CN104843496B - Carton stacking forming device and method - Google Patents
Carton stacking forming device and method Download PDFInfo
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- CN104843496B CN104843496B CN201510210079.5A CN201510210079A CN104843496B CN 104843496 B CN104843496 B CN 104843496B CN 201510210079 A CN201510210079 A CN 201510210079A CN 104843496 B CN104843496 B CN 104843496B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 206
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 36
- 239000010959 steel Substances 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 238000013519 translation Methods 0.000 claims abstract description 8
- 239000012636 effector Substances 0.000 claims description 22
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 21
- 229910052782 aluminium Inorganic materials 0.000 claims description 21
- 239000004411 aluminium Substances 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 13
- 238000009987 spinning Methods 0.000 claims description 8
- 238000000465 moulding Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 abstract 1
- 229910052799 carbon Inorganic materials 0.000 abstract 1
- 238000009776 industrial production Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 230000014616 translation Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a carton stacking forming device and method and belongs to the technical field of industrial robots. The forming device comprises a rotating box conveying mechanism and a horizontal joint type tri-translation stacking robot; the robot comprises a frame, a vertical driving chain, a horizontal driving chain and a tail end execution mechanism; the vertical driving chain comprises a vertical motion driving device, a vertical motion transmission and a vertical motion mobile platform; the horizontal driving chain comprises a horizontal motion driving device, a horizontal motion driving arm, a horizontal motion auxiliary connecting rod, a horizontal motion driven arm, a horizontal motion connecting rod and a horizontal motion posture protecting rod; the tail end execution mechanism comprises a tail end platform, a square steel frame, a baffle plate, a push plate and a hand grab; the carbon turning conveying mechanism comprises a carton turning device, a carton baffle plate and a transportation support. The carton stacking forming device is high in automation degree and can be widely applied to the industrial production field.
Description
Technical field:
The invention belongs to Industrial Robot Technology field is and in particular to a kind of carton piling shaped device and method.
Background technology:
In the automatic production line of the industries such as light industry, medicine, food and electronics, the operation such as packaging, encapsulation often needs
Want end effector to carry out the mechanical hand of high-speed job in space, realize the quick piling of product.Existing piling molding side
Formula is mainly the packet capturing relying on end effector mechanism and the action of rotation adjustment certain angle, and then puts specified location, real
Now certain piling form, but this kind of mode needs four-degree-of-freedom robot palletizer mostly, except the fortune of vertical and horizontal directions
It is necessary to install a motor on end effector mechanism outside dynamic, realize tilt motions, that is, the rotation of grabbed product
Adjustment angle action, therefore, this piling molding mode both increased the own wt of end effector mechanism, also increases manufacture
Cost.
Content of the invention:
The present invention is directed to technical problem present in existing carton robot palletizer carrying mechanism, provides a kind of carton code
Buttress shaped device and method.
A kind of carton piling shaped device provided by the present invention includes turning case conveying mechanism 5 and flapping articulation type three is flat
Dynamic robot palletizer；Flapping articulation type three translation robot palletizer include frame 1, vertical drive chain 2, horizontal drive chain 3 and
End effector mechanism 4；Vertical drive chain 2 includes vertical movement driving device 13, crossbeam axle 18, sprocket wheel 17, chain 19, vertical fortune
Dynamic moving platform 20, connection sliding block 9, vertical movement counterweight 24 and connection sliding block 9；Described horizontal drive chain includes first level fortune
Dynamic driving means 25, the second horizontal movement driving means 26, first level motion master arm 27, the second horizontal movement master arm
28th, first level motion auxiliary connecting rod 29, the second horizontal movement slave arm 30, first level motion connecting rod 31, the second water
Attitude bar 33 is protected in flat motion connecting rod 32 and horizontal movement；Described frame include supporting pillar 6, steel plate base 8, base counterweight 7,
Litter 10, front protective cover 11 and protective cover plate 12；Described end effector mechanism includes end's platform 42, end adpting flange
48th, square steel frame 49, aluminium section bar frame 51, cylinder 50, pressing plate 53, baffle plate 54, handgrip 55, cylinder block 57, guide rod 46, cylinder Method for Installation
Blue 47, flange bracket 61, push pedal 63, linear bearing seat 64, linear bearing 65 and cylinder rod 60；Described turn case conveying mechanism 5
Including turning case apparatus 68, carton baffle plate 69, transmission support 70, gear case apparatus 71, channel steel cross beam 72, cylinder 66 and carton baffle plate
Adjustable plate 67.
Described vertical drive chain 2 includes vertical movement driving device 13, vertical movement reductor 14, shaft coupling 15, crossbeam
Axle sleeve 16, sprocket wheel 17, crossbeam axle 18, chain 19, vertical movement moving platform 20, nut 21, chain connecting bolt 22, chain connect
Stud 23, vertical movement counterweight 24 and connection sliding block 9；Described sprocket wheel 17 is positioned by the shaft shoulder and is arranged on institute in bonded mode
State on crossbeam axle 18, described chain 19 is arranged on described sprocket wheel 17, one end of described chain 19 is passed through described chain and connected spiral shell
Bolt 22 is connected on described chain connecting stud 23 and is fixed on described vertical movement moving platform 20 by described nut 21, institute
The other end stating chain 19 is connected on described chain connecting stud 23 by described chain connecting bolt 22 and passes through described spiral shell
At female 21 upper end center being fixed on described vertical movement counterweight 24；Described vertical movement moving platform 20 is fixed in described connection and slides
On block 9, described crossbeam axle sleeve 16 is arranged on described crossbeam axle 18；Described crossbeam axle sleeve 16 is passed through in one end of described shaft coupling 15
Position and be arranged on described crossbeam axle 18 in bonded mode, the other end of described shaft coupling 15 is installed in bonded mode
On described vertical movement reductor 14, one end of described crossbeam axle 18 is arranged on described supporting pillar 6 by bearing, described horizontal stroke
The other end of beam axle 18 is arranged on described shaft coupling 15 in bonded mode；Described vertical movement driving device 13 is arranged on institute
Stating on vertical movement reductor 14, thus driving described sprocket wheel 17 to drive described chain 19 to rotate, realizing described vertical movement dynamic
Vertical movement on described litter 10 for the platform 20.
Described horizontal drive chain 3 includes first level kinematic driving unit 25, the second horizontal movement driving means 26, first
Horizontal movement master arm 27, the second horizontal movement master arm 28, first level motion auxiliary connecting rod 29, the second horizontal movement from
Attitude bar 33, first level are protected in swing arm 30, first level motion connecting rod 31, the second horizontal movement connecting rod 32, horizontal movement
Motion motor seat 43, first level deceleration of motion machine 44 and first level motion mounting flange 45；Described first level fortune
Dynamic driving means 25 are arranged on described first level motion motor seat 43, described first level kinematic driving unit 25 with described
First level deceleration of motion machine 44 is connected, and described first level motion motor seat 43 is arranged on described vertical movement moving platform 20
On；Described first level deceleration of motion machine 44 is arranged on described vertical movement moving platform 20, described first level deceleration of motion
Machine 44 is connected with the output shaft of described first level kinematic driving unit 25；Described first level motion mounting flange 45 one end
It is arranged on described first level deceleration of motion machine 44, the other end of described first level motion mounting flange 45 is with bonded
Mode is connected with one end of described first level motion master arm 27；Described second horizontal movement driving means 26 and described the
The connected mode of two horizontal movement master arms 28 and described first level kinematic driving unit 25 and described first level motion master
The connected mode of swing arm 27 is identical；The other end of described first level motion master arm 27 is arranged on the 5th connecting shaft by bearing
38 middle part, the other end of described second horizontal movement master arm 28 is arranged on the bottom of the second connecting shaft 35 by bearing；Institute
State the bottom that first level motion auxiliary connecting rod 29 one end is arranged on the first connecting shaft 34 by bearing, described first level fortune
The other end of dynamic auxiliary connecting rod 29 is arranged on the bottom of the 4th connecting shaft 37 by bearing；First connecting shaft 34 is pacified by bearing
It is contained on described vertical movement moving platform 20；One end of described second horizontal movement slave arm 30 is arranged on second even by bearing
The top of spindle 35；The other end of described second horizontal movement slave arm 30 is arranged under the 3rd connecting shaft 36 by bearing
Portion；Attitude bar 33 triangular shape is protected in described horizontal movement, and described horizontal movement protects three ends of attitude bar 33 by bearing respectively
It is arranged on the top on the top, the top of the 5th connecting shaft 38 and the 6th connecting shaft 39 of the 4th connecting shaft 37；Described first water
One end of flat motion connecting rod 31 is separately mounted to by bearing under top and the 5th connecting shaft 38 of the 3rd connecting shaft 36
Portion, the other end of described first level motion connecting rod 31 is arranged on the bottom of the 8th connecting shaft 41 by bearing；Described second
One end of horizontal movement connecting rod 32 is arranged on the bottom of the 6th connecting shaft 39, described second horizontal movement connecting rod by bearing
32 other end is arranged on the top of the 7th connecting shaft 40 by bearing.
Described end effector mechanism 4 includes end's platform 42, end adpting flange 48, square steel frame 49, aluminium section bar frame 51, gas
Cylinder 50, pressing plate 53, baffle plate 54, handgrip 55, cylinder block 57, guide rod 46, cylinder mounting flange 47, flange bracket 61, push pedal support
62nd, push pedal 63, linear bearing seat 64, linear bearing 65, cylinder rod 60；The top of described end's platform 42 is pacified respectively by bearing
It is contained in the bottom of described 7th connecting shaft 40 and the top of described 8th connecting shaft 41, institute is passed through in the bottom of described end's platform 42
State end adpting flange 48 to be connected with described square steel frame 49, described square steel frame 49 passes through described steelframe contiguous block 58 and described aluminum
Section material frame 51 is connected, and described cylinder 50 is arranged on described cylinder mounting flange 47, and described cylinder mounting flange 47 is arranged on
On described aluminium section bar frame 51；Described guide rod 46 one end is connected with described aluminium section bar frame 51 by described guide rod contiguous block 52, institute
The other end stating guide rod 46 passes through described baffle plate 54 and described linear bearing 65；Described baffle plate 54 is arranged on described aluminium section bar frame
On 51；Described cylinder block 57 is connected with described aluminium section bar frame 51 by described cylinder contiguous block 59；Described cylinder rod 60 is installed
In described cylinder block 57, described cylinder rod 60 is connected with described pressing plate 53 by described pressing plate contiguous block 56；Described straight line
Bearing 65 is arranged in described linear bearing seat 64；Described cylinder mounting flange 47 is arranged in described linear bearing seat 64；Institute
State linear bearing seat 64 to be arranged in described push pedal 63；Described push pedal supports 62 to be fixed in described push pedal 63；Described handgrip 55
It is arranged in described push pedal 63.
Described frame 1 includes supporting pillar 6, steel plate base 8, base counterweight 7, litter 10, front protective cover 11 and protective cover
Plate 12；Described supporting pillar 6 is fixed in described steel plate base 8；Described base counterweight 7 is arranged in described steel plate base 8；Described
Litter 10 is arranged on described supporting pillar 6 by screw attachment；Described front protective cover 11 is fixed on described supporting pillar 6；Described
Protective cover plate 12 is fixed on described supporting pillar 6.
The described case conveying mechanism 5 that turns includes turning case apparatus 68, carton baffle plate 69, transmission support 70, gear case apparatus 71, channel-section steel
Crossbeam 72, cylinder 66 and carton baffle plate adjustable plate 67；Described channel steel cross beam 72 is fixed on described transmission support 70；Described paper
Case baffle plate 69 is fixed on described transmission support 70；Described carton baffle plate adjustable plate 67 is fixed on described carton baffle plate 69；Institute
State and turn case apparatus 68 and include turning case apparatus middle connecting plate 75, turn case apparatus cylinder 76, turn case apparatus guide rod 77, turn case apparatus gas
Cylinder adpting flange 78, turn case apparatus base plate 79, swivel head 73, spinning rollers 74, the axle of described spinning rollers 74 and described rotation
73 affixed, described turn case apparatus cylinder 76 pass through described turn case apparatus cylinder adpting flange 78 be fixed in described in turn in case apparatus
Between on connecting plate 75, the described case apparatus cylinder 76 that turns passes through cylinder rod and stretches to drive described swivel head 73 to move forward and backward, and described turns case
Device middle connecting plate 75 is affixed with the described case apparatus base plate 79 that turns, and the described case apparatus base plate 79 that turns is fixed in transmission support 70
On；Described gear case apparatus 71 include keeping off bottom plate 82, gear case apparatus cylinder 83, gear case apparatus cylinder adpting flange 84, gear case dress
Put cylinder connector 80, gear case apparatus carton baffle plate 81, described gear case apparatus cylinder 83 passes through described gear case apparatus cylinder and connects
Flange 84 is fixed on described gear bottom plate 82, and described gear case apparatus cylinder 83 is arranged on described gear case apparatus cylinder connector
On 80, described gear case apparatus cylinder connector 80 is fixed on described gear case apparatus carton baffle plate 81, and described gear bottom plate 82 is solid
It is connected on transmission support 70.
The forming method of carton piling provided by the present invention is specific as follows:
When the vertical-shaped carton 85 needing rotation is transferred on described cylinder 66, the described case apparatus 68 that turn eject described rotation
Vertical-shaped carton 85 is rotated 90 ° into horizontal shape carton 86 by rotary head 73 and described spinning rollers 74；When the vertical-shaped carton not needing rotation
85 when being transferred on described cylinder 66, keeps constant and is transferred at described carton baffle plate 69；By described end effector mechanism 4 warp
Described vertical drive chain 2 and described horizontal drive chain 3 common action are picked up carton and are moved to specify and pile up neatly Pan Chu, complete carton piling
Molding.
The present invention has a following technical characterstic:
1st, three translation one of the end effector of the present invention moves vertically degree of freedom respectively by different driving side chain drivings；
2nd, drive and adopt servosystem, action is accurate, flexible operation.
3rd, robot mechanism provided by the present invention, to realize three translations of end effector respectively with different driving side chain
One vertical movement, effectively increases the motility of mechanism, simplifies parallel robot mechanism, preferably maintain mechanism simultaneously
Inertia is little, high speed high acceleration, the feature of high position precision and repetitive positioning accuracy.
4th, the present invention makes vertical-shaped carton be rotated into horizontal shape carton by turning case apparatus, it is to avoid install on end effector mechanism
Driving turns case apparatus, reduces cost.
Brief description:
Fig. 1 is apparatus of the present invention structural representation；
Fig. 2 is the rack construction schematic diagram in apparatus of the present invention；
Fig. 3 be in apparatus of the present invention vertical drive chain structure schematic diagram；
Fig. 4 is the partial structural diagram at the chain position in apparatus of the present invention；
Fig. 5 is the partial structural diagram at the vertical movement counterweight position in apparatus of the present invention；
Fig. 6 is the horizontal drive chain structure schematic diagram in apparatus of the present invention；
Fig. 7 is the horizontal movement driving means cross-sectional view in apparatus of the present invention；
Fig. 8 is the end effector mechanism positive structure schematic in apparatus of the present invention；
Fig. 9 is the end effector mechanism structure schematic diagram in apparatus of the present invention；
Figure 10 is the transmission mechanism structural representation in apparatus of the present invention；
Figure 11 is to turn case apparatus structural representation in apparatus of the present invention；
Figure 12 is the gear case apparatus structural representation in apparatus of the present invention；
Figure 13 is the odd-level piling form schematic diagram in apparatus of the present invention；
Figure 14 is the even level piling form schematic diagram in apparatus of the present invention.
In figure: 1: frame, 2: vertical drive chain, 3: horizontal drive chain, 4: end effector mechanism, 5: turn case conveying mechanism,
6: supporting pillar, 7: base counterweight, 8: steel plate base, 9: connection sliding block, 10: litter, 11: front protective cover, 12: protective cover plate, 13:
Vertical movement driving device, 14: vertical movement reductor, 15: shaft coupling, 16: crossbeam axle sleeve, 17: sprocket wheel, 18: crossbeam axle,
19: chain, 20: vertical movement moving platform, 21 nuts, 22: chain connecting bolt, 23: chain connecting stud, 24: vertical movement
Counterweight, 25: first level kinematic driving unit, 26: the second horizontal movement driving means, 27: first level motion master arm,
28: the second horizontal movement master arms, 29: first level motion auxiliary connecting rod, 30: the second horizontal movement slave arms, 31: the first
Horizontal movement connecting rod, 32: the second horizontal movement connecting rods, 33: horizontal movement protect attitude bar, 34: the first connecting shafts, 35: the
Two connecting shafts, 36: the three connecting shafts, 37: the four connecting shafts, 38: the five connecting shafts, 39: the six connecting shafts, 40: the seven connections
Axle, 41: the eight connecting shafts, 42: end's platform, 43: first level motion motor seat, 44: first level deceleration of motion machine, 45:
First level motion mounting flange, 46: guide rod, 47: cylinder mounting flange, 48: end adpting flange, 49: square steel frame, 50:
Cylinder, 51: aluminium section bar frame, 52: guide rod contiguous block, 53: pressing plate, 54: baffle plate, 55: handgrip, 56: pressing plate contiguous block, 57: cylinder
Body, 58: steelframe contiguous block, 59: cylinder contiguous block, 60: cylinder rod, 61: flange bracket, 62: push pedal supports, 63: push pedal, 64:
Linear bearing seat, 65: linear bearing, 66: cylinder, 67: carton baffle plate adjustable plate, 68: turn case apparatus, 69: carton baffle plate, 70:
Transmission support, 71: gear case apparatus, 72: channel steel cross beam, 73: swivel head, 74: spinning rollers, 75: turn case apparatus middle connecting plate,
76: turn case apparatus cylinder, 77: turn case apparatus guide rod, 78: turn case apparatus cylinder adpting flange, 79: turn case apparatus base plate, 80: gear
Case apparatus cylinder connector, 81: gear case apparatus carton baffle plate, 82: gear bottom plate, 83: gear case apparatus cylinder, 84: gear case apparatus
Cylinder adpting flange, 85: vertical-shaped carton, 86: horizontal shape carton.
Specific embodiment:
The invention will be further described below in conjunction with the accompanying drawings:
As shown in figure 1, a kind of carton piling shaped device is including turning case conveying mechanism 5 and flapping articulation type three is flat
Dynamic robot palletizer；Flapping articulation type three translation robot palletizer include frame 1, vertical drive chain 2, horizontal drive chain 3 and
End effector mechanism 4；Vertical drive chain 2 includes vertical movement driving device 13, crossbeam axle 18, sprocket wheel 17, chain 19, vertical fortune
Dynamic moving platform 20, connection sliding block 9, vertical movement counterweight 24 and connection sliding block 9；Described horizontal drive chain includes first level fortune
Dynamic driving means 25, the second horizontal movement driving means 26, first level motion master arm 27, the second horizontal movement master arm
28th, first level motion auxiliary connecting rod 29, the second horizontal movement slave arm 30, first level motion connecting rod 31, the second water
Attitude bar 33 is protected in flat motion connecting rod 32 and horizontal movement；Described frame include supporting pillar 6, steel plate base 8, base counterweight 7,
Litter 10, front protective cover 11 and protective cover plate 12；Described end effector mechanism includes end's platform 42, end adpting flange
48th, square steel frame 49, aluminium section bar frame 51, cylinder 50, pressing plate 53, baffle plate 54, handgrip 55, cylinder block 57, guide rod 46, cylinder Method for Installation
Blue 47, flange bracket 61, push pedal 63, linear bearing seat 64, linear bearing 65 and cylinder rod 60；Described turn case conveying mechanism 5
Including turning case apparatus 68, carton baffle plate 69, transmission support 70, gear case apparatus 71, channel steel cross beam 72, cylinder 66 and carton baffle plate
Adjustable plate 67.
Crossbeam axle 18, first level motion master arm 27 and the second horizontal movement master arm 28 are carried by respective driving means
For power, thus realizing translation and the vertical movement of end effector mechanism 4.
As shown in Fig. 3, Fig. 4, Fig. 5, described vertical drive chain 2 includes vertical movement driving device 13, vertical movement is slowed down
Machine 14, shaft coupling 15, crossbeam axle sleeve 16, sprocket wheel 17, crossbeam axle 18, chain 19, vertical movement moving platform 20, nut 21, chain
Connecting bolt 22, chain connecting stud 23, vertical movement counterweight 24 and connection sliding block 9；Described sprocket wheel 17 is positioned by the shaft shoulder
It is arranged on described crossbeam axle 18 with bonded, described chain 19 is arranged on described sprocket wheel 17, one end of described chain 19 leads to
Cross described chain connecting bolt 22 to be connected on described chain connecting stud 23 and be fixed on by described nut 21 described vertical
On motion moving platform 20, the other end of described chain 19 is connected to described chain connecting stud by described chain connecting bolt 22
It is fixed at described vertical movement counterweight 24 upper end center on 23 and by described nut 21；Described vertical movement moving platform 20
It is fixed on described connection sliding block 9, described crossbeam axle sleeve 16 is arranged on described crossbeam axle 18；Described shaft coupling 15 one end is passed through
Described crossbeam axle sleeve 16 is positioned and is arranged on described crossbeam axle 18 with key, and the other end of described shaft coupling 15 is arranged on bonded
On described vertical movement reductor 14, described crossbeam axle 18 one end is arranged on described supporting pillar 6 by bearing, described crossbeam axle
18 other end is arranged on described shaft coupling 15 with bonded；Described vertical movement driving device 13 is arranged on described vertical fortune
On dynamic reductor 14, thus driving described sprocket wheel 17 to drive described chain 19 to rotate, realizing described vertical movement moving platform 20 and existing
Vertical movement on described litter 10.
As shown in Figure 6, Figure 7, described horizontal drive chain 3 includes first level kinematic driving unit 25, the second horizontal movement
Driving means 26, first level motion master arm 27, the second horizontal movement master arm 28, first level motion auxiliary connecting rod
29th, the second horizontal movement slave arm 30, first level motion connecting rod 31, the second horizontal movement connecting rod 32, horizontal movement are protected
Attitude bar 33, first level motion motor seat 43, first level deceleration of motion machine 44, first level motion mounting flange 45；
Described first level kinematic driving unit 25 is arranged on described first level motion motor seat 43, and described first level motion is driven
Dynamic device 25 is connected with described first level deceleration of motion machine 44, and described first level motion motor seat 43 is arranged on described hanging down
On straight motion moving platform 20；Described first level deceleration of motion machine 44 is arranged on described vertical movement moving platform 20, and described the
One horizontal movement reductor 44 is connected with the output shaft of described first level kinematic driving unit 25；Described first level motion is even
Acting flange disk 45 one end is arranged on described first level deceleration of motion machine 44, described first level motion mounting flange 45
The other end is connected with one end of described first level motion master arm 27 in bonded mode；Described second horizontal movement drives
The connected mode of device 26 and described second horizontal movement master arm 28 and described first level kinematic driving unit 25 with described
The connected mode of first level motion master arm 27 is identical；The other end of described first level motion master arm 27 is pacified by bearing
It is contained in the middle part of described 5th connecting shaft 38, the other end of described second horizontal movement master arm 28 is arranged on described by bearing
The bottom of the second connecting shaft 35；Described first level motion auxiliary connecting rod 29 one end is arranged on described first connection by bearing
The bottom of axle 34, the other end of described first level motion auxiliary connecting rod 29 is arranged on described company the 4th spindle 37 by bearing
Bottom；Described first connecting shaft 34 is arranged on described vertical movement moving platform 20 by bearing；Described second horizontal movement
One end of slave arm 30 is arranged on the top of described second connecting shaft 35 by bearing；Described second horizontal movement slave arm 30
The other end is arranged on the bottom of described 3rd connecting shaft 36 by bearing；Attitude bar 33 triangular shape is protected in described horizontal movement,
Described horizontal movement protect three ends of attitude bar 33 by bearing be separately mounted to described 4th connecting shaft 37 top, the described 5th
The top of connecting shaft 38 and the top of the 6th described connecting shaft 39；Axle is passed through in one end of described first level motion connecting rod 31
Hold the bottom of the top being separately mounted to described 3rd connecting shaft 36 and described 5th connecting shaft 38, described first level motion
The other end of connecting rod 31 is arranged on the bottom of described 8th connecting shaft 41 by bearing；Described second horizontal movement connecting rod 32
One end be arranged on the bottom of described 6th connecting shaft 39 by bearing, the other end of described second horizontal movement connecting rod 32 leads to
Cross the top that bearing is arranged on described 7th connecting shaft 40.
As shown in Figure 8, Figure 9, described end effector mechanism 4 includes end's platform 42, end adpting flange 48, square steel frame
49th, aluminium section bar frame 51, cylinder 50, pressing plate 53, baffle plate 54, handgrip 55, cylinder block 57, guide rod 46, cylinder mounting flange 47, support
Flange 61, push pedal support 62, push pedal 63, linear bearing seat 64, linear bearing 65, cylinder rod 60；Described end's platform 42 upper
Portion is separately mounted to the bottom of described 7th connecting shaft 40 and the top of described 8th connecting shaft 41 by bearing, and described end is put down
The bottom of platform 42 is connected with described square steel frame 49 by described end adpting flange 48, and described square steel frame 49 passes through described steelframe
Contiguous block 58 is connected with described aluminium section bar frame 51, and described cylinder 50 is arranged on described cylinder mounting flange 47, described cylinder
Mounting flange 47 is arranged on described aluminium section bar frame 51；Described guide rod 46 one end is by described guide rod contiguous block 52 and described aluminium profiles
Material frame 51 is connected, and the other end of described guide rod 46 passes through described baffle plate 54 and described linear bearing 65；Described baffle plate 54 is pacified
It is contained on described aluminium section bar frame 51；Described cylinder block 57 is connected with described aluminium section bar frame 51 by described cylinder contiguous block 59；
Described cylinder rod 60 is arranged in described cylinder block 57, and described cylinder rod 60 passes through described pressing plate contiguous block 56 and described pressing plate 53
It is connected；Described linear bearing 65 is arranged in described linear bearing seat 64；Described cylinder mounting flange 47 is arranged on described straight
In bobbin bearing 64；Described linear bearing seat 64 is arranged in described push pedal 63；Described push pedal supports 62 to be fixed in described push pedal
On 63；Described handgrip 55 is arranged in described push pedal 63.
As shown in Fig. 2 described frame 1 includes supporting pillar 6, steel plate base 8, base counterweight 7, litter 10, front protective cover 11
And protective cover plate 12；Described supporting pillar 6 is fixed in described steel plate base 8；Described base counterweight 7 is arranged on described steel plate bottom
On seat 8；Described litter 10 is arranged on described supporting pillar 6 by screw attachment；Described front protective cover 11 is fixed in described support
On post 6；Described protective cover plate 12 is fixed on described supporting pillar 6.
As shown in Figure 10, Figure 11, Figure 12, the described case conveying mechanism 5 that turns includes turning case apparatus 68, carton baffle plate 69, transmission
Support 70, gear case apparatus 71, channel steel cross beam 72, cylinder 66 and carton baffle plate adjustable plate 67；Described channel steel cross beam 72 is fixed in
On described transmission support 70；Described carton baffle plate 69 is fixed on described transmission support 70；Described carton baffle plate adjustable plate 67 is solid
It is connected on described carton baffle plate 69；The described case apparatus 68 that turn include turning case apparatus middle connecting plate 75, turn case apparatus cylinder 76, turn
Case apparatus guide rod 77, turn case apparatus cylinder adpting flange 78, turn case apparatus base plate 79, swivel head 73, spinning rollers 74, described rotation
The axle of rotating roller 74 is affixed with described swivel head 73, and the described case apparatus cylinder 76 that turns turns case apparatus cylinder adpting flange by described
78 be fixed in described in turn on case apparatus middle connecting plate 75, described turn case apparatus cylinder 76 pass through cylinder rod stretch drive described rotation
73 move forward and backward, and the described case apparatus middle connecting plate 75 that turns is affixed with the described case apparatus base plate 79 that turns, and described turn case apparatus bottom
Plate 79 is fixed on transmission support 70；Described gear case apparatus 71 include keeping off bottom plate 82, gear case apparatus cylinder 83, gear case apparatus gas
Cylinder adpting flange 84, gear case apparatus cylinder connector 80, gear case apparatus carton baffle plate 81, described gear case apparatus cylinder 83 passes through institute
State gear case apparatus cylinder adpting flange 84 to be fixed on described gear bottom plate 82, described gear case apparatus cylinder 83 is arranged on described
On gear case apparatus cylinder connector 80, described gear case apparatus cylinder connector 80 is fixed in described gear case apparatus carton baffle plate 81
On, described gear bottom plate 82 is fixed on transmission support 70.
As shown in Figure 13, Figure 14, the forming method of carton piling provided by the present invention is specific as follows:
When the vertical-shaped carton 85 needing rotation is transferred on described cylinder 66, the described case apparatus 68 that turn eject described rotation
Vertical-shaped carton 85 is rotated 90 ° into horizontal shape carton 86 by rotary head 73 and described spinning rollers 74；When the vertical-shaped carton not needing rotation
85 when being transferred on described cylinder 66, keeps constant and is transferred at described carton baffle plate 69；By described end effector mechanism 4 warp
Described vertical drive chain 2 and described horizontal drive chain 3 common action are picked up carton and are moved to specify and pile up neatly Pan Chu, complete carton piling
Molding.Its odd-level piling form such as Figure 13, even level piling form is as shown in figure 14.
Vertical movement driving device 13 in the present invention, first level kinematic driving unit 25 and the second horizontal movement are driven
Dynamic device 26 is all using AC servo drive system.
Below schematically the present invention and embodiments thereof are described, this description does not have restricted, institute in accompanying drawing
Show is also one of embodiments of the present invention, and actual structure is not limited thereto.So, if the common skill of this area
Art personnel enlightened by it, in the case of without departing from the invention objective, designs and this technical scheme without creative
Similar frame mode and embodiment, all should belong to protection scope of the present invention.
Claims (5)
1. a kind of carton piling shaped device is it is characterised in that this shaped device includes turning case conveying mechanism (5) and level is closed
Nodal pattern three translation robot palletizer；Described flapping articulation type three translation robot palletizer include frame (1), vertical drive chain (2),
Horizontal drive chain (3) and end effector mechanism (4)；Described vertical drive chain (2) includes vertical movement driving device (13), horizontal stroke
Beam axle (18), sprocket wheel (17), chain (19), vertical movement moving platform (20), vertical movement counterweight (24) and connection sliding block
(9)；Described frame includes supporting pillar (6), steel plate base (8), base counterweight (7), litter (10), front protective cover (11) and prevents
Protecting cover plate (12)；The described case conveying mechanism (5) that turns includes turning case apparatus (68), carton baffle plate (69), transmission support (70), gear case
Device (71), channel steel cross beam (72), cylinder (66) and carton baffle plate adjustable plate (67)；Described horizontal drive chain (3) includes the
One horizontal movement driving means (25), the second horizontal movement driving means (26), first level motion master arm (27), the second water
Flat motion master arm (28), first level motion auxiliary connecting rod (29), the second horizontal movement slave arm (30), first level fortune
Be dynamically connected bar (31), the second horizontal movement connecting rod (32), horizontal movement guarantor's attitude bar (33), first level motion motor seat
(43), first level deceleration of motion machine (44) and first level motion mounting flange (45)；Described first level motion is driven
Dynamic device (25) is arranged on described first level motion motor seat (43), described first level kinematic driving unit (25) and institute
State first level deceleration of motion machine (44) to be connected, it is dynamic that described first level motion motor seat (43) is arranged on described vertical movement
On platform (20)；Described first level deceleration of motion machine (44) is arranged on described vertical movement moving platform (20), and described first
Horizontal movement reductor (44) is connected with the output shaft of described first level kinematic driving unit (25)；Described first level motion
Mounting flange (45) one end is arranged on described first level deceleration of motion machine (44), described first level motion adpting flange
The other end of disk (45) is connected with one end of described first level motion master arm (27) in bonded mode；Described second water
Flat kinematic driving unit (26) is driven with the connected mode of described second horizontal movement master arm (28) and the motion of described first level
Dynamic device (25) is identical with the connected mode of described first level motion master arm (27)；Described first level motion master arm
(27) the other end is arranged on the middle part of the 5th connecting shaft (38) by bearing, described second horizontal movement master arm (28) another
One end is arranged on the bottom of the second connecting shaft (35) by bearing；Described first level motion auxiliary connecting rod (29) one end is passed through
Bearing is arranged on the bottom of the first connecting shaft (34), and the other end of described first level motion auxiliary connecting rod (29) passes through bearing
It is arranged on the bottom of the 4th connecting shaft (37)；Described first connecting shaft (34) is arranged on described vertical movement moving platform by bearing
(20) on；One end of described second horizontal movement slave arm (30) is arranged on the upper of described second connecting shaft (35) by bearing
Portion；The other end of described second horizontal movement slave arm (30) is arranged on the bottom of the 3rd connecting shaft (36) by bearing；Described
Attitude bar (33) triangular shape is protected in horizontal movement, and three ends that attitude bar (33) is protected in described horizontal movement are respectively mounted by bearing
Top on the top, the top of described 5th connecting shaft (38) and the 6th connecting shaft (39) of described 4th connecting shaft (37)；
One end of described first level motion connecting rod (31) by bearing be separately mounted to the top of described 3rd connecting shaft (36) with
And the bottom of described 5th connecting shaft (38), the other end of described first level motion connecting rod (31) is arranged on by bearing
The bottom of eight connecting shafts (41)；One end of described second horizontal movement connecting rod (32) is arranged on the 6th connecting shaft by bearing
(39) bottom, the other end of described second horizontal movement connecting rod (32) is arranged on the upper of the 7th connecting shaft (40) by bearing
Portion；Described end effector mechanism (4) includes end's platform (42), end adpting flange (48), square steel frame (49), aluminium section bar frame
(51), cylinder (50), pressing plate (53), baffle plate (54), handgrip (55), cylinder block (57), guide rod (46), cylinder mounting flange
(47), flange bracket (61), push pedal support (62), push pedal (63), linear bearing seat (64), linear bearing (65) and cylinder rod
(60)；The top of described end's platform (42) is separately mounted to the bottom and described of described 7th connecting shaft (40) by bearing
The top of eight connecting shafts (41), described end adpting flange (48) and described square steel frame are passed through in the bottom of described end's platform (42)
(49) it is connected, described square steel frame (49) is connected with described aluminium section bar frame (51) by steelframe contiguous block (58), described cylinder
(50) it is arranged on described cylinder mounting flange (47), described cylinder mounting flange (47) is arranged on described aluminium section bar frame (51)
On；Described guide rod (46) one end is connected with described aluminium section bar frame (51) by guide rod contiguous block (52), described guide rod (46)
The other end passes through described baffle plate (54) and described linear bearing (65)；Described baffle plate (54) is arranged on described aluminium section bar frame (51)
On；Described cylinder block (57) is connected with described aluminium section bar frame (51) by cylinder contiguous block (59)；Described cylinder rod (60) peace
It is contained in described cylinder block (57), described cylinder rod (60) is connected with described pressing plate (53) by pressing plate contiguous block (56)；Institute
Stating linear bearing (65), to be arranged on described linear bearing seat (64) inner；Described cylinder mounting flange (47) is arranged on described linear axis
In bearing (64)；Described linear bearing seat (64) is arranged in described push pedal (63)；It is described that described push pedal supports (62) to be fixed in
In push pedal (63)；Described handgrip (55) is arranged in described push pedal (63).
2. a kind of carton piling shaped device according to claim 1 is it is characterised in that described vertical drive chain (2) includes
Vertical movement driving device (13), vertical movement reductor (14), shaft coupling (15), crossbeam axle sleeve (16), sprocket wheel (17), crossbeam
Axle (18), chain (19), vertical movement moving platform (20), nut (21), chain connecting bolt (22), chain connecting stud
(23), vertical movement counterweight (24) and connection sliding block (9)；Described sprocket wheel (17) is positioned by the shaft shoulder is installed in bonded mode
On described crossbeam axle (18), described chain (19) is arranged on described sprocket wheel (17), and institute is passed through in one end of described chain (19)
State chain connecting bolt (22) to be connected to described chain connecting stud (23) above and be fixed on by described nut (21) described vertical
On straight motion moving platform (20), the other end of described chain (19) is connected to described chain by described chain connecting bolt (22)
Connecting stud (23) is upper and is fixed at the upper end center of described vertical movement counterweight (24) by described nut (21)；Described vertical
Straight motion moving platform (20) is fixed on described connection sliding block (9), and described crossbeam axle sleeve (16) is arranged on described crossbeam axle (18)
On；One end of described shaft coupling (15) is positioned by described crossbeam axle sleeve (16) and is arranged on described crossbeam axle in bonded mode
(18), on, the other end of described shaft coupling (15) is arranged on described vertical movement reductor (14) in bonded mode, described
One end of crossbeam axle (18) is arranged on described supporting pillar (6) by bearing, and the other end of described crossbeam axle (18) is with bonded
Mode is arranged on described shaft coupling (15)；Described vertical movement driving device (13) is arranged on described vertical movement reductor
(14), on, thus driving described sprocket wheel (17) to drive described chain (19) to rotate, realizing described vertical movement moving platform (20) and existing
Vertical movement on described litter (10).
3. a kind of carton piling shaped device according to claim 1 is it is characterised in that described frame (1) includes supporting pillar
(6), steel plate base (8), base counterweight (7), litter (10), front protective cover (11) and protective cover plate (12)；Described supporting pillar
(6) it is fixed in described steel plate base (8)；Described base counterweight (7) is arranged in described steel plate base (8)；Described litter
(10) it is arranged on described supporting pillar (6) by screw attachment；Described front protective cover (11) is fixed on described supporting pillar (6)；
Described protective cover plate (12) is fixed on described supporting pillar (6).
4. a kind of carton piling shaped device according to claim 1 is it is characterised in that described turn case conveying mechanism (5) bag
Include turn case apparatus (68), carton baffle plate (69), transmission support (70), gear case apparatus (71), channel steel cross beam (72), cylinder (66) with
And carton baffle plate adjustable plate (67)；Described channel steel cross beam (72) is fixed on described transmission support (70)；Described carton baffle plate
(69) it is fixed on described transmission support (70)；Described carton baffle plate adjustable plate (67) is fixed on described carton baffle plate (69)；
Described turn case apparatus (68) include turn case apparatus middle connecting plate (75), turn case apparatus cylinder (76), turn case apparatus guide rod (77),
Turn case apparatus cylinder adpting flange (78), turn case apparatus base plate (79), swivel head (73), spinning rollers (74), described rotation rolling
The axle of sub (74) is affixed with described swivel head (73), and the described case apparatus cylinder (76) that turns turns case apparatus cylinder connection method by described
Blue (78) turn on case apparatus middle connecting plate (75) described in being fixed in, and the described case apparatus cylinder (76) that turns passes through the flexible drive of cylinder rod
Described swivel head (73) moves forward and backward, and the described case apparatus middle connecting plate (75) that turns is affixed with the described case apparatus base plate (79) that turns,
The described case apparatus base plate (79) that turns is fixed in transmission support (70)；Described gear case apparatus (71) includes gear bottom plate (82), gear
Case apparatus cylinder (83), gear case apparatus cylinder adpting flange (84), gear case apparatus cylinder connector (80), gear case apparatus carton gear
Plate (81), described gear case apparatus cylinder (83) is fixed in described gear bottom by described gear case apparatus cylinder adpting flange (84)
On plate (82), described gear case apparatus cylinder (83) is arranged on described gear case apparatus cylinder connector (80), described gear case apparatus
Cylinder connector (80) is fixed on described gear case apparatus carton baffle plate (81), and described gear bottom plate (82) is fixed in transmission support
(70) on.
5. shaped device described in claim 4 is used for the forming method of carton piling it is characterised in that described forming method is concrete
As follows:
When the vertical-shaped carton (85) needing rotation be transferred to described cylinder (66) upper when, described turn case apparatus (68) eject described
Vertical-shaped carton (85) is rotated 90 ° into horizontal shape carton (86) by swivel head (73) and described spinning rollers (74)；When do not need rotate
Vertical-shaped carton (85) be transferred to described cylinder (66) upper when, keep constant and be transferred to described carton baffle plate (69) place；By institute
State end effector mechanism (4) to pick up carton and move to through described vertical drive chain (2) and described horizontal drive chain (3) common action
Specify buttress Pan Chu, complete the molding of carton piling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510210079.5A CN104843496B (en) | 2015-04-28 | 2015-04-28 | Carton stacking forming device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510210079.5A CN104843496B (en) | 2015-04-28 | 2015-04-28 | Carton stacking forming device and method |
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| Publication Number | Publication Date |
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| CN104843496A CN104843496A (en) | 2015-08-19 |
| CN104843496B true CN104843496B (en) | 2017-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510210079.5A Active CN104843496B (en) | 2015-04-28 | 2015-04-28 | Carton stacking forming device and method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106945010A (en) * | 2017-03-10 | 2017-07-14 | 苏州市汉诺威升降台有限公司 | A kind of packet capturing manipulator |
| CN108045650B (en) * | 2018-01-18 | 2024-05-28 | 青岛科技大学 | Automatic positioning and conveying device for packaging boxes |
| CN108516355B (en) * | 2018-05-29 | 2024-08-23 | 泸州品创科技有限公司 | High-efficient intelligent making wine starter cake system of tearing open a yard |
| CN108861632A (en) * | 2018-08-08 | 2018-11-23 | 沈志刚 | Stacking assembly line |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU757441A1 (en) * | 1977-11-21 | 1980-08-23 | Sp Pk T B Khim Neftyanogo Mash | Stacking-grane load lifting platform |
| KR100977719B1 (en) * | 2008-10-09 | 2010-08-24 | 세계정밀 주식회사 | Lading Machine |
| CN101920851A (en) * | 2010-09-07 | 2010-12-22 | 广州市万世德包装机械有限公司 | Single-arm stacker crane |
| CN203173512U (en) * | 2013-03-04 | 2013-09-04 | 广州达意隆包装机械股份有限公司 | Stacking robot |
| CN203158308U (en) * | 2013-04-01 | 2013-08-28 | 安徽工业大学 | Carton inputting and shaping device |
| CN103523260B (en) * | 2013-10-21 | 2015-07-15 | 安徽工业大学 | Laundry detergent collecting and boxing device |
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