechanism driving
Line moves, to the movable loading point of mobile feeding distribution mechanism so that robot palletizer realizes that more fixed points stack；Lifting body is in depiler
When structure pinpoints sub-material, rise with the height of stacking, one end that the first pipeline is connected feeding distribution mechanism by lifting body jacks, and makes
It obtains robot palletizer and is well adapted for the height stacked；The robot palletizer of the utility model can convey automatically and sub-material, energy
Working efficiency is enough effectively improved, manual intervention is reduced, to reduce the injury to human body.
Further embodiment is, robot palletizer further includes the second pipeline, and the discharge end setting of the second pipeline is the
The top of one pipeline.
It can be seen that in material blanking to the first pipeline on the second pipeline, the first pipeline is further improved
Transfer efficiency, while can also accelerate the sub-material efficiency of feeding distribution mechanism.
Further embodiment is that robot palletizer further includes steering mechanism, and steering mechanism includes the second transmission belt, pushes machine
Structure and bar, pushing mechanism include the promotion driving mechanism of push plate and driving push plate movement, and pushing mechanism is located at second and passes
The upstream of the carriage direction of dynamic band；The carriage direction of vertical second transmission belt of axial direction of bar, bar are located at the second transmission
The carriage direction of band flows down, and driving mechanism driving push plate is pushed to be moved towards the side of the second transmission belt；
The feeding end of the discharge end connection steering mechanism of second pipeline, the discharge end setting of steering mechanism is in the first conveying
The top of line.
It can be seen that during the second transmission belt conveys material, the push plate in pushing mechanism shifts material onto towards gear
Bar moves so that and certain part of material collides with bar, and bar blocks the moving direction of a material part, and
Under the driving force of second conveyer belt, material is in and is transported state, and material is caused to avoid the blocking of bar by rotation, to real
The steering of existing material, can reduce artificial steering, improve working efficiency.
Further embodiment is, material toggling driving mechanism include material toggling motor, first gear, the first rack, the first idler wheel with
And connector, the first rack are fixed on the secondary support bracket, material toggling motor connects first gear, and first gear is nibbled with the first rack
It closes, material toggling motor, the first idler wheel and shifting block are all connected with connector, and connector is provided with the first rolling close to one end of the first rack
Wheel, the first idler wheel and the first rack abut, and material toggling motor drives the first idler wheel to be moved along the extending direction of the first rack.
As it can be seen that material toggling motor, the first idler wheel and shifting block are arranged on connector, material toggling motor drives first gear and the
One rack engages, since the first rack is fixed on the secondary support bracket so that and the first rack is moved along the length direction of the first rack,
To drive the material toggling motor being connect with first gear movement, the connector movement of connection material toggling motor is then driven, realizes and dials
The movement of block.
Further embodiment is, accept driving mechanism include accept motor, connection accept motor second gear and with
Second rack of second gear engagement is accepted motor and is fixed on third holder, and adapting table is connect with the second rack.
It is engaged with the second rack as it can be seen that accepting motor driving second gear, since second gear is fixed on motor is accepted
On third holder, the movement of the second rack is to drive the adapting table movement of the second rack of connection, the mobile drive material of adapting table
Movable loading point is moved to feed.
Further embodiment is that adapting table includes rotating roller, connects the third transmission belt of rotating roller and connection rotating roller
Rotary electric machine, rotary electric machine drive rotating roller rotation.
As it can be seen that adapting table accepts the material fallen in feeding distribution mechanism, driving mechanism driving adapting table movement, adapting table are accepted
In rotary electric machine driving rotating roller rotation, to drive material on adapting table mobile and fall to movable loading point.
Further embodiment is that lifting body further includes lifting saddle and leading block, and mobile axis connection lifts saddle,
It lifts saddle and jacks the first pipeline close to one end of feeding distribution mechanism；
Multiple leading blocks are provided in first support, multiple leading blocks in same level surround limiting section, move
Moving axis runs through limiting section.
As it can be seen that lifting saddle can increase the contact area of shifting axle and the first pipeline so that shifting axle can stablize jacking
First pipeline, shifting axle do the movement on vertical direction in the limiting section that multiple leading blocks surround, and avoid pushing up as far as possible
Rise the movement of mechanism in the horizontal direction.
Further embodiment is by the first fixed conveyor sprocket wheel and to be both provided with two by the second fixed conveyor sprocket wheel and be servo-actuated
Sprocket wheel, be separately positioned in fixed plate with movable sprocket and with it is same with the first fixed conveyor sprocket wheel and the second fixed conveyor sprocket wheel respectively
Side；First fixed conveyor sprocket wheel and homonymy are engaged with the first fixation chain for being fixed at walking path with movable sprocket,
Second fixed conveyor sprocket wheel and homonymy are engaged with the second fixation chain for being fixed at walking path with movable sprocket.
As it can be seen that being directive wheel with movable sprocket, when driving device driving active rotating shaft rotation, turn with respect to shaft with movable sprocket
It is dynamic, ensure the kinetic stability of integrated model.
Further embodiment is that support plate is additionally provided between two fixed plates, and support plate is used to support the first pipeline,
Driving device includes motor and speed reducer, and the output end of motor and the input terminal of speed reducer coordinate, and speed reducer is mounted on support plate
On, drive sprocket is arranged on the output end of speed reducer.
As it can be seen that the output end of motor and the input terminal of speed reducer coordinate, drive sprocket is arranged on the output end of speed reducer,
So that the rotation of motor driving drive sprocket, drives active rotating shaft rotation to drive idler wheel to rotate.
Further embodiment is that robot palletizer further includes main support, and main support is used to support the first pipeline, main support
Adjacent auxiliary stand, auxiliary stand includes rack body and at least two groups accessory part；Accessory part include guide rod, sliding part and
Two fixed seats；Guide rod is cylindrical, and there is two fixed seats the front side for being periodically installed at rack body, guide rod to be fixed on two
Between a fixed seat and the vertical setting of guide rod；Sliding part is sleeved on guide rod and is limited between two fixed seats, sliding part with
Guide rod is slidably matched and sliding part is rotatably assorted with guide rod；Sliding part includes cylindrical portion and is fixed on the two of cylindrical portion axial direction both ends
A baffle ring portion, baffle ring portion are extended radially out along cylindrical portion other than the circumferential surface of cylindrical portion, and sliding part is other than the circumferential surface of cylindrical portion
And cooperation position is formed between two baffle ring portions, main support is located in cooperation position.
As it can be seen that auxiliary stand is arranged behind the both sides of main support, the cooperation position cooperation on main support and sliding part, and two
A baffle ring portion limits main support.Sliding part has rotational freedom, and two fixed seats are to the sliding part upper limit in the horizontal direction
Position, therefore auxiliary stand not only can in the horizontal direction be supported the first pipeline, and when the first pipeline is linearly moved
When dynamic or height adjusts, sliding part can be rotated or be slided according to the mobile generation of pipeline.Auxiliary stand can not only support
Robot palletizer and guarantee pipeline freedom of movement.
Description of the drawings
Fig. 1 is the structure chart of the utility model robot palletizer embodiment.
Fig. 2 is the structure chart of auxiliary stand in the utility model robot palletizer embodiment.
Fig. 3 is the enlarged drawing at the A of Fig. 1.
Fig. 4 is the enlarged drawing at the B of Fig. 2.
Fig. 5 is the structure chart of steering mechanism in the utility model robot palletizer embodiment.
Fig. 6 is the structure chart of feeding distribution mechanism in the utility model robot palletizer embodiment.
Fig. 7 is the structure chart of third holder in the utility model robot palletizer embodiment.
Fig. 8 is the part-structure figure of support structure in the utility model robot palletizer embodiment.
Fig. 9 is the structure chart of roller transmission mechanism in the utility model robot palletizer embodiment.
Figure 10 is the structure chart of lifting body in the utility model robot palletizer embodiment.
The utility model is described in further detail with reference to the accompanying drawings and embodiments.
Specific implementation mode
The robot palletizer of the stacking of the robot palletizer application product of the utility model, the utility model includes defeated
It send, turn to, sub-material and jacking step, overall process realization automatically, are not necessarily to manual intervention, effectively improve working efficiency, simultaneously
Cost of labor is reduced, and the injury to human body can be reduced.
Referring to Fig. 1, the robot palletizer of the utility model include the first pipeline 1, the second pipeline 2, steering mechanism 3,
Feeding distribution mechanism 4, pipeline driving mechanism 5 and lifting body 6.In the present embodiment, the discharge end connection point of the first pipeline 1
Expect the feeding end of mechanism 4；Second pipeline 2 is parallel with the first pipeline 1 and is arranged in the top of the first pipeline 1, and second is defeated
The feeding end of the discharge end connection steering mechanism 3 of line sending 2, the discharge end of steering mechanism 3 tilt and are arranged towards the first pipeline 1
In the top of the first pipeline 1.Pipeline driving mechanism 5 is arranged in the lower section of the first pipeline 1 and drives the first pipeline 1
It is mobile；Lifting body 6 jacks the discharge end of the first pipeline 1.
First pipeline 1 includes the first transmission belt 11 and drives the transmission tape drive mechanism of the first transmission belt 11 rotation,
Transmission tape drive mechanism includes the first rotating roller 12 and the first motor of driving the first rotating roller 12 rotation, the first transmission belt 11
It is abutted with the first rotating roller 12, the first rotating roller 12 is all connected with sprocket wheel with first motor, is connected by chain between two sprocket wheels, real
Existing first motor drives the rotation of the first rotating roller 12, to drive the rotation of the first transmission belt 11.
Second pipeline 2 is parallel with the first pipeline 1 and the discharge end of the second pipeline 2 is arranged in the first pipeline 1
Top so that in the material blanking to the first pipeline 1 on the second pipeline 2, further improve the defeated of the first pipeline 1
Efficiency is sent, while can also accelerate the sub-material efficiency of feeding distribution mechanism 4.The group of the composed structure of second pipeline 2 and the first pipeline 1
Roughly the same at structure, the second pipeline 2 also includes transmission belt, the rotating roller of adjacent transmission belt and driving rotating roller rotation
Motor.Product space inductor, such as infrared sensor, product position can be installed on first pipeline 1 and the second pipeline 2
Conveying speed of the inductor for automatically adjusting two strip transmission lines is set, and the transmission speed between two strip transmission lines needs phase interworking
It closes, is fallen into the gap between 1 product of the first pipeline convenient for the product on the second pipeline 2.It is arranged on the second pipeline 2
There are fixing bracket 8, the side of fixing bracket 8 towards the second pipeline 2 to be provided with infrared sensor.
Referring to Fig. 2 to Fig. 4, robot palletizer further includes main support 9, and main support 9 is used to support the first pipeline 1, to carry
Consolidating for high main support 9, can be provided with brace 13, the both sides of main support 9 are provided with side slat 91, side slat 91 on main support
Adjacent auxiliary stand 7, auxiliary stand 7 include rack body 70 and at least two groups accessory part 71；Accessory part 71 includes guide rod
73, sliding part 74 and two fixed seats 72；Guide rod 73 is cylindrical, and two fixed seats 72, which have, is periodically installed at holder master
The front side of body 70, guide rod 73 is fixed between two fixed seats 72 and 73 vertical setting of guide rod；Sliding part 74 is sleeved on guide rod 73
It goes up and is limited between two fixed seats 72, sliding part 74 is slidably matched with guide rod 73 and sliding part 74 is matched with the rotation of guide rod 73
It closes；Sliding part 74 includes cylindrical portion 741 and two baffle ring portions 742 for being fixed on the axial both ends of cylindrical portion 741；742 edge of baffle ring portion
Cylindrical portion 741 extends radially out other than the circumferential surface 741a of cylindrical portion 741, sliding part 74 cylindrical portion 741 circumferential surface 741a with
Cooperation position 743 is formed outside and between two baffle ring portions 742, and side slat 91 is located in cooperation position 743.The setting of auxiliary stand 7 is existed
Behind the both sides of main support 9, the cooperation position 743 on side slat 91 and sliding part 741 coordinates, and two baffle ring portions 742 are to main support 9
Limit.Sliding part 74 has a rotational freedom, and two fixed seats 72 are to the upper limit in the horizontal direction of sliding part 74, therefore assists branch
Frame 7 not only can in the horizontal direction be supported the first pipeline 1, and when the first pipeline 1 carries out linear movement or height
When degree adjustment, sliding part 74 can be rotated or be slided according to the mobile generation of pipeline.Auxiliary stand 7 can not only support stacking machine
Device people and guarantee pipeline freedom of movement.
Referring to Fig. 5, steering mechanism 3 includes steering bracket 31, the second transmission belt 32, pushing mechanism 33 and bar 34.
In the present embodiment, 6 rotating rollers 311 are provided on steering bracket 31, rotary electric machine drives rotating roller 311 to rotate, to drive
It is moved with the second transmission belt 32 that rotating roller 311 abuts, realizes the movement of the product on the second transmission belt 32.Pushing mechanism 33
It is arranged on steering bracket 31, pushing mechanism 33 includes the promotion driving that bottom plate 331, push plate 332 and driving push plate 332 are moved
Mechanism pushes driving mechanism to be arranged on bottom plate 331, and bottom plate 331 is arranged on steering bracket 31.It includes electricity to push driving mechanism
Machine 333, gear and rack 334,333 connection gear of motor, wheel and rack 334 engage, and rack 334 connects push plate 332, electricity
333 sliding tooth wheel of machine rotates, and to which the rack 334 that driving is engaged with gear moves, converts rotary motion to linear motion,
To which rack 334 drives push plate 332 to move linearly.Pushing mechanism 33 is located at the upstream of the carriage direction of the second transmission belt 32.For
Enhancing rack 334 drives the stability of the movement of push plate 332 in the present embodiment can be in push plate 332 along the length side of push plate 332
To both ends be separately connected one end of a push rod 335, the other end of push rod 332 runs through the axle sleeve being arranged on bottom plate 331
336.In the present embodiment, push plate 332 is obliquely installed along the material conveying direction of the second transmission belt 32, is increased and is pushed material
Probability.
Block 341 is provided on steering bracket 31, one end of 341 parallel second transmission belt 32 of block is provided with straight slot 342,
Bar 34 runs through straight slot 342, and bar 34 can move in straight slot 342 along the extending direction of straight slot 342, the axial direction of bar 34
The carriage direction of vertical second transmission belt 32, in the present embodiment, vertical second transmission belt 32 in the vertical direction of bar 34.
Block 341 makes bar 34 perpendicular to the second transmission belt 32, and can be according to the difference of material, bar 34 for fixing bar 34
It can move back and forth in straight slot 342, determine different blocking positions, improve to turn to and realize probability.Bar 34 is located at the second transmission belt
32 carriage direction flows down.
Push driving mechanism that push plate 332 is driven to be moved towards the side 321 of the second transmission belt 32.In the present embodiment, it pushes away
The moving direction of plate 332 is vertical with the side 321 of the second transmission belt 32；Or the inclination of rack 334 that driving push plate 332 is moved is set
It sets so that the moving direction of push plate 332 intersects with the side 321 of the second transmission belt 32.Material after 2 blanking of the second pipeline on
Expect on the second transmission belt 32 of steering mechanism 3, along 32 carriage direction of the second transmission belt, close material on the second transmission belt 32
Feeding end is the upstream of the second transmission belt, close to material discharging end is flowing down for the second transmission belt on the second transmission belt 32, pushes
Mechanism 33 is arranged at the upstream of the second transmission belt 32, and flowing down in the second transmission belt 32 is arranged in bar 34 so that material is second
On transmission belt 32 it is transported during, after material is pushed by upper pushing mechanism 33 towards the side 321 of the second transmission belt 2
It collides with dirty bar 34, and material causes material to be kept away by rotation still by the driving force of the second transmission belt 32
The blocking for opening bar 34, to realize that the steering of material, the blocking dynamics of central stop lever 34 are decided by that bar 34 is contacted with material
Degree, and the degree depend on push plate 332 push material movement displacement size.In the transported process of material, first push away
The probability for can guarantee and improving and turning to is collided after material.
Photosensitive sensor 337 is additionally provided on axle sleeve 336, photosensitive sensor 337 is for detecting whether material is moved to promotion
33 corresponding position of mechanism pushes material in time convenient for pushing mechanism 33.
Referring to Fig. 6 to Fig. 8, feeding distribution mechanism 4 includes multiple rollers 41, the feeder motor 411 of the rotation of driving drum 41, material toggling
Mechanism 42 and two support structures 43, multiple rollers 41 form pipeline side by side, and allocation mechanism 42 includes shifting block 420 and drives
The material toggling driving mechanism that dynamic shifting block 420 moves, shifting block 420 are arranged in the top of roller 41, and material toggling driving mechanism drives shifting block
420 move back and forth between the axial first end and second end along roller 41, and two support structures 43 are arranged in roller 41
Lower section, support structure 43 include the first support structure 430 and the second support structure 431, and the setting of the first support structure 430 is along rolling
The lower section of the axial first end of cylinder 41, the second support structure 431 are arranged in the lower section of the axial second end of roller 41, two
Support structure 43 alternately accepts the material fallen from roller 41.Support structure 43 includes adapting table 432 and driving adapting table
432 along the axial movement of roller 41 undertaking driving mechanism.
Material toggling driving mechanism includes material toggling motor 421, first gear, the first rack 422, the first idler wheel 423 and connection
Part 424, the first rack 422 are fixed in second support 425, and material toggling motor 421 connects first gear, first gear and the first tooth
Item 422 engages, and material toggling motor 421, the first idler wheel 423 and shifting block 420 are all connected with connector 424, and connector 424 is close to the
One end of one rack 422 is provided with the first idler wheel 423, and the first idler wheel 423 and the first rack 422 abut, and material toggling motor 421 drives
Dynamic first idler wheel 423 is moved along the extending direction of the first rack 422.Material toggling motor 421, the first idler wheel 423 are all provided with shifting block 420
It sets on connector 424, material toggling motor 421 drives first gear to be engaged with the first rack 422, since the first rack 422 is solid
It is scheduled in second support 425 so that first gear is moved along the length direction of the first rack 422, to drive and first gear
The material toggling motor 421 of connection moves, and then drives the connector 424 of connection material toggling motor 421 to move, realizes the shifting of shifting block 420
It is dynamic.Be also provided with fixed strip 426 in second support 425, the setting of connector 424 the first rack 422 and fixed strip 426 it
Between.In the present embodiment, 4 the first idler wheels 423 are provided on connector 424 altogether, connector 424 is close to the first rack 422
One end is provided with 2 idler wheels, 423,2 idler wheels 423 and is abutted with the first rack 422；424 connectors are close to fixed strip 426
One end is also equipped with 2 idler wheels, 423,2 idler wheels 423 and is abutted with fixed strip 426.
Accept driving mechanism include accept motor 441, connection accept motor 441 second gear 442 and with the second tooth
Second rack 443 of 442 engagement of wheel, accepts motor 441 and is fixed on third holder 44, second is additionally provided on third holder 44
Idler wheel 444, the second rack 443 abut the second idler wheel 444.Adapting table 432 is connect with the second rack 443.Second gear 442 with
Second rack 443 engages, and since second gear 442 is fixed on motor 441 is accepted on third holder 44, accepts motor 441 and drives
Dynamic second gear 442 rotates so that and the movement of the second rack 443 connects the movement of adapting table 432 of the second rack 443 to drive,
The mobile drive material of adapting table 432 is moved to movable loading point and feeds.It further includes gib block 445 to accept driving mechanism, is accepted
Platform 432 is arranged on connecting plate 446, and connecting plate 446 is arranged between the second rack 443 and gib block 445, gib block 445
It is abutted with the second idler wheel 444 on third holder 44.Since adapting table 432 is connect with the second rack 443, to avoid the second rack
443 are bent since the material on adapting table 432 is overweight, and support wheel 447 can be provided on third holder 44, and second
Rack 44 is arranged between second gear 43 and support wheel 447.
Adapting table 432 includes the second rotating roller 433, connects the third transmission belt 434 of the second rotating roller 433 and connection the
The rotary electric machine 435 of two rotating rollers 433, rotary electric machine 435 drive the rotation of the second rotating roller 433 to drive third transmission belt 434
Rotation, adapting table 432 accept the material fallen in roller 41, accept driving mechanism driving adapting table 432 and move, adapting table 432
In rotary electric machine 435 drive the rotation of the second rotating roller 433, to drive material on adapting table 432 mobile and fall to dress
Shots.
First idler wheel 423 and the side that the first rack 422 abuts are V-shaped, and the second idler wheel 444 and the second rack 443 are adjacent
The side connect is also in " V "；Correspondingly, the side that the first rack 422 is connect with the first idler wheel 423 is V-shaped, the second rack
443 sides that are connect with the second idler wheel 444 are V-shaped, and " V " shape can enable idler wheel steadily be moved along the extending direction of rack
For dynamic or rack in moving process, idler wheel plays the role of guide and limit, is not easy to be mutually disengaged.
Feeding distribution mechanism 4 further includes baffle 45, and the conveying direction of the pipeline formed in multiple rollers 41 is arranged in baffle 45
It flowing down, material is during transported on roller 41, along the moving direction of material, the one of separate material feeding on pipeline
End is flowing down for conveying direction, and the baffle 45 being arranged in conveying direction blanking is used to stop the lasting movement of material, convenient for waiting for
The material toggling of shifting block 420.
In transmission process of the material on the pipeline that multiple rollers 41 are formed, the shifting block 420 that is arranged above roller 41
Axial direction along roller 41 moves, and the material on roller 41 is pushed away to the adapting table in the support structure 43 for dropping down onto 41 lower section of roller
On 432, two support structures 43 coordinate the alternately splicing that moves back and forth of shifting block 420, undertaking driving mechanism to drive adapting table 432
Mobile to be delivered to material on the position of corresponding charging, adapting table 432 is accurately received using movement on a large scale during being somebody's turn to do
Shifting block 420 pushes away the material fallen, and material is delivered to charging specific position.
Referring to Fig. 9, pipeline driving mechanism 5 includes two sliding rails 51 and the idler wheel driver with the mating connection of sliding rail 51
Structure 52, roller transmission mechanism 52 drive the first pipeline 1 to be moved along the extending direction of sliding rail 51.Roller transmission mechanism 52 includes
Driving device, fixed conveyor sprocket wheel and the idler wheel that two fixed plates 521, active rotating shaft 522, driving active rotating shaft 522 rotate
523, support plate 524 is provided between two fixed plates 521, and fixing bracket 525, fixing bracket 525 can be set in support plate 524
It is used to support main support 9, active rotating shaft 522 is arranged between two fixed plates 525, and driven chain is equipped on active rotating shaft 522
Wheel 525, fixed conveyor sprocket wheel include the first fixed conveyor sprocket wheel 526 and the second fixed conveyor sprocket wheel 527, the first fixed conveyor chain
Wheel 526 and the second fixed conveyor sprocket wheel 527 are separately positioned on the both ends of active rotating shaft 522, the first fixed conveyor sprocket wheel 526 and the
Two fixed conveyor sprocket wheels 527 are respectively positioned on the outside of fixed plate 521.The output end of driving device is equipped with drive sprocket 528, drive chain
Wheel 528 is parallel with driven sprocket 525 and is located along the same line, and drive sprocket 528 is matched by chain 529 and driven sprocket 525
It closes.The identical idler wheel 523 of structure is relatively symmetrically provided in two fixed plates 521, idler wheel 523 is abutted with sliding rail 51, same solid
Idler wheel 523 on fixed board 521 is mutually parallel and is located at same level straight line, and idler wheel 523 is located at the interior of fixed plate 521
Side, idler wheel 51 may also be arranged in support plate 524.
Two are both provided with by the side of first fixed conveyor sprocket wheel 526 and the second fixed conveyor sprocket wheel 527 with movable sprocket 530,
It is all disposed within 521 outside of fixed plate with movable sprocket 530.First fixed conveyor sprocket wheel 526 and homonymy with movable sprocket 530 with it is solid
Fixed be arranged fixes chain 531 the first of walking path and engages, the second fixed conveyor sprocket wheel 527 and homonymy with movable sprocket 530
Engaged with the second fixation chain 531 for being fixed at walking path.
Drive sprocket 528 is coordinated with the driven sprocket 525 on active rotating shaft 522 by chain 529,522 liang of active rotating shaft
End the first fixed conveyor sprocket wheel 526 and with 527 homonymy of the second fixed conveyor sprocket wheel with movable sprocket 530 respectively with fixed setting
In two fixed chain engagements of walking path.Driving device drives drive sprocket 528 to rotate, and drive sprocket 528 passes through chain
529 drive the driven sprocket 525 on active rotating shaft 522 to rotate, and then active rotating shaft 522 is driven to rotate, then by active rotating shaft
The fixed conveyor sprocket wheel at 522 drive active rotating shaft 522 both ends moves on fixed chain, to make to be mounted on fixed plate 521 with
Equipment movement in support plate 524.As it can be seen that the drive sprocket 528 being connect with driving device provides the power of input, first fixes
Drive sprocket 526 and the second fixed conveyor sprocket wheel 527 export power, are directive wheel with movable sprocket 530, idler wheel 523 is by actively changing
It is servo-actuated, and support is provided for entire transmission mechanism.Since the main by weight of transmission mechanism is born by idler wheel 523, and idler wheel
523 are mounted on smooth track again, therefore only need the power of very little that transmission mechanism can be made to realize movement, and effectively avoid
Driven sprocket 525 leads to occur when mechanism kinematic stuck situation from fixed conveyor sprocket wheel because linear velocity is different, effectively disappears
Except slippage problems of the idler wheel 523 in smooth track.It is opposite with movable sprocket 530 when the driving device driving rotation of active rotating shaft 522
Active rotating shaft 522 rotates, and ensures the kinetic stability of integrated model.
Driving device includes motor 533 and speed reducer 534, and the input terminal of the output end and speed reducer 534 of motor 533 is matched
It closes, speed reducer 534 is mounted in support plate 524, and drive sprocket 528 is arranged on the output end of speed reducer 534, motor 533
The input terminal of output end and speed reducer 534 coordinates, and drive sprocket 528 is arranged on 534 output ends of speed reducer so that motor
The rotation of 533 driving drive sprockets 528, drives the rotation of active rotating shaft 522 to drive idler wheel 523 to rotate.
Referring to Figure 10, lifting body 6 includes lifting saddle 60, shifting axle 61, leading block 63 and connection shifting axle 61
Fixation motor 64, shifting axle 61 connection lifting saddle 60；It lifts saddle 60 and connects the first pipeline 1 close to feeding distribution mechanism 4
One end, lifting saddle 60 are up-side down triangle steel beam structure, and lifting saddle 60 contacted with the first pipeline 1 when lift work,
In order to reduce the contact of lifting saddle 60 and the first pipeline 1, and reinforce elevating mechanism 60 to the first pipeline 1 floating branch
The both ends of the effect of support, the horizontal gird 601 of up-side down triangle steel beam structure the top are each provided with idler wheel 62, by idler wheel 62 with
First pipeline 1 is in direct contact.Since in operation process, pipeline driving mechanism 4 drives the first pipeline 1 to be moved forward and backward,
To realize the movement of movable loading point.
Fixed motor 64 is fixed in first support 65, and rack 611 is provided on shifting axle 61, and fixed motor 64 connects
Gear 641,641 pinion rack 611 of gear, to which fixed motor 64 drives shifting axle 61 to be moved towards the first pipeline 1, from
And drive the rise and fall of one end of the first pipeline 1 connection feeding distribution mechanism 4.
In the present embodiment, first support 65 be equilateral triangle frame, first support 65 include three root posts 651, three
Root post 651 is connected by horizontal brace rod 652 between any two.In the present embodiment, it is provided with two layers of water in first support 65
Flushconnection bar 652 is provided with multiple leading blocks 63 on each layer of horizontal brace rod 652, and multiple in same level lead
Limiting section 66 is surrounded to pulley 63, shifting axle 61 runs through limiting section 66, the limit that shifting axle 61 is surrounded in multiple leading blocks 63
The movement on vertical direction is done in portion 65, avoids the movement of lifting body 6 in the horizontal direction as far as possible, realizes shifting axle 61
Positioning and guiding.
Material on second pipeline 2 is fallen to after steering mechanism 3 turns on the first pipeline 1, the first pipeline
On 1 conveying material to the pipeline of feeding distribution mechanism 4 being made of roller 41, during roller 41 conveys material, shifting block 420 is dialled
Animal material, the adapting table 432 of 41 lower section of material whereabouts roller are accepted driving mechanism driving adapting table 432 and are moved, by adapting table
Material on 432 is moved to the movable loading point of charging car, and the rotary electric machine 435 in adapting table 432 drives rotating roller 433 to rotate, and drives
Material is mobile on dynamic adapting table 432 and falls, and proceeds by charging, wherein support structure 43 there are two 41 lower sections of roller, two
Support structure 43 alternately accepts shifting block 420 and moves back and forth the material dialled and fallen, and can effectively improve the efficiency of 4 sub-material of feeding distribution mechanism；
Pipeline driving mechanism 5 drives the movement of the first pipeline 1, to the movable loading point of mobile feeding distribution mechanism 4 so that robot palletizer
Realize that more fixed points stack；Lifting body 6 rises when feeding distribution mechanism 4 pinpoints sub-material with the height of stacking, and lifting body 6 will
First pipeline 1 connects one end jacking of feeding distribution mechanism 4 so that robot palletizer is well adapted for the height stacked；This practicality
Novel robot palletizer can convey automatically and sub-material, can effectively improve working efficiency, manual intervention is reduced, to reduce
Injury to human body.
Finally it is emphasized that the above is only the preferred embodiment of the present invention, it is not limited to this reality
With novel, for those skilled in the art, the utility model can have various change and change, all in the utility model
Spirit and principle within, any modification, equivalent substitution, improvement and etc. done should be included in the protection model of the utility model
Within enclosing.
Claims (10)
1. robot palletizer, which is characterized in that including：
First pipeline, first pipeline include the first transmission belt and the transmission belt of driving the first transmission belt rotation
Driving mechanism；
Feeding distribution mechanism, the feeding end of the feeding distribution mechanism connect the discharge end of first pipeline, and the feeding distribution mechanism includes
Feeder motor, allocation mechanism and two support structures that multiple rollers, the multiple rollers of driving rotate, the allocation mechanism
Material toggling driving mechanism including shifting block and driving shifting block movement, the shifting block is arranged in the top of the roller, described
Material toggling driving mechanism drives the shifting block to be moved between the axial first end and second end along the roller, described two to hold
Connection mechanism is arranged in the lower section of the roller, and the support structure includes the first support structure and the second support structure, and described the
One support structure is arranged in the lower section of the axial first end along the roller, and second support structure is arranged in the roller
Axial second end lower section, the support structure includes the axial direction of adapting table and the driving adapting table along the roller
Mobile undertaking driving mechanism；
Pipeline driving mechanism, the pipeline driving mechanism include two sliding rails and the idler wheel that is connected with the sliding rail
Transmission mechanism, the roller transmission mechanism drive first pipeline to be moved along the extending direction of the sliding rail, the idler wheel
Transmission mechanism include two fixed plates, active rotating shaft, the driving device of driving active rotating shaft rotation, fixed conveyor sprocket wheel with
And idler wheel, the active rotating shaft are arranged between two fixed plates, and driven sprocket is equipped on the active rotating shaft, it is described
Fixed conveyor sprocket wheel includes the first fixed conveyor sprocket wheel and the second fixed conveyor sprocket wheel, the first fixed conveyor sprocket wheel and described
Second fixed conveyor sprocket wheel is separately positioned on the both ends of the active rotating shaft and is respectively arranged in the fixed plate；The driving
The output end of device is equipped with drive sprocket, and the drive sprocket is coordinated by chain and the driven sprocket；Two fixations
The identical idler wheel of structure is relatively symmetrically provided on plate, the idler wheel is abutted with the sliding rail, in the same fixed plate
The idler wheel be mutually parallel and be located at same level straight line, the idler wheel and the sliding rail are connected；
Lifting body, the lifting body include the fixation motor of shifting axle and the connection shifting axle, and the shifting axle connects
First pipeline is connect close to one end of the feeding distribution mechanism, the fixed motor is fixed in first support, the movement
Rack, the fixed motor connection gear are provided on axis, the gear engages the rack.
2. robot palletizer according to claim 1, it is characterised in that：
The robot palletizer further includes the second pipeline, and the discharge end of second pipeline is arranged in first pipeline
Top.
3. robot palletizer according to claim 2, it is characterised in that：
The robot palletizer further includes steering mechanism, and the steering mechanism includes the second transmission belt, pushing mechanism and bar,
The pushing mechanism includes the promotion driving mechanism of push plate and driving push plate movement, and the pushing mechanism is located at described the
The upstream of the carriage direction of two transmission belts；The carriage direction of vertical second transmission belt of the axial direction of the bar, it is described
Bar is located at flowing down for the carriage direction of second transmission belt, and the promotions driving mechanism driving push plate is towards described the
It moves the side of two transmission belts；
The discharge end of second pipeline connects the feeding end of the steering mechanism, and the discharge end setting of the steering mechanism exists
The top of first pipeline.
4. robot palletizer according to claim 1, it is characterised in that：
The material toggling driving mechanism includes material toggling motor, first gear, the first rack, the first idler wheel and connector, and described
One rack is fixed on the secondary support bracket, and the material toggling motor connects first gear, and the first gear is nibbled with first rack
It closes, the material toggling motor, first idler wheel and the shifting block are all connected with the connector, and the connector is close to described the
One end of one rack is provided with first idler wheel, and first idler wheel is abutted with first rack, and the material toggling motor drives
First idler wheel is moved to move along the extending direction of first rack.
5. robot palletizer according to claim 4, it is characterised in that：
It is described accept driving mechanism include accept motor, connection it is described accept motor second gear and with the second gear
Second rack of engagement, the undertaking motor are fixed on third holder, and the adapting table is connect with the second rack.
6. robot palletizer according to claim 5, it is characterised in that：
The adapting table includes the rotation electricity of rotating roller, the third transmission belt of the connection rotating roller and the connection rotating roller
Machine, the rotary electric machine drive the rotating roller rotation.
7. robot palletizer according to claim 1, it is characterised in that：
The lifting body further includes lifting saddle and leading block, and saddle, the liter are lifted described in the mobile axis connection
Drop saddle jacks first pipeline close to one end of the feeding distribution mechanism；
Multiple leading blocks are provided in the first support, multiple leading blocks in same level surround limit
Position portion, the shifting axle run through the limiting section.
8. robot palletizer according to claim 1, it is characterised in that：
Two are both provided with movable sprocket, the servo-actuated chain by the first fixed conveyor sprocket wheel and by the second fixed conveyor sprocket wheel
Wheel be separately positioned in the fixed plate and with respectively with the first fixed conveyor sprocket wheel and the second fixed conveyor sprocket wheel
Homonymy；The described of the first fixed conveyor sprocket wheel and homonymy first is fixed be fixed at walking path with movable sprocket
Chain engages, and the described of the second fixed conveyor sprocket wheel and homonymy second is fixed be fixed at walking path with movable sprocket
Chain engages.
9. robot palletizer according to claim 8, it is characterised in that：
Support plate is additionally provided between two fixed plates, the support plate is used to support first pipeline, the drive
Dynamic device includes motor and speed reducer, and the output end of the motor and the input terminal of the speed reducer coordinate, the speed reducer peace
In the support plate, the drive sprocket is arranged on the output end of the speed reducer.
10. according to claim 1-9 any one of them robot palletizers, it is characterised in that：
The robot palletizer further includes main support, and the main support is used to support first pipeline, and the main support is adjacent
Auxiliary stand is connect, the auxiliary stand includes rack body and at least two groups accessory part；The accessory part includes guide rod, cunning
Moving part and two fixed seats；The guide rod is cylindrical, and two fixed seats, which have, is periodically installed at the rack body
Front side, the guide rod is fixed between two fixed seats and the vertical setting of the guide rod；The sliding part is sleeved on institute
State on guide rod and be limited between two fixed seats, the sliding part and the guide rod be slidably matched and the sliding part with
The guide rod is rotatably assorted；The sliding part includes cylindrical portion and is fixed on two baffle ring portions at cylindrical portion axial direction both ends,
The baffle ring portion is extended radially out along the cylindrical portion other than the circumferential surface of the cylindrical portion, and the sliding part is in the cylindrical portion
Circumferential surface other than and between two baffle ring portions form cooperation position, the main support is located in the cooperation position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721919943.XU CN207903527U (en) | 2017-12-29 | 2017-12-29 | Robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721919943.XU CN207903527U (en) | 2017-12-29 | 2017-12-29 | Robot palletizer |
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| Publication Number | Publication Date |
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| CN207903527U true CN207903527U (en) | 2018-09-25 |
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ID=63565935
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| CN201721919943.XU Active CN207903527U (en) | 2017-12-29 | 2017-12-29 | Robot palletizer |
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| CN (1) | CN207903527U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762492A (en) * | 2020-07-08 | 2020-10-13 | 苏州盟萤电子科技有限公司 | Stacker and three-dimensional warehouse system |
-
2017
- 2017-12-29 CN CN201721919943.XU patent/CN207903527U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762492A (en) * | 2020-07-08 | 2020-10-13 | 苏州盟萤电子科技有限公司 | Stacker and three-dimensional warehouse system |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200603 Address after: Room 901, unit 3, Building 29, No. 8, Shanhuhai Road, Xihu District, Sanzao Town, Jinwan District, Zhuhai City, Guangdong Province Patentee after: Zhuhai pailelai Equipment Co., Ltd Address before: 342400 177 Tongfu Road, Xingjiang County, Ganzhou, Jiangxi Patentee before: Zhong Qinghua |
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| TR01 | Transfer of patent right |