阅读说明：本技术 一种下料码垛机械手 (Unloading pile up neatly machinery hand ) 是由 朱雄伟 于 2021-09-23 设计创作，主要内容包括：本发明提供一种下料码垛机械手,包括机械臂；驱动结构,驱动结构安装于机械臂的一端,驱动结构包括转轴、驱动臂、转杆、第一齿轮和电机,转轴贯穿驱动臂的顶端侧壁和机械臂一端的侧壁；限位结构,限位结构固定于驱动臂的底端；夹板,螺杆的两端贯穿两个夹板的顶端侧壁；被动结构,被动结构安装于夹板的内侧壁；印标结构,印标结构安装于架筒的内部；杠杆结构,杠杆结构安装于夹板的内部；传动结构,传动结构安装于夹板上端的内部。本发明提供的下料码垛机械手具有能够便于对生产的物料进行粘贴识别标记的优点。(The invention provides a blanking and stacking manipulator which comprises a mechanical arm; the driving structure is arranged at one end of the mechanical arm and comprises a rotating shaft, a driving arm, a rotating rod, a first gear and a motor, and the rotating shaft penetrates through the side wall of the top end of the driving arm and the side wall of one end of the mechanical arm; the limiting structure is fixed at the bottom end of the driving arm; the two ends of the screw rod penetrate through the side walls of the top ends of the two clamping plates; the passive structure is arranged on the inner side wall of the clamping plate; the label printing structure is arranged inside the frame cylinder; the lever structure is arranged inside the clamping plate; the transmission structure is arranged in the upper end of the clamping plate. The blanking stacking manipulator provided by the invention has the advantage that the produced materials can be conveniently pasted with identification marks.)

1. The utility model provides a unloading pile up neatly machinery hand which characterized in that includes:

a robot arm (1);

the driving structure (2) is mounted at one end of the mechanical arm (1), the driving structure (2) comprises a rotating shaft (21), a driving arm (22), a rotating rod (23), a first gear (24) and a motor (25), the driving arm (22) is mounted at one end of the mechanical arm (1), the rotating shaft (21) penetrates through the side wall of the top end of the driving arm (22) and the side wall of one end of the mechanical arm (1), the motor (25) is fixed at the top end inside the driving arm (22), the rotating rod (23) is mounted at one end of the motor (25), and the first gear (24) is fixed at the side wall of the bottom end of the rotating rod (23);

the limiting structure (4) is fixed at the bottom end of the driving arm (22), the limiting structure (4) comprises a limiting frame (41), a screw rod (42), a sliding groove (43), a second gear (44) and a rack (45), the limiting frame (41) is fixed at the bottom end of the driving arm (22), the sliding groove (43) is arranged on the bottom surface of the limiting frame (41), the screw rod (42) is installed inside the limiting frame (41), the second gear (44) is fixed on the side wall of the screw rod (42), and the rack (45) is fixed inside the limiting frame (41);

the two ends of the screw rod (42) penetrate through the top end side walls of the two clamping plates (5);

the passive structure (3) is mounted on the inner side wall of the clamping plate (5), the passive structure (3) comprises a frame cylinder (31), a movable groove (32) and a first spring (33), the frame cylinder (31) is mounted on the inner side wall of the clamping plate (5), the movable groove (32) is formed in two ends of one end of the frame cylinder (31), and the first spring (33) is fixed to one end of the frame cylinder (31);

the mark printing structure (6) is installed inside the frame cylinder (31), the mark printing structure (6) comprises a mark printing box (61), a conveyor belt (62), a mark printing plate (63), a driving shaft (64), a second spring (65) and a sliding block (66), the mark printing box (61) is installed inside the frame cylinder (31), the driving shaft (64) slides inside the frame cylinder (31), the inner side walls of the two ends of the conveyor belt (62) abut against the side walls of the driving shaft (64), the mark printing plate (63) is fixed on the side walls of the conveyor belt (62), the sliding block (66) slides on the inner side walls of the frame cylinder (31), and the second spring (65) is fixed on the side walls of the sliding block (66);

the lever structure (7) is mounted inside the clamping plate (5), the lever structure (7) comprises a baffle plate (71), a connecting shaft (72) and a lever (73), the connecting shaft (72) is fixed inside the clamping plate (5), one end of the baffle plate (71) is rotatably connected with the connecting shaft (72), and the lever (73) is fixed at one end of the baffle plate (71);

drive structure (8), drive structure (8) install in the inside of splint (5) upper end, drive structure (8) include third gear (81), drive wheel (82) and belt (83), third gear (81) install in the inside of splint (5) upper end, drive wheel (82) are fixed in the lateral wall of third gear (81), belt (83) are connected the lateral wall of drive wheel (82) with the lateral wall of drive shaft (64).

2. The blanking palletizing manipulator according to claim 1, characterized in that the first gear (24) and the second gear (44) are meshed, and the screw (42) is rotatably connected with the inside of the limit bracket (41).

3. The blanking stacking manipulator according to claim 1, wherein the screw (42) is in threaded connection with the top ends of the clamping plates (5), the threaded connection direction of the two clamping plates (5) with the screw (42) is opposite, and the clamping plates (5) slide on the bottom surfaces of the limiting frames (41).

4. The blanking palletizing robot according to claim 1, characterized in that the rack (45) is engaged with the third gear (81), and the third gear (81) is in rotational connection with the clamping plate (5).

5. The blanking palletizing manipulator according to claim 1, wherein a conveyor belt (62) fixed with one end of the stamp (63) abuts against one end of the print cartridge (61), and the print cartridge (61) is in sliding connection with the frame cylinder (31).

6. The blanking stacking manipulator of claim 1, wherein one end of the lever (73) is arc-shaped, one end of the lever (73) abuts against two ends of the bottom surface of the frame cylinder (31), and the other end of the second spring (65) is fixed on the inner side wall of the frame cylinder (31).

Technical Field

The invention relates to stacking and packaging equipment, in particular to a blanking and stacking manipulator.

Background

The work on present assembly line still needs the manual work to go up unloading, both wastes time and energy, influences efficiency again. With the widespread use of electronic technology, particularly electronic computers, the development and production of robots has become a new technology rapidly developed in the high-tech field, which further promotes the development of manipulators, so that the manipulators can better realize the organic combination with mechanization and automation. The manipulator can replace human beings to finish dangerous and repeated boring work, reduce human labor intensity and improve labor productivity. The manipulator is an automatic device with the function of grabbing and moving workpieces, which is used in the automatic production process and is a novel device developed in the mechanical and automatic production processes. The manipulator is more and more widely applied, and can be used for assembling parts and transporting, loading and unloading processed workpieces in the mechanical industry, particularly for automatic numerical control machine tools and combined machine tools.

Some current unloading pile up neatly manipulators, when the assembly line unloading, only carry the material and put, the material of every just production does not carry out the discernment mark when the conveying belt transmission carries out the unloading pile up neatly, leads to the unable discernment of verifying of later stage to the biological product material, has reduced work efficiency.

Disclosure of Invention

In order to solve the technical problem, the invention provides the blanking stacking manipulator which can conveniently paste the identification marks on the produced materials.

The invention provides a blanking and stacking manipulator, which comprises: a mechanical arm; the driving structure is mounted at one end of the mechanical arm and comprises a rotating shaft, a driving arm, a rotating rod, a first gear and a motor, the driving arm is mounted at one end of the mechanical arm, the rotating shaft penetrates through the side wall of the top end of the driving arm and the side wall of one end of the mechanical arm, the motor is fixed at the top end inside the driving arm, the rotating rod is mounted at one end of the motor, and the first gear is fixed on the side wall of the bottom end of the rotating rod; the limiting structure is fixed at the bottom end of the driving arm and comprises a limiting frame, a screw rod, a sliding groove, a second gear and a rack, the limiting frame is fixed at the bottom end of the driving arm, the sliding groove is formed in the bottom surface of the limiting frame, the screw rod is installed inside the limiting frame, the second gear is fixed on the side wall of the screw rod, and the rack is fixed inside the limiting frame; the two ends of the screw rod penetrate through the side walls of the top ends of the two clamping plates; the passive structure is arranged on the inner side wall of the clamping plate and comprises a frame cylinder, a movable groove and a first spring, the frame cylinder is arranged on the inner side wall of the clamping plate, the movable groove is formed in two ends of one end of the frame cylinder, and the first spring is fixed at one end of the frame cylinder; the label printing structure is arranged inside the frame cylinder and comprises a label printing box, a conveying belt, a label printing, a driving shaft, a second spring and a sliding block, the label printing box is arranged inside the frame cylinder, the driving shaft slides inside the frame cylinder, the inner side walls at two ends of the conveying belt are abutted against the side wall of the driving shaft, the label printing is fixed on the side wall of the conveying belt, the sliding block slides on the inner side wall of the frame cylinder, and the second spring is fixed on the side wall of the sliding block; the lever structure is arranged inside the clamping plate and comprises a baffle plate, a connecting shaft and a lever, the connecting shaft is fixed inside the clamping plate, one end of the baffle plate is rotatably connected with the connecting shaft, and the lever is fixed at one end of the baffle plate; the transmission structure is arranged in the inner part of the upper end of the clamping plate and comprises a third gear, a transmission wheel and a belt, the third gear is arranged in the inner part of the upper end of the clamping plate, the transmission wheel is fixed on the side wall of the third gear, and the belt is connected with the side wall of the transmission wheel and the side wall of the driving shaft.

The first gear is meshed with the second gear, and the screw is rotatably connected with the inside of the limiting frame.

The screw rod with the top threaded connection of splint, and two splint with screw rod threaded connection direction is relative, just splint slide in the bottom surface of spacing.

The rack is meshed with the third gear, and the third gear is rotatably connected with the clamping plate.

The conveying belt fixed with one end of the seal mark abuts against one end of the print box, and the print box is in sliding connection with the frame cylinder.

The shape of lever one end is the arc, just the one end of lever is contradicted the both ends of a frame section of thick bamboo bottom surface, just the other end of second spring is fixed in the inside wall of a frame section of thick bamboo.

The blanking stacking mechanical arm provided by the invention has the following beneficial effects:

the position of the driving structure is changed by controlling the mechanical arm, then the positions of the limiting structure and the clamping plate are changed by the driving structure, the clamping plate is controlled to slide on the bottom surface of the limiting structure by the driving structure, so that the clamping plate clamps materials, one end of the transmission structure is meshed with the inside of the limiting structure, the transmission structure is driven to rotate in the clamping plate while the clamping plate slides, the transmission structure rotates to drive the other end of the transmission structure to be connected with one end of the marking structure to slide in the passive structure, when the clamping plate clamps materials, the passive structure arranged on the inner side wall of the clamping plate contacts the materials first, so that the passive structure slides towards the inside of the clamping plate under the clamping force of the clamping plate, and the lever structure is extruded while the passive structure slides, make lever structure is in the inside of splint is rotated, then lever structure's one end promotes the one end of seal mark structure makes the seal mark structure is in the inside of passive structure outwards slides, works as when the inside wall of splint contacts with the material, the one end roll-off of seal mark structure the one end and the material contact of passive structure, mark under the printing on the lateral wall of material, after the good material of pile up neatly the splint pass through drive structure control resets, passive structure also roll-off the inside wall of splint resets, the retraction of seal mark structure the inside of passive structure accomplishes the mark to the material, and this device has can be convenient for paste the advantage of discernment mark to the material of production.

Drawings

Fig. 1 is a schematic structural diagram of a preferred embodiment of a blanking stacking manipulator provided by the invention;

FIG. 2 is a schematic structural view of the interconnect assembly shown in FIG. 1;

FIG. 3 is a schematic structural diagram of an enlarged portion A shown in FIG. 2;

FIG. 4 is a schematic structural diagram of an enlarged structure of a portion B shown in FIG. 2;

fig. 5 is a schematic structural diagram of the marking structure shown in fig. 1.

Reference numbers in the figures: 1. the mechanical arm comprises a mechanical arm 2, a driving structure 21, a rotating shaft 22, a driving arm 23, a rotating rod 24, a first gear 25, a motor 3, a driven structure 31, a frame cylinder 32, a movable groove 33, a first spring 4, a limiting structure 41, a limiting frame 42, a screw rod 43, a sliding groove 44, a second gear 45, a rack 5, a clamping plate 6, a seal mark structure 61, a print box 62, a conveying belt 63, a seal mark 64, a driving shaft 65, a second spring 66, a sliding block 7, a lever structure 71, a baffle plate 72, a connecting shaft 73, a lever 8, a transmission structure 81, a third gear 82, a transmission wheel 83 and a belt.

Detailed Description

The invention is further described with reference to the following figures and embodiments.

Referring to fig. 1 to 5, a blanking and stacking manipulator according to an embodiment of the present invention includes: a mechanical arm 1; the driving structure 2 is mounted at one end of the mechanical arm 1, the driving structure 2 comprises a rotating shaft 21, a driving arm 22, a rotating rod 23, a first gear 24 and a motor 25, the driving arm 22 is mounted at one end of the mechanical arm 1, the rotating shaft 21 penetrates through the side wall of the top end of the driving arm 22 and the side wall of one end of the mechanical arm 1, the motor 25 is fixed at the top end inside the driving arm 22, the rotating rod 23 is mounted at one end of the motor 25, and the first gear 24 is fixed at the side wall of the bottom end of the rotating rod 23; the limiting structure 4 is fixed at the bottom end of the driving arm 22, the limiting structure 4 comprises a limiting frame 41, a screw rod 42, a sliding groove 43, a second gear 44 and a rack 45, the limiting frame 41 is fixed at the bottom end of the driving arm 22, the sliding groove 43 is arranged at the bottom surface of the limiting frame 41, the screw rod 42 is installed inside the limiting frame 41, the second gear 44 is fixed at the side wall of the screw rod 42, and the rack 45 is fixed inside the limiting frame 41; the two ends of the screw rod 42 penetrate through the top end side walls of the two clamping plates 5; the passive structure 3 is mounted on the inner side wall of the clamping plate 5, the passive structure 3 comprises a frame cylinder 31, a movable groove 32 and a first spring 33, the frame cylinder 31 is mounted on the inner side wall of the clamping plate 5, the movable groove 32 is arranged at two ends of one end of the frame cylinder 31, and the first spring 33 is fixed at one end of the frame cylinder 31; the label printing structure 6 is mounted inside the frame cylinder 31, the label printing structure 6 comprises a label printing box 61, a conveyor belt 62, a label printing 63, a driving shaft 64, a second spring 65 and a sliding block 66, the label printing box 61 is mounted inside the frame cylinder 31, the driving shaft 64 slides inside the frame cylinder 31, the inner side walls of the two ends of the conveyor belt 62 abut against the side wall of the driving shaft 64, the label printing 63 is fixed on the side wall of the conveyor belt 62, the sliding block 66 slides on the inner side wall of the frame cylinder 31, and the second spring 65 is fixed on the side wall of the sliding block 66; the lever structure 7 is installed inside the clamping plate 5, the lever structure 7 comprises a baffle plate 71, a connecting shaft 72 and a lever 73, the connecting shaft 72 is fixed inside the clamping plate 5, one end of the baffle plate 71 is rotatably connected with the connecting shaft 72, and the lever 73 is fixed at one end of the baffle plate 71; the transmission structure 8 is arranged in the upper end of the clamping plate 5, the transmission structure 8 comprises a third gear 81, a transmission wheel 82 and a belt 83, the third gear 81 is arranged in the upper end of the clamping plate 5, the transmission wheel 82 is fixed on the side wall of the third gear 81, and the belt 83 is connected with the side wall of the transmission wheel 82 and the side wall of the driving shaft 64.

The first gear 24 is engaged with the second gear 44, and the screw rod 42 is rotatably connected with the inside of the limiting frame 41, so that the motor 25 drives the first gear 24 to rotate through the rotating rod 42, the first gear 24 drives the second gear 44 to rotate, and the second gear 44 drives the screw rod 42 to rotate inside the limiting frame 41.

The screw rod 42 with the top end threaded connection of splint 5, and two splint 5 with screw rod 42 threaded connection direction is relative, just splint 5 slide in the bottom surface of spacing 41 screw rod 42 when rotating, will through the screw thread rotation baffle 5 is in move on the screw rod 42, make baffle 5 is establishing spacing 41 bottom surface the inside slip of spout 43.

The rack 45 is engaged with the third gear 81, the third gear 81 is rotatably connected with the clamping plate 5, and the clamping plate 5 drives the third gear 81 to rotate when sliding on the bottom surface of the limiting frame 41, so that the third gear 81 drives the belt 83 to rotate through the transmission wheel 82.

Be fixed with the conveyer belt 62 of the one end of seal mark 63 is contradicted the one end of seal box 61, just a frame section of thick bamboo 31 with sliding connection between the splint 5, just seal box 61 with sliding connection between a frame section of thick bamboo 31 belt 83 drives when rotating drive shaft 64 rotates, makes conveyer belt 62 rotates, works as splint 5 is fixed when pressing from both sides article conveyer belt 62 lateral wall seal mark 63 rotates the other end and marks.

The shape of lever 73 one end is the arc, just the one end of lever 73 is contradicted the both ends of a frame section of thick bamboo 31 bottom surface, just the other end of second spring 65 is fixed in the inside wall of a frame section of thick bamboo 31, again a frame section of thick bamboo 31 receive the extrusion to when splint 5 inside slided, the one end extrusion of a frame section of thick bamboo 31 baffle 71 makes baffle 71 passes through connecting axle 72 rotates, makes lever 73 with connecting axle 72 rotates as the center, makes lever 73 moves to one end top print cartridge 61 makes print cartridge 61 is in the inside slip of a frame section of thick bamboo 31.

When the blanking stacking manipulator provided by the invention is used, the mechanical arm 1 is controlled firstly, the driving arm 22 is moved to be right above a clamped material, then the mechanical arm 1 controls the driving arm 22 to descend, then the motor 25 drives the rotating rod 23 to rotate, the rotating rod 23 drives the first gear 24 to rotate, the first gear 24 drives the second gear 44, the second gear 44 drives the screw rod 42 to rotate in the limiting frame 41, the limiting frame 41 is fixed at the bottom end of the driving arm 22, the screw rod 42 drives the clamping plates 5 at two ends to move towards the middle while rotating in the limiting frame 41, so that the clamping plates 5 slide on the bottom surface of the limiting frame 41, and under the condition that the baffle plate 5 is moved to a certain extent, the frame barrel 31 arranged on the side wall of the clamping plate 5 is firstly contacted with the material, the material is squeezed by the rack cylinder 31, so that the rack cylinder 31 slides towards the inside of the clamping plate 5, one end of the rack cylinder 31 squeezes the baffle plate 71, one end of the baffle plate 71 rotates around the connecting shaft 72, the lever 73 fixed at one end also rotates around the connecting shaft 72, the lever 73 slides in the movable groove 31, then the other end of the lever 73 pushes one end of the print box 61, the print box 61 slides in the rack cylinder 31, the print box 61 pushes the conveyor belt 62 to slide towards the other end of the rack cylinder 31, the slide block 66 compresses the second spring 65, the third gear 81 is driven by the rack 45 to rotate, the side wall of the third gear 81 is fixed with the transmission wheel 82, and the transmission wheel 82 is rotationally connected with the driving shaft 64 through the belt 83, the belt 62 is rotated to rotate the mark 63 fixed to the side wall of one end of the belt 62 toward the other end, when the inner side wall of the clamping plate 5 is abutted against the material, the clamping plate 5 stops moving, the printing mark 63 is rotated to the other side by the conveyor belt 62, at the moment, the printing mark 63 slides out of one end of the rack cylinder 31 to be contacted with the side wall of the material, marks are printed on the side wall of the material, after the material is stacked, the motor 25 rotates reversely to enable the clamping plate 5 to loosen the material, at the same time, the third gear 81 is reversely rotated under the engagement of the rack 45, so that the seal mark 63 is rotated again until one end of the conveyor belt 62 is in contact with the inside of the print cartridge 61 for coloring, the frame barrel 31 is reset under the elastic force of the first spring 33, the conveyor belt 62 is reset under the elastic force of the second spring 65, the marking of the materials is completed, and the device has the advantage that the produced materials can be conveniently pasted with identification marks.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.