CN105382830B - spindle robot palletizer - Google Patents
spindle robot palletizer Download PDFInfo
- Publication number
- CN105382830B CN105382830B CN201510884570.6A CN201510884570A CN105382830B CN 105382830 B CN105382830 B CN 105382830B CN 201510884570 A CN201510884570 A CN 201510884570A CN 105382830 B CN105382830 B CN 105382830B
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- Prior art keywords
- axis module
- axis
- track
- fixed
- rotating device
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of spindle robot palletizer, including X-axis track, is slidably fitted with supporting plate in the X-axis track, drive device is connected with the supporting plate, and under the driving of drive device, the supporting plate moves along X-axis track X-direction；Vertical Z axis module is fixed with the supporting plate, cantilever is installed on the Z axis module, under the drive of Z axis module, the cantilever moves up and down；Y-axis module is fixed with the cantilever, vertical hanging plate is installed on Y-axis module, under the drive of Y-axis module, the hanging plate moves along Y-axis module Y-direction；The rotating device with output shaft is fixed with hanging plate, the output shaft centre line of the rotating device is parallel with X-axis, and handgrip is fixed with the output shaft of rotating device, and under the drive of rotating device, the handgrip is in the rotation with surface vertical with X-axis.So as to provide a kind of spindle robot palletizer simple in construction, full-automatic, easy to use.
Description
Technical field
The invention belongs to textile manufacturing equipment technical field, specifically, more particularly to a kind of spindle robot palletizer.
Background technology
At present, in textile manufacturing, the single cylinder sand of output after the completion of bobbin-winding machine spinning, the stacking of cylinder sand needs to rely on people
Work or other equipment are completed.If manually carried completely, not only cost is high, efficiency is low, and is easily destroyed a sand
Winding it is complete, and the working environment of spinning workshop is severe, extremely disadvantageous in health.Also there are some enterprise developments various
The gripper robot system of various kinds, to substitute the manual operation of part, but exist and be unable to full automation, there is still a need for people
Work auxiliary operation, and it is complicated, production cost is high the problem of.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of full-automatic, easy to use spindle robot palletizer.
Technical scheme is as follows：A kind of spindle robot palletizer, including X-axis track are sliding in the X-axis track
It is dynamic that supporting plate is installed, drive device is connected with the supporting plate, under the driving of drive device, the supporting plate is along X
Axle track does the movement of X-direction；Vertical Z axis module is fixed with the supporting plate, is provided with the Z axis module outstanding
Arm, under the drive of Z axis module, the cantilever moves up and down；Y-axis module is fixed with the cantilever, in the Y-axis module
On vertical hanging plate is installed, under the drive of Y-axis module, the hanging plate moves along Y-axis module Y-direction；In the extension
The rotating device with output shaft is fixed with plate, the output shaft centre line of the rotating device is parallel with X-axis, in the rotating dress
Handgrip is fixed with the output shaft put, under the drive of rotating device, the handgrip is in the rotation with surface vertical with X-axis.
The present invention passes through rotating device by building support body by X-axis track, Z axis module and Y-axis module on Y-axis module
Handgrip is installed, so that the position of handgrip can adjust along X-axis, Y-axis and Z axis, and handgrip can be adjusted by rotating device
Angle, in actual use, supporting plate is moved to along X-axis track beside the bobbin-winding machine that spinning completes, by Z axis module and
Hanging plate is moved to suitable position by Y-axis module, and rotating device control handgrip, which is horizontal, stretches into the interior general of central tube of spindle
Spindle is picked up, then handgrip is turned into vertical state by rotating device, so as to carry out stacking to spindle.So whole process is complete
Automatically, it is not necessary to human assistance, it is very easy to use；And the structure of equipment is simple, installation, maintenance are all more convenient.
Suspended below in the Y-axis module has sucker group.Sucker group is so set, it has been put in each layer of spindle
Afterwards, dividing plate can be placed on this layer of spindle by sucker group, be convenient for the discharge of next layer of spindle.
The sucker group includes the sucker of four matrix distributions, and two " Jiong " shapes have been mounted side by side on the Y-axis module
Suspension, a wherein side lever for each suspension is fixedly linked with Y-axis module, and the hanging plate, rotating device and handgrip are equal
Between another side lever of suspension and the corresponding side surface of Y-axis module, the sucker is fixed on the lower end of each side lever of suspension.
The mounting structure of sucker is simple, and efficiently avoid movement of the sucker interference handgrip on Y-axis module.
The rotating device is made up of rotary cylinder.The structure of rotating device is simple, and cost is low.
The strip pawl that the handgrip includes three-jaw jaw and is fixed on each finger of three-jaw jaw refers to, three pawls
All sides of finger are located on same circular conical surface.The structure of jaw is simple, is easy to capture the spindle of tubular.
The X-axis track includes two row bottom plates, and each row bottom plate is all uniformly at intervals, logical on each bottom plate
Cross screw and leveling board is installed, be equipped with aluminium section bar on each row leveling board, rail is respectively fixed with each column aluminium section bar
Road, the section of the track is L-shaped, and two row tracks are provided with groove on the horizontal segment of a row track wherein backwards to arranging,
Two relative row's rollers are installed below the supporting plate, the roller is often arranged and is located on the horizontal segment of respective carter.Track
Structure it is simple, arrangement is convenient.The section of track is arranged to " L " shape, also, is only opened up wherein on the horizontal segment of a row track
Groove, so that another row do not have the roller on reeded track to float, the roller on the track not only can be in transverse direction
And vertical floating, and roller can rotate in the track, it is allowed to a range of differential seat angle, so, roller
Float it is automatic to installation accuracy is compensated, avoid long range track installation precision it is inadequate caused by the depth of parallelism it is low, operation
Instability problem, make the laying of track simpler.
The drive device connected in the supporting plate includes motor, and gear is connected with the output shaft of the motor, described
Gear is located at the lower section of supporting plate, and the center line of gear is vertically arranged, and is fixed with the X-axis track along X-direction
The rack of arrangement, the wheel and rack engagement.The driving of supporting plate and drive mechanism are simple.
The Z axis module and Y-axis module are belt wheel and drive belt configuration, in the master of Z axis module and Y-axis module transmission belt
Motor is respectively connected with movable belt pulley, the cantilever and hanging plate are separately fixed on the transmission belt of Z axis module and Y-axis module.Z axis mould
Group and the structure of Y-axis module are simple.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is Fig. 1 stereogram.
Fig. 3 is the structural representation of track.
Fig. 4 is the structural representation of Y-axis module.
Fig. 5 is the mounting structure schematic diagram of handgrip.
Fig. 6 is Fig. 5 A-A sectional views.
Marked in figure as follows：X-axis track 1, bottom plate 111, leveling board 112, aluminium section bar 113, track 114, supporting plate 2, Z axis
Module 3, cantilever 4, Y-axis module 5, sucker 6, suspension 7, rotating device 8, handgrip 9, three-jaw jaw 911, pawl refer to 912, hanging plate 10,
Roller 11, gear 12 and spindle 13.
Embodiment
It is exemplary to describe embodiment below with reference to accompanying drawing, it is intended to the present invention is explained, and it is not intended that to this
The limitation of invention.Embodiments of the invention are described below in detail, described embodiment example is shown in the drawings, wherein from beginning extremely
Same or similar element is represented with same or similar label eventually or there is the element of same or like function.The present invention's
, it is necessary to illustrate in description, for the noun of locality, if any term " " center ", " transverse direction ", " longitudinal direction ", " length ", " width ", " thickness
Degree ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " clockwise ",
Indicating positions such as " counterclockwise " and position relationship are based on orientation shown in the drawings or position relationship, are for only for ease of narration originally
Invent and simplify description, rather than the device or element of instruction or hint meaning there must be specific orientation, with particular orientation
Construction and operation, the specific protection domain that should not be construed as limiting the invention.In addition, only used if any term " first ", " second "
In description purpose, and it is not intended that instruction or hint relative importance or the implicit quantity for indicating technical characteristic.
In the present invention, except as otherwise clear stipulaties and restriction, if any term " assembling ", " connected ", " connection ", " fixation " etc.
Term should be gone to understand as broad sense, for example, it may be being fixedly connected or being detachably connected, or is integrally connected；Can also
It is mechanical connection or electrical connection；Can be joined directly together or be connected by intermediary, can be two
Element internal is connected.For those of ordinary skills, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
Below in conjunction with the accompanying drawings, by being further described to the embodiment of the present invention, the technology of the present invention is made
Scheme and its advantage are clearer, clear and definite.
As depicted in figs. 1 and 2, the present invention includes X-axis track 1, and supporting plate 2 is slidably fitted with the X-axis track 1.
The X-axis track 1 includes the bottom plate 111 that two row side by side are arranged along X-direction, and each row bottom plate 111 is all spaced
Cloth.Leveling board 112 is provided with by screw on each bottom plate 111, make on leveling board 112 set screw position with
The distance between bottom plate 111 can be adjusted by screw, be easy to carry out leveling to leveling board 112.In each row leveling board
Aluminium section bar 113 is equipped with 112, track 114 is respectively fixed with each column aluminium section bar 113.The section of the track 114 is in
" L " shape, two row tracks 114 are provided with groove on the horizontal segment of a row track 114 wherein backwards to arranging.In the supporting plate 2
Lower section is provided with two relative row's rollers 11, often arranges the roller 11 and is located on the horizontal segment of respective carter 114.
As depicted in figs. 1 and 2, drive device is connected with the supporting plate 2, it is described under the driving of drive device
Supporting plate 2 moves along the X-direction of X-axis track 1.The drive device connected in the supporting plate 2 includes motor, the motor
Gear 12 is connected with output shaft, the gear 12 is located at the lower section of supporting plate 2, and the center line of gear 12 is vertically arranged.
The rack arranged along X-direction is fixed with the X-axis track 1, the gear 12 engages with rack.
As depicted in figs. 1 and 2, vertical Z axis module 3 is fixed with the supporting plate 2, is pacified on the Z axis module 3
Equipped with cantilever 4, under the drive of Z axis module 3, the cantilever 4 moves up and down.The Z axis module 3 is belt wheel and transmission belt knot
Structure, motor being connected with the driving pulley of the transmission belt of Z axis module 3, the cantilever 4 is fixed on the transmission belt of Z axis module 3,
Cantilever 4 is set to be moved up and down with the transmission belt of Z axis module 3.
As shown in Figure 1, Figure 2 and Figure 4, Y-axis module 5 is fixed with the cantilever 4, is provided with the Y-axis module 5
Vertical hanging plate 10, under the drive of Y-axis module 5, the hanging plate 10 moves along the Y-direction of Y-axis module 5.The Y-axis module
5 be also belt wheel and drive belt configuration, motor is also connected with the driving pulley of the transmission belt of Y-axis module 5, the hanging plate 10 is fixed
On the transmission belt of Y-axis module 5, allow transmission belt transverse shifting of the hanging plate 10 with Y-axis module 5.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5 and Fig. 6, the rotating device 8 with output shaft, institute are fixed with the hanging plate 10
State rotating device 8 to be made up of the rotary cylinder of standard, the output shaft centre line of the rotating device 8 is parallel with X-axis.In the rotation
Handgrip 9 is fixed with the output shaft of rotary device 8, under the drive of rotating device 8, the handgrip 9 is in the plane vertical with X-axis
Rotate.The strip pawl that the handgrip 9 includes three-jaw jaw 911 and is fixed on 911 each finger of three-jaw jaw refers to 912, three
All sides that the individual pawl refers to 912 are located on same circular conical surface.In the presence of three-jaw jaw 911, three pawls refer to 912 phases
Mutually draw close or be located remotely from each other.
As shown in Figure 1, Figure 2 and Figure 4, there is sucker group in the suspended below of the Y-axis module 5, the sucker group includes four
The sucker 6 of individual matrix distribution, the suspension 7 of two " Jiong " shapes is mounted side by side on the Y-axis module 5, each suspension 7
Wherein a side lever is fixedly linked with Y-axis module 5, and the hanging plate 10, rotating device 8 and handgrip 9 are respectively positioned on another of suspension 7
Between the corresponding side surface of side lever and Y-axis module 5, the sucker 6 is fixed on the lower end of 7 each side lever of suspension.
The operation principle of the present invention is as follows：
Several bobbin-winding machines are lined up to a row parallel with X-axis track 1, when one of bobbin-winding machine, which spins, to be completed, winder
Spindle 13 is placed on bracket by the auxiliary conveying appliance of machine itself in the state of droping to the ground, in X-axis track, Z axis module and Y-axis module
Under effect, handgrip 9 is moved to beside the bobbin-winding machine, is controlled the pawl of handgrip 9 to refer to 912 and be horizontal by rotating device 8 and is stretched into
In the central tube of spindle 13, the flatulence of three-jaw jaw 911 makes pawl refer to 912 by the clamping of spindle 13, then handgrip 9 is moved to and puts spindle
On 13 dividing plate, and rotating handgrip 9 makes spindle 13 vertically be placed on dividing plate.
After the spindle 13 on dividing plate occupies, the standby dividing plate of one side is placed on by the sucker 6 on Y-axis module and set
Spindle 13 on, you can carry out putting for next layer of spindle 13, be finally completed the stacking of spindle 13.
Claims (6)
- A kind of 1. spindle robot palletizer, it is characterised in that：Including X-axis track, support is slidably fitted with the X-axis track Plate, drive device is connected with the supporting plate, under the driving of drive device, the supporting plate does X-direction along X-axis track Movement；Vertical Z axis module is fixed with the supporting plate, cantilever is installed on the Z axis module, in Z axis module Drive under, the cantilever moves up and down；Y-axis module is fixed with the cantilever, is provided with the Y-axis module vertical Hanging plate, under the drive of Y-axis module, the hanging plate moves along Y-axis module Y-direction；Band is fixed with the hanging plate The rotating device of output shaft, the output shaft centre line of the rotating device is parallel with X-axis, on the output shaft of the rotating device Handgrip is fixed with, under the drive of rotating device, the handgrip is in the rotation with surface vertical with X-axis；The handgrip includes three Pawl jaw and the strip pawl being fixed on each finger of three-jaw jaw refer to, and all sides that three pawls refer to are located at same circular cone On face；The X-axis track includes two row bottom plates, and each row bottom plate all uniformly at intervals, passes through spiral shell on each bottom plate Nail is provided with leveling board, is equipped with aluminium section bar on each row leveling board, track, institute are respectively fixed with each column aluminium section bar It is L-shaped to state the section of track, two row tracks are provided with groove, described on the horizontal segment of a row track wherein backwards to arranging Two relative row's rollers are installed below supporting plate, the roller is often arranged and is located on the horizontal segment of respective carter.
- 2. spindle robot palletizer according to claim 1, it is characterised in that：Have in the suspended below of Y-axis module Sucker group.
- 3. spindle robot palletizer according to claim 2, it is characterised in that：The sucker group includes four matrix distributions Sucker, be mounted side by side the suspension of two " Jiong " shapes on the Y-axis module, a wherein side lever for each suspension with Y-axis module is fixedly linked, and another side lever that the hanging plate, rotating device and handgrip are respectively positioned on suspension is corresponding with Y-axis module Between side, the sucker is fixed on the lower end of each side lever of suspension.
- 4. according to the spindle robot palletizer described in claim 1 or 2 or 3, it is characterised in that：The rotating device is by rotary pneumatic Cylinder is formed.
- 5. spindle robot palletizer according to claim 4, it is characterised in that：The drive device connected in the supporting plate Including motor, gear is connected with the output shaft of the motor, the gear is located at the lower section of supporting plate, and the center of gear Line is vertically arranged, and the rack arranged along X-direction, the wheel and rack engagement are fixed with the X-axis track.
- 6. spindle robot palletizer according to claim 5, it is characterised in that：The Z axis module and Y-axis module are band Wheel and drive belt configuration, are respectively connected with motor, the cantilever and extension on the driving pulley of Z axis module and Y-axis module transmission belt Plate is separately fixed on the transmission belt of Z axis module and Y-axis module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510884570.6A CN105382830B (en) | 2015-12-03 | 2015-12-03 | spindle robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510884570.6A CN105382830B (en) | 2015-12-03 | 2015-12-03 | spindle robot palletizer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105382830A CN105382830A (en) | 2016-03-09 |
| CN105382830B true CN105382830B (en) | 2018-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510884570.6A Active CN105382830B (en) | 2015-12-03 | 2015-12-03 | spindle robot palletizer |
Country Status (1)
| Country | Link |
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| CN (1) | CN105382830B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108356795A (en) * | 2018-01-04 | 2018-08-03 | 昆山天卓贸易有限公司 | A kind of robot palletizer with movable heat dissipation pedestal |
| CN107941378A (en) * | 2018-01-15 | 2018-04-20 | 山东大学 | A kind of refrigerator carriage system for detecting temperature and method of work |
| CN108584451A (en) * | 2018-04-28 | 2018-09-28 | 杭州亚恩自动化科技有限公司 | Multistation stacking machine |
| CN108714888A (en) * | 2018-05-31 | 2018-10-30 | 四川省海瑞科汽车零部件有限公司 | A kind of right angle coordinate manipulator of high speed fine positioning |
| CN110760957B (en) * | 2018-07-25 | 2024-07-09 | 霍浦维（广东顺德）自动化设备有限公司 | Doffing robot group |
| CN110963114A (en) * | 2018-09-30 | 2020-04-07 | 山东云晟智能科技有限公司 | Automatic snatch packing robot |
| CN111618900A (en) * | 2020-05-20 | 2020-09-04 | 天津扬天科技有限公司 | Multifunctional paw capable of taking and placing yarn and partition board |
| CN114734418B (en) * | 2022-04-29 | 2023-09-19 | 瓦力机器人科技（唐山）有限公司 | Multi-track inspection robot |
| CN116130393B (en) * | 2022-12-14 | 2023-12-15 | 弥费科技(上海)股份有限公司 | Wafer box transfer mechanism, method, system and storage warehouse |
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| US3921820A (en) * | 1974-03-04 | 1975-11-25 | Alpha Machine & Tool Corp | Picker |
| US4005782A (en) * | 1974-03-04 | 1977-02-01 | Engineered Metal Products Company, Inc. | Picker |
| US4001556A (en) * | 1975-04-07 | 1977-01-04 | International Business Machines Corporation | Computer controlled pneumatic retractable search sensor |
| CN100513096C (en) * | 2007-11-05 | 2009-07-15 | 中国农业大学 | Cartesian coordinate type fruit picking mechanical arm device |
| CN101775905A (en) * | 2009-12-18 | 2010-07-14 | 广东浩和建筑有限公司 | Adjustable leveling guide rail and leveling method thereof |
| CN102464252A (en) * | 2010-11-17 | 2012-05-23 | 快速电梯有限公司 | Guide rail connecting piece |
| CN203173506U (en) * | 2013-04-02 | 2013-09-04 | 蔡兆昶 | Cantilever stack-moving type brick stacking machine |
| CN104908032B (en) * | 2014-03-10 | 2017-05-31 | 珠海格力电器股份有限公司 | Integrated manipulator structure |
| CN203956362U (en) * | 2014-07-02 | 2014-11-26 | 重庆蓝姆焊接设备有限公司 | Planarity adjustment mechanism during for guide rails assembling |
| CN204036462U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of stack robot manipulator |
| CN205272012U (en) * | 2015-12-03 | 2016-06-01 | 重庆朗正科技有限公司 | Spindle pile up neatly equipment |
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2015
- 2015-12-03 CN CN201510884570.6A patent/CN105382830B/en active Active
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| CN105382830A (en) | 2016-03-09 |
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Address after: Floors 8 and 9, No. 274 Xuecheng Avenue, Huxi Street, High tech Zone, Chongqing, 401331 Patentee after: CHONGQING LANGZHENG TECHNOLOGY Co.,Ltd. Address before: 400039 8-2, Building A, Erlang International Student Entrepreneurship Park, Jiulongpo District, Chongqing Patentee before: CHONGQING LANGZHENG TECHNOLOGY Co.,Ltd. |