CN118952313A - Four-axis palletizing robot with automatic lubrication function and use method thereof - Google Patents
Four-axis palletizing robot with automatic lubrication function and use method thereof Download PDFInfo
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- CN118952313A CN118952313A CN202411287407.7A CN202411287407A CN118952313A CN 118952313 A CN118952313 A CN 118952313A CN 202411287407 A CN202411287407 A CN 202411287407A CN 118952313 A CN118952313 A CN 118952313A
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- 238000005461 lubrication Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000003921 oil Substances 0.000 claims abstract description 105
- 238000007789 sealing Methods 0.000 claims abstract description 26
- 239000010687 lubricating oil Substances 0.000 claims abstract description 14
- 230000001681 protective effect Effects 0.000 claims description 24
- 238000004804 winding Methods 0.000 claims description 13
- 238000004140 cleaning Methods 0.000 claims description 11
- 238000005516 engineering process Methods 0.000 claims description 3
- 239000000428 dust Substances 0.000 claims 3
- 239000007921 spray Substances 0.000 claims 1
- 238000005507 spraying Methods 0.000 claims 1
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 23
- 238000005299 abrasion Methods 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 4
- 210000000323 shoulder joint Anatomy 0.000 description 4
- 230000001050 lubricating effect Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
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- 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
- B25J19/0062—Lubrication means
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- 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
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- 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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种具有自动润滑功能的四轴码垛机器人及其使用方法，本发明涉及码垛机器人技术领域，包括底座、四轴机械臂、支撑杆、连接头和润滑组件，所述底座的顶部安装有四轴机械臂，所述底座的顶部安装有可移动的支撑杆，且支撑杆的一端与四轴机械臂的外壁连接，所述四轴机械臂的内壁安装有润滑组件。本发明通过安装有螺纹套移动带动连接杆移动，连接杆移动带动L形架移动，L形架移动带动一号滑轮移动，一号滑轮移动使L形架带动密封环移动，密封环移动使其移开顶环，此时出油道开启润滑油通过出油道流向四轴码垛机器人关节处，实现了四轴码垛机器人快速自动润滑减少四轴码垛机器人磨损的功能。
The present invention discloses a four-axis stacking robot with automatic lubrication function and a method for using the same. The present invention relates to the technical field of stacking robots, including a base, a four-axis mechanical arm, a support rod, a connector and a lubrication assembly. The top of the base is equipped with a four-axis mechanical arm, the top of the base is equipped with a movable support rod, and one end of the support rod is connected to the outer wall of the four-axis mechanical arm, and the inner wall of the four-axis mechanical arm is equipped with a lubrication assembly. The present invention drives the connecting rod to move by installing a threaded sleeve, the connecting rod drives the L-shaped frame to move, the L-shaped frame drives the first pulley to move, the first pulley moves to make the L-shaped frame drive the sealing ring to move, the sealing ring moves to remove the top ring, and at this time, the oil outlet is opened and the lubricating oil flows to the joints of the four-axis stacking robot through the oil outlet, realizing the function of fast and automatic lubrication of the four-axis stacking robot and reducing the wear of the four-axis stacking robot.
Description
Technical Field
The invention relates to the technical field of palletizing robots, in particular to a four-axis palletizing robot with an automatic lubrication function and a use method thereof.
Background
The palletizing robot is mainly semi-automatic and auxiliary equipment, a part of palletizing tasks are finished through a preset program and a simple mechanical structure, the palletizing robot starts to have higher intelligent level, different types of cargoes can be identified, self-adaptive palletizing is carried out according to the shapes and the sizes of the cargoes, the palletizing robot has stronger learning and adaptability, more complex and various palletizing tasks can be processed, meanwhile, flexible operation, man-machine cooperation and green energy-saving design are paid more attention to, market demands and environmental requirements which change continuously are met, and the existing palletizing robot cannot be rapidly and automatically lubricated to enlarge abrasion of the four-axis palletizing robot.
The existing palletizing robot has the defects that:
1. Patent document CN108045970B discloses a four-axis palletizing industrial robot, "comprising: chassis assembly, lumbar disc assembly, mechanical arm and balance cylinder; wherein: the waist panel assembly is arranged on the chassis assembly, and the mechanical arm is arranged on the waist panel assembly; one end of the balance cylinder is fixedly connected with the waist disc assembly, and the other end of the balance cylinder is fixedly connected with the mechanical arm; a mechanical clamp is arranged on the mechanical arm; and the waist joint axis of the waist disc component and the shoulder joint axis of the mechanical arm are in a space crossing relation. According to the invention, the waist joint axis and the shoulder joint axis of the four-axis palletizing industrial robot are arranged to be spatially crossed, so that the waist gyration envelope of the robot is effectively reduced, the robot operation space is increased, the workshop assembly line layout is facilitated, the structural parts of the four-axis palletizing industrial robot are welded by metal plates, the structure is simple and compact, the customization of small batch palletizing robot production is facilitated, but the conventional palletizing robot cannot be rapidly and automatically lubricated, and the abrasion of the four-axis palletizing robot is increased;
2. Patent document CN112079121B discloses a four-axis palletizing robot, "comprising a first setting seat, a second setting seat, a palletizing mechanism, a lifting mechanism, a hydraulic cylinder, a hydraulic rod, a transmission mechanism, a squeezing block, a grab handle, a connecting rod, a clamping plate, a clamping groove, a toothed plate and a clamping mechanism, a gear, a clamping rod, a limiting rod and a clamping block. When the stacking mechanism is adjusted to a proper position, the extrusion block can be extruded manually, the extrusion block moves to drive the toothed plate to move, then the gear is driven to rotate, the clamping rod is driven to deflect by the rotation of the gear, the clamping rod deflects to drive the clamping block to deflect, and finally, the two clamping blocks clamp and fix the second positioning seat;
3. Patent document CN108045970a discloses a four-axis palletizing industrial robot, "comprising: chassis assembly, lumbar disc assembly, mechanical arm and balance cylinder; wherein: the waist panel assembly is arranged on the chassis assembly, and the mechanical arm is arranged on the waist panel assembly; one end of the balance cylinder is fixedly connected with the waist disc assembly, and the other end of the balance cylinder is fixedly connected with the mechanical arm; a mechanical clamp is arranged on the mechanical arm; and the waist joint axis of the waist disc component and the shoulder joint axis of the mechanical arm are in a space crossing relation. According to the invention, the waist joint axis and the shoulder joint axis of the four-axis palletizing industrial robot are arranged to be spatially crossed, so that the waist gyration envelope of the robot is effectively reduced, the robot operation space is increased, the workshop assembly line layout is facilitated, the structural parts of the four-axis palletizing industrial robot are welded by metal plates, the structure is simple and compact, the customization of small batch palletizing robot production is facilitated, but the connectors of the existing palletizing robot cannot be replaced quickly, and the working efficiency is reduced;
4. Patent document CN216686421U discloses a four-axis palletizing robot, "including the fixing base, the fixing base top rotates and is connected with the roating seat, it has swing subassembly to articulate through first fixed bolster on the roating seat, swing subassembly's end articulates has snatchs subassembly, first fixed bolster with snatch and be provided with balanced subassembly between subassembly, the swing subassembly, roating seat top fixedly connected with drive the first servo motor of roating seat horizontal rotation, one side fixedly connected with of first fixed bolster drives swing subassembly back-and-forth wobbling second servo motor, the opposite side fixedly connected with of first fixed bolster is adjusted swing subassembly, snatch the third servo motor of subassembly snatch distance. The utility model has simple structure and convenient grabbing, and solves the problem of overlarge instant clamping force of materials, but the camera of the existing palletizing robot can not be cleaned quickly, so that the clamping accuracy of the palletizing robot is reduced.
Disclosure of Invention
The invention aims to provide a four-axis palletizing robot with an automatic lubrication function and a use method thereof, so as to solve the technical problem that the conventional palletizing robot in the background art cannot quickly and automatically lubricate and increase abrasion of the four-axis palletizing robot.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a four-axis palletizing robot with self-lubricating function, includes base, four-axis arm, bracing piece, connector and lubrication module, four-axis arm is installed at the top of base, movable bracing piece is installed at the top of base, and the one end of bracing piece is connected with the outer wall of four-axis arm, lubrication module is installed to the inner wall of four-axis arm, the connector is installed to the outer wall of four-axis arm, lubrication module is used for the self-lubricating of four-axis palletizing robot joint department, the camera is installed to the outer wall of four-axis arm;
The utility model provides a lubrication assembly, including collecting box, oil pipe, play oil duct, top ring, sealing ring, L shape frame, a motor, a slide, the collecting box is located the inner wall of four-axis arm, and oil pipe runs through the inner wall with the collecting box, goes out the oil duct and runs through the inner wall with the collecting box, and the top ring is located the inner wall of play oil duct, the protecting crust is installed to the inner wall of play oil duct, and a motor is located the inner wall of protecting crust, the threaded rod is installed to the output of a motor, the threaded rod install the thread bush, the connecting rod is installed to the outer wall of thread bush, a slide is located the inner wall of play oil duct, a pulley is installed to the inner wall of a slide, an L shape frame is installed to the outer wall of a pulley, and the sealing ring is located the one end of L shape frame, and the one end of connecting rod is connected with the outer wall of L shape frame, and the oil pump is installed to the one end of oil pipe, and the oil control assembly is installed to the inner wall of collecting box, and the oil control assembly is used for controlling four-axis pile up robot lubrication assembly's stable blowout.
Preferably, the sealing ring is contacted with the bottom of the top ring, the first pulley moves through the first slideway, and the threaded rod is meshed with the threaded sleeve.
Preferably, the oil outlet control assembly comprises a processing module and an air pressure sensor, wherein the air pressure sensor is positioned on the inner wall of the collecting box, the processing module is positioned on the inner wall of the base, the processing module is electrically connected with the air pressure sensor, the processing module is electrically connected with the lubricating assembly, the air pressure sensor is used for detecting real-time air pressure data in the collecting box, and the processing module is internally provided with proper air pressure data in the collecting box.
Preferably, the real-time air pressure data in the collecting box is transmitted to the processing module, the processing module compares the real-time air pressure data in the collecting box with the proper air pressure data in the collecting box through a data comparison technology, the processing module sets the real-time air pressure data in the collecting box to be in a pressure reaching state when detecting that the real-time air pressure data in the collecting box is larger than the proper air pressure data in the collecting box, and the processing module sets the real-time air pressure data in the collecting box to be in a pressure too low state when detecting that the real-time air pressure data in the collecting box is smaller than the proper air pressure data in the collecting box.
Preferably, the inner wall of four-axis arm is installed fixed subassembly, and fixed subassembly is used for the quick fixed of connector, and protective lens is installed to the bottom of camera, and the ash removal subassembly is installed to the outer wall of four-axis arm, and ash removal subassembly is used for the quick cleanness of protective lens.
Preferably, the fixed subassembly includes No. two motors, the dop, no. two poles, the sliding sleeve, the stay cord, no. three springs, the recess, no. two motors are located the inner wall of four-axis arm, the rolling wheel is installed to No. two motor's output, the stay cord is located the outer wall of rolling wheel, no. two poles are located the inner wall of four-axis arm, the sliding sleeve is installed to No. two poles's outer wall, the dop is located the outer wall of sliding sleeve, the one end and the outer wall connection of dop of stay cord, no. three springs are located the inner wall of four-axis arm, and No. three spring's one end and the outer wall connection of dop, the recess is seted up in the outer wall of connector, and the inner wall of recess can be gone into to the one end of dop.
Preferably, the sliding sleeve moves through the second rod, the clamping head is pi-shaped, and the connector can move out of the inner wall of the four-axis mechanical arm.
Preferably, the ash removal subassembly includes No. two slides, no. two pulleys, no. five poles, no. six barrels, L shape pole, jet head, ratch, no. four motors, no. two slides are located the bottom of four arm, no. two pulleys are located the inner wall of No. two slides, no. five poles are located the outer wall of camera, no. six barrels run through in the outer wall of No. five poles, L shape pole is located the outer wall of No. six barrels, jet head is located the outer wall of L shape pole, the ratch is located the outer wall of L shape pole, the outer wall of L shape pole is connected with the outer wall of No. two pulleys, no. four motors are located the outer wall of four arm, the gear is installed to the output of No. four motors, and gear and ratch meshing.
Preferably, the sixth cylinder moves through the fifth rod, the second pulley moves through the second slideway, and the jet head is located below the protective lens.
Preferably, the using method of the palletizing robot comprises the following steps:
Step S1, an oil pump is started to enable lubricating oil to enter a collecting box through an oil pipe, at the moment, a first motor rotates to drive a threaded rod to rotate, the threaded rod rotates to drive a threaded sleeve to move, the threaded sleeve moves to drive a connecting rod to move, the connecting rod moves to drive an L-shaped frame to move, the L-shaped frame moves to drive a first pulley to move, the first pulley moves to enable the L-shaped frame to drive a sealing ring to move, the sealing ring moves to enable the sealing ring to move away from a top ring, at the moment, an oil outlet channel is opened to enable lubricating oil to flow to a joint of a four-axis stacking robot through an oil outlet channel, and the function of reducing abrasion of the four-axis stacking robot due to rapid automatic lubrication of the four-axis stacking robot is achieved;
S2, when the processing module detects that the pressure reaches a state, the processing module controls the oil control assembly to start the oil outlet channel, the processing module controls the oil control assembly to close after three seconds of the oil outlet channel is started, when the processing module detects that the pressure is too low, the processing module controls the oil control assembly not to start to close the oil outlet channel, and the air pressure sensor continuously detects real-time air pressure data in the collecting box during the closing of the oil outlet channel until the processing module detects that the pressure reaches the state, so that the function of stably improving the lubrication efficiency of the four-axis stacking robot is realized;
Step S3, the second rod is used for providing movable support for the sliding sleeve, the second motor rotates to drive the winding wheel to rotate, the winding wheel rotates to drive the pull rope to move, the pull rope moves to drive the clamping head to move, the clamping head moves to drive the sliding sleeve to move, the sliding sleeve moves to drive the clamping head to compress the third spring, the third spring compresses the clamping head to enable the clamping head to move out of the groove, and at the moment, the connector is pulled to be pulled out quickly, so that the function of improving the working efficiency by quickly replacing the connector of the four-axis stacking robot is realized;
Step S4, the motor is rotated to drive the gear to rotate, the gear rotates to drive the toothed bar to move, the toothed bar moves to drive the L-shaped bar to move, the L-shaped bar moves to drive the six-numbered barrel to move, the six-numbered barrel moves to enable the L-shaped bar to drive the two-numbered pulleys to move, the two-numbered pulleys move to enable the L-shaped bar to drive the jet head to move, the jet head moves to enable the jet head to move to the lower side of the protective lens, at the moment, the jet head jets out gas to enable the protective lens to be cleaned fast, and the function of improving the holding accuracy of the stacking robot by enabling the camera of the four-axis stacking robot to be cleaned fast is achieved.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, the oil pump is arranged to start lubricating oil to enable the lubricating oil to enter the collecting box through the oil pipe, at the moment, the first motor rotates to drive the threaded rod to rotate, the threaded rod rotates to drive the threaded sleeve to move, the threaded sleeve moves to drive the connecting rod to move, the connecting rod moves to drive the L-shaped frame to move, the L-shaped frame moves to drive the first pulley to move, the first pulley moves to drive the L-shaped frame to drive the sealing ring to move, the sealing ring moves to enable the sealing ring to move away from the top ring, at the moment, the oil outlet channel is opened to enable the lubricating oil to flow to the joint of the four-axis palletizing robot through the oil outlet channel, and the function of reducing abrasion of the four-axis palletizing robot due to rapid automatic lubrication of the four-axis palletizing robot is realized;
2. According to the invention, when the processing module is installed and detects that the pressure reaches a state, the processing module controls the oil outlet control assembly to start to open, the processing module controls the oil outlet control assembly to close after three seconds of opening of the oil outlet, when the processing module detects that the pressure is too low, the processing module controls the oil outlet control assembly not to start to close, and the air pressure sensor continuously detects real-time air pressure data in the collecting box during closing of the oil outlet until the processing module detects that the pressure reaches the state, so that the function of stably improving the lubrication efficiency of the four-axis palletizing robot is realized;
3. The sliding sleeve is provided with the second rod, the second motor rotates to drive the winding wheel to rotate, the winding wheel rotates to drive the pull rope to move, the pull rope moves to drive the clamping head to move, the clamping head moves to drive the sliding sleeve to move, the sliding sleeve moves to drive the clamping head to compress the third spring, the third spring compresses the clamping head to move out of the groove, and the connecting head is pulled to be pulled out quickly at the moment, so that the function of improving the working efficiency by quickly replacing the connecting head of the four-axis palletizing robot is realized;
4. according to the invention, the gear is driven to rotate by the rotation of the motor No. four, the gear rotates to drive the toothed bar to move, the toothed bar moves to drive the L-shaped bar to move, the L-shaped bar moves to drive the No. six cylinder to move, the L-shaped bar drives the No. two pulleys to move, the No. two pulleys move to drive the L-shaped bar to drive the jet head to move, and the jet head moves to the lower part of the protective lens, so that the protective lens is quickly cleaned by jetting gas from the jet head, and the function of quickly cleaning the camera of the four-axis palletizing robot and improving the holding accuracy of the stacking robot is realized.
Drawings
FIG. 1 is a schematic elevational view of the present invention;
FIG. 2 is a schematic view of the structure of the collecting box of the present invention;
FIG. 3 is a schematic view of a seal ring structure of the present invention;
FIG. 4 is a schematic view of the structure A of FIG. 2 according to the present invention;
FIG. 5 is a schematic diagram of a lubrication control flow scheme of the present invention;
FIG. 6 is a schematic view of a connector structure according to the present invention;
FIG. 7 is a schematic view of a chuck structure according to the present invention;
FIG. 8 is a schematic view of a camera structure according to the present invention;
FIG. 9 is a schematic diagram of a showerhead according to the present invention.
In the figure: 1. a base; 2. a four-axis mechanical arm; 3. a support rod; 4. a collection box; 5. an oil pipe; 7. an oil outlet duct; 8. a top ring; 9. a first slideway; 10. a first pulley; 11. an L-shaped frame; 12. a seal ring; 13. a protective shell; 14. a first motor; 15. a threaded rod; 16. a thread sleeve; 17. a connecting rod; 18. an air pressure sensor; 19. a connector; 20. a third spring; 22. a groove; 23. a chuck; 24. a second rod; 25. a sliding sleeve; 26. a motor II; 27. a winding wheel; 28. a pull rope; 30. a camera; 31. protective lenses; 32. a second slideway; 33. a second pulley; 34. a fifth rod; 35. a sixth cylinder; 36. an L-shaped rod; 37. a fourth motor; 38. a gear; 39. a toothed bar; 41. a jet head.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1: referring to fig. 1, 2 and 3, an embodiment of the present invention provides: the utility model provides a four-axis palletizing robot with self-lubricating function, including base 1, four-axis arm 2, bracing piece 3, connector 19 and lubrication module, four-axis arm 2 is installed at the top of base 1, movable bracing piece 3 is installed at the top of base 1, and the one end of bracing piece 3 is connected with the outer wall of four-axis arm 2, lubrication module is installed to the inner wall of four-axis arm 2, connector 19 is installed to the outer wall of four-axis arm 2, lubrication module is used for the self-lubricating of four-axis palletizing robot joint department, camera 30 is installed to the outer wall of four-axis arm 2, fixed subassembly is installed to the inner wall of four-axis arm 2, protection lens 31 is installed to the bottom of camera 30, ash removal subassembly is installed to the outer wall of four-axis arm 2, processing module control four-axis palletizing robot removes, the ash cleaning component is used for quickly cleaning the protective lenses 31, the lubrication component comprises a collecting box 4, an oil pipe 5, an oil outlet channel 7, a top ring 8, a sealing ring 12, an L-shaped frame 11, a first motor 14 and a first slide way 9, wherein the collecting box 4 is positioned on the inner wall of the four-axis mechanical arm 2, the oil pipe 5 penetrates through the inner wall of the collecting box 4, the oil outlet channel 7 penetrates through the inner wall of the collecting box 4, the top ring 8 is positioned on the inner wall of the oil outlet channel 7, the inner wall of the oil outlet channel 7 is provided with a protective shell 13, the first motor 14 is positioned on the inner wall of the protective shell 13, the output end of the first motor 14 is provided with a threaded rod 15, the threaded rod 15 is provided with a threaded sleeve 16, the outer wall of the threaded sleeve 16 is provided with a connecting rod 17, the first slide way 9 is positioned on the inner wall of the oil outlet channel 7, the inner wall of the first slide way 9 is provided with a first pulley 10, the outer wall of the first pulley 10 is provided with the L-shaped frame 11, the sealing ring 12 is positioned at one end of the L-shaped frame 11, and the one end of connecting rod 17 is connected with the outer wall of L shape frame 11, the oil pump is installed to the one end of oil pipe 5, the oil extraction control assembly is installed to the inner wall of collection box 4, oil extraction control assembly is used for controlling the stable blowout of four-axis palletizing robot lubrication assembly, sealing ring 12 and the bottom contact of top ring 8, pulley 10 moves through slide 9 No. one, threaded rod 15 and thread bush 16 meshing, the oil pump starts and makes lubricating oil get into collection box 4 through oil pipe 5, motor 14 rotates and drives threaded rod 15 rotation this moment, threaded rod 15 rotates and drives thread bush 16 and remove, thread bush 16 moves and drives connecting rod 17 and remove, connecting rod 17 moves and drives L shape frame 11 and remove, L shape frame 11 moves and drives pulley 10 and remove, pulley 10 removes and make L shape frame 11 drive sealing ring 12 and remove top ring 8, oil outlet duct 7 opens lubricating oil through oil outlet duct 7 flow to four-axis palletizing robot joint department this moment, the quick self-lubricating of four-axis palletizing robot reduces the function of four-axis palletizing robot wearing and tearing.
Example 2: referring to fig. 1,2,3,4 and 5, an embodiment of the present invention is provided: the oil outlet control assembly comprises a processing module and an air pressure sensor 18, wherein the air pressure sensor 18 is positioned on the inner wall of the collecting box 4, the processing module is positioned on the inner wall of the base 1, the processing module is electrically connected with the air pressure sensor 18, the processing module is electrically connected with the lubricating assembly, the air pressure sensor 18 is used for detecting real-time air pressure data in the collecting box 4, the processing module uses proper air pressure data in the collecting box 4, the real-time air pressure data in the collecting box 4 are transmitted into the processing module, the processing module compares the real-time air pressure data in the collecting box 4 with the proper air pressure data in the collecting box 4 through a data comparison technology, the processing module is set into a pressure reaching state when detecting that the real-time air pressure data in the collecting box 4 is larger than the proper air pressure data in the collecting box 4, the processing module is set into a pressure too low state when detecting that the real-time air pressure data in the collecting box 4 is smaller than the proper air pressure data in the collecting box 4, the processing module controls the oil outlet control assembly to start the oil outlet 7 to be started, the processing module controls the oil outlet channel 7 to be closed after three seconds, the processing module controls the oil outlet channel 7 to be closed when the processing module detects the pressure reaching state, the pressure reaching state when the pressure reaching state, the pressure is not detected by the processing module, the processing module starts the oil outlet channel 7, the oil outlet channel is continuously controlled by the oil outlet channel is stopped, and the oil channel is continuously cooled by the processing module is continuously, the machine is stopped, and the pressure is stopped, the pressure is continuously until the pressure is stable, the pressure is reached, the oil channel is stable, and the oil channel is cooled, and the efficiency is reached, and the efficiency is stable is reached, and the oil is stable.
Example 3: referring to fig. 1, 6 and 7, an embodiment of the present invention provides: the fixing component comprises a second motor 26, a chuck 23, a second rod 24, a sliding sleeve 25, a pull rope 28, a third spring 20 and a groove 22, wherein the second motor 26 is positioned on the inner wall of the four-axis mechanical arm 2, the output end of the second motor 26 is provided with a winding wheel 27, the pull rope 28 is positioned on the outer wall of the winding wheel 27, the second rod 24 is positioned on the inner wall of the four-axis mechanical arm 2, the sliding sleeve 25 is arranged on the outer wall of the second rod 24, the chuck 23 is positioned on the outer wall of the sliding sleeve 25, one end of the pull rope 28 is connected with the outer wall of the chuck 23, the third spring 20 is positioned on the inner wall of the four-axis mechanical arm 2, one end of the third spring 20 is connected with the outer wall of the chuck 23, the groove 22 is arranged on the outer wall of the connector 19, and the inner wall of recess 22 can be gone into to the one end of dop 23, sliding sleeve 25 moves through No. two poles 24, dop 23 is pi shape, connector 19 can shift out the inner wall of four-axis arm 2, no. two poles 24's effect is for sliding sleeve 25 provides removal support, no. two motor 26 rotates and drives the reel 27 rotation, reel 27 rotates and drives stay cord 28 and remove, stay cord 28 removes and drive dop 23 and remove, dop 23 removes and drives sliding sleeve 25 and remove, sliding sleeve 25 removes and makes dop 23 drive No. three spring 20 compression, no. three spring 20 compression makes dop 23 shift out recess 22, pulling connector 19 makes its quick pull-out this moment, the function of four-axis pile up neatly robot's connector 19 quick replacement improvement work efficiency has been realized.
Example 4: referring to fig. 1, 8 and 9, an embodiment of the present invention provides: the ash removal subassembly includes No. two slide ways 32, no. two pulleys 33, no. five poles 34, no. six barrels 35, L-shaped pole 36, jet head 41, the toothed bar 39, no. four motors 37, no. two slide ways 32 are located the bottom of No. two arms 2, no. two pulleys 33 are located the inner wall of No. two slide ways 32, no. five poles 34 are located the outer wall of camera 30, no. six barrels 35 run through the outer wall of No. five poles 34, L-shaped pole 36 is located the outer wall of No. six barrels 35, jet head 41 is located the outer wall of L-shaped pole 36, toothed bar 39 is located the outer wall of L-shaped pole 36, the outer wall of L-shaped pole 36 is connected with the outer wall of No. two pulleys 33, no. four motors 37 are located the outer wall of four arms 2, no. four motors 37 output ends are provided with gears 38, and gears 38 are meshed with toothed bar 39, no. six barrels 35 move through No. two pulleys 32, no. two pulleys 33 move through No. two slide ways 32, no. 41 is located the below protective lens 31, no. four motors 37 rotate and drive gears 38, no. 38 rotate and drive toothed bar 39 to move, no. 39 drive the outer wall of six pulleys 31, no. 35 drive the air-shaped pole 33 to move, no. 33 to move, and No. 41 drive the air-shaped pole 33 to move, and No. 41 to drive the air-jet head 33 to move, and make the cleaning robot to move, and the cleaning robot.
The using method of the palletizing robot comprises the following steps:
Step S1, an oil pump is started to enable lubricating oil to enter the collecting box 4 through the oil pipe 5, at the moment, the first motor 14 rotates to drive the threaded rod 15 to rotate, the threaded rod 15 rotates to drive the threaded sleeve 16 to move, the threaded sleeve 16 moves to drive the connecting rod 17 to move, the connecting rod 17 moves to drive the L-shaped frame 11 to move, the L-shaped frame 11 moves to drive the first pulley 10 to move, the first pulley 10 moves to enable the L-shaped frame 11 to drive the sealing ring 12 to move, the sealing ring 12 moves to enable the sealing ring to move away from the top ring 8, and at the moment, the oil outlet duct 7 starts to enable lubricating oil to flow to the joint of the four-axis palletizing robot through the oil outlet duct 7, so that the function of reducing abrasion of the four-axis palletizing robot due to rapid automatic lubrication of the four-axis palletizing robot is realized;
Step S2, when the processing module detects that the pressure reaches a state, the processing module controls the oil outlet channel 7 to be started, the processing module controls the oil outlet channel 7 to be closed after three seconds of starting, when the processing module detects that the pressure is too low, the processing module controls the oil outlet channel 7 not to be started, and the air pressure sensor 18 continuously detects real-time air pressure data in the collecting box 4 during the closing of the oil outlet channel 7 until the processing module detects that the pressure reaches the state, so that the function of stably improving the lubrication efficiency of the four-axis palletizing robot is realized;
Step S3, the second rod 24 is used for providing a moving support for the sliding sleeve 25, the second motor 26 rotates to drive the winding wheel 27 to rotate, the winding wheel 27 rotates to drive the pull rope 28 to move, the pull rope 28 moves to drive the clamping head 23 to move, the clamping head 23 moves to drive the sliding sleeve 25 to move, the sliding sleeve 25 moves to enable the clamping head 23 to drive the third spring 20 to compress, the third spring 20 compresses to enable the clamping head 23 to move out of the groove 22, and the connector 19 is pulled at the moment to be pulled out rapidly, so that the function of improving the working efficiency of the quick replacement of the connector 19 of the four-axis stacking robot is realized;
step S4, the fourth motor 37 rotates to drive the gear 38 to rotate, the gear 38 rotates to drive the toothed bar 39 to move, the toothed bar 39 moves to drive the L-shaped bar 36 to move, the L-shaped bar 36 moves to drive the sixth cylinder 35 to move, the sixth cylinder 35 moves to enable the L-shaped bar 36 to drive the second pulley 33 to move, the second pulley 33 moves to enable the L-shaped bar 36 to drive the jet head 41 to move, the jet head 41 moves to enable the jet head 41 to move to the lower portion of the protective lens 31, at the moment, the jet head 41 jets out gas to enable the protective lens 31 to be cleaned rapidly, and the function of improving the holding accuracy of the stacking robot by enabling the camera 30 of the four-axis stacking robot to be cleaned rapidly is achieved.
According to the working principle, the oil pump is started to enable lubricating oil to enter the collecting box 4 through the oil pipe 5, at the moment, the first motor 14 rotates to drive the threaded rod 15 to rotate, the threaded rod 15 rotates to drive the threaded sleeve 16 to move, the threaded sleeve 16 moves to drive the connecting rod 17 to move, the connecting rod 17 moves to drive the L-shaped frame 11 to move, the L-shaped frame 11 moves to drive the first pulley 10 to move, the first pulley 10 moves to enable the L-shaped frame 11 to drive the sealing ring 12 to move, the sealing ring 12 moves to enable the sealing ring to move away from the top ring 8, at the moment, the oil outlet channel 7 is opened, lubricating oil flows to the joints of the four-axis palletizing robot through the oil outlet channel 7, the function of quickly and automatically lubricating the four-axis palletizing robot is realized, when the processing module detects that the pressure reaches the state, the processing module controls the oil control assembly to start the oil outlet channel 7, the oil outlet channel 7 is opened, the three-second post-treatment module controls the oil control assembly to be closed, when the treatment module detects that the pressure is in an over-low state, the treatment module controls the oil control assembly not to start to close the oil outlet channel 7, the air pressure sensor 18 continuously detects real-time air pressure data in the collecting box 4 during the closing of the oil outlet channel 7 until the treatment module detects that the pressure reaches the state, the function of stably improving the lubrication efficiency of the four-axis palletizing robot is realized, the second rod 24 is used for providing a moving support for the sliding sleeve 25, the second motor 26 rotates to drive the rolling wheel 27 to rotate, the rolling wheel 27 rotates to drive the pull rope 28 to move, the pull rope 28 moves to drive the clamping head 23 to move, the clamping head 23 moves to drive the sliding sleeve 25 to move, the clamping head 23 drives the third spring 20 to compress, the third spring 20 compresses the clamping head 23 to move out of the groove 22, the connecting head 19 is pulled at the moment to rapidly pull out, the function of improving work efficiency is realized in the connector 19 quick replacement of four-axis pile up neatly machine people, no. four motor 37 rotates and drives gear 38 to rotate, gear 38 rotates and drives rack 39 to remove, rack 39 removes and drives L shape pole 36 and remove, L shape pole 36 removes and drives No. six barrels 35 and remove, no. six barrels 35 remove and make L shape pole 36 drive No. two pulleys 33 remove, no. two pulleys 33 remove and make L shape pole 36 drive the jet head 41 remove, jet head 41 removes and makes its below that removes protective lens 31, jet head 41 blowout gas makes protective lens 31 clean fast this moment, the function of the quick cleaning improvement buttress machine people of camera 30 of four-axis pile up neatly machine people adds of has been realized.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
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