Stacking mechanical arm

Abstract

The invention discloses a stacking mechanical arm which comprises a base, a rack, a rear arm, a front arm, tongs and adjusting mechanisms for controlling the action of the tongs. The adjusting mechanisms comprise rotary tables, front pull rods and rear pull rods, wherein the rotary tables, the front arm and the rear arm are in hinged joint, long rods of the front pull rods are parallel to the front arm, the rear pull rods are parallel to the rear arm, and the two sets of the adjusting mechanisms are symmetrically arranged on the two sides of the rear arm and the two sides of the front arm. The stacking mechanism arm further comprises a hydraulic cylinder for controlling the rear arm and the front arm, a hydraulic cylinder for controlling the tongs and a tong rotating piece. The four-degree of freedom design and the hydraulic driving mode are adopted in the stacking mechanical arm, objects placed at different positions can be accurately grabbed, and the grabbing accuracy is improved; the adjusting mechanisms are adopted, the tongs are maintained at the fixed orientation all the time, and grabbing and sacking of packages are facilitated; the automatic control mode with a PLC as a main controller, the positioning detection mode of camera binocular parallax positioning and the recognition method of template matching are adopted, and the full-automatic stacking of the mechanical arm is achieved.

Description

technical field [0001] The invention relates to the technical field of industrial manipulators, in particular to a stacking manipulator. Background technique [0002] With the development of my country's economy, manipulators are becoming more and more important in production applications. They can replace human labor in many industrial fields and realize production automation. The use of manipulators can not only reduce human physical labor and waste of human resources, but also effectively improve work efficiency. Patent specification ZL201320128326.3 discloses a palletizing manipulator. The palletizing manipulator includes a base, a frame, an arm mechanism, a gripper and an adjustment mechanism for controlling the movement of the gripper. Although the state of the gripper can be adjusted from time to time, it is convenient to grab the package , but the working range is small, there are working dead angles, and the pneumatic drive mode is adopted, and the snatching capaci...

AI Technical Summary

Problems solved by technology

Patent specification ZL201420327512.4 discloses a three-degree-of-freedom hybrid palletizing manipulator. The palletizing manipulator includes a frame, a boom, a forearm and a linear drive. It has three degrees of freedom and successfully solves the problem of a small working range. However, it is not equipped with an adjustment mechanism to control the movement of the gripper, which is inconvenient to complete the grasping and palletizing of packages

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