Controllable metamorphic type stacking mechanical arm mechanism

Abstract

Provided is a controllable metamorphic type stacking mechanical arm mechanism. Controllable motors of the mechanism are fixed to a rack, one end of a crank connecting rod is fixedly connected to a rotary shaft of the first controllable motor, the other end of the crank connecting rod is hinged to a transmission connecting rod, the other end of the transmission connecting rod is hinged to a sliding block, the sliding block is connected with a sliding block guide rod, a first rocker arm connecting rod is hinged to the sliding block, and the other end of the first rocker arm connecting rod is connected with a first clamping arm connecting rod. One end of a first driving connecting rod is fixedly connected to a rotary shaft of the second controllable motor, the other end of the first driving connecting rod is hinged to the middle of the first clamping arm connecting rod, the tail ends of the clamping arm connecting rods are connected with clamps, a second rocker arm connecting rod is hinged to the sliding block, the other end of the second rocker arm connecting rod is connected with a second clamping arm connecting rod, one end of a second driving connecting rod is fixedly connected to a rotary shaft of the third controllable motor, the other end of the second driving connecting rod is hinged to the middle of the second clamping arm connecting rod, and the tail ends of the clamping arm connecting rods are connected with the clamps. The single freedom degree and two freedom degrees of the mechanism can be converted, the mechanism has the advantages of multiple function stage changes, multiple topological structure changes and multiple freedom degree changes, and a mechanical arm can adapt to different tasks.

Description

technical field [0001] The invention relates to the field of palletizing machinery design, in particular to a controllable variable-cell palletizing manipulator mechanism. Background technique [0002] With the continuous development of palletizing technology and the improvement of the mechanization and automation level of the production process, palletizing robots are widely used in automatic production lines, automatic assembly lines, palletizing, containers, etc., to replace manual handling. Chinese patent 201310695931.3 discloses a palletizing manipulator, which adopts the air pressure grabbing method, which has the problems of high requirements for parts, short life and no sealing. Chinese patent 201310478294.4 discloses a palletizing manipulator for box-type goods. The working space is relatively small and cannot be used for clamping smaller cabinets. At present, there is no report of a high-sensitivity positioning and a manipulator suitable for gripping containers of...

AI Technical Summary

Problems solved by technology

Chinese patent 201310695931.3 discloses a palletizing manipulator, which adopts the air pressure grabbing method, which has the problems of high requirements for parts, short life and no sealing. Chinese patent 201310478294.4 discloses a palletizing manipulator for box-type goods. The working space is relatively small and cannot be used for clamping of smaller boxes

At present, there is no report of a high-sensitivity positioning and manipulator suitable for gripping boxes of different sizes

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