A kind of anti-falling structure of manipulator for carrying goods

Abstract

The present invention relates to the field of manipulator technology, and in particular to an anti-falling structure of a manipulator for handling goods, comprising a manipulator arm, a connecting straight rod is provided at the lower end of one side of the manipulator arm, a clamp rod is provided at the lower end of the connecting straight rod, a fixing frame is provided on the outer side of the connecting straight rod, a rotating mechanism is provided between the fixing frame and the connecting straight rod, mounting plates are provided on both sides of the clamp rod, a clamping platform is provided on the outer side of each mounting plate, a mounting seat is provided between the mounting plate and the clamping platform, two clamping claw arms are provided on the inner side of the clamping platform, a distance adjustment mechanism is provided at the upper end between the two clamping claw arms, a connecting support arm is provided on the inner wall of each clamping claw arm at the lower end of the distance adjustment mechanism, an elastic reset mechanism is provided at the lower end of the connecting support arm, a limit seat is provided at the lower end of each clamping claw arm, and an extension mechanism is provided at the upper end of the limit seat. An elastic reset mechanism is provided inside the clamping platform of the present invention, and a spring provided between the two round tables keeps the connecting support arm upward, so that the lower ends of the clamping claw arms on both sides remain in contact, and the two clamping claw arms are extended by controlling a hydraulic pump.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to an anti-falling structure of a manipulator for transporting goods. Background Art

[0002] In the field of industrial automation and logistics, the manipulator for handling goods is a very important device. It is mainly used to grab, carry objects or operate according to a fixed program. It is usually composed of PLC control, touch screen and servo motor control, adopts a frame structure, occupies less space, and is suitable for palletizing and stacking operations in the electronics, food, beverage and other industries. They can improve production efficiency, reduce labor costs, and play a role in some tasks that require high accuracy and repeatability. Industrial manipulators are automatic devices that can automatically grasp, carry and operate according to given procedures, trajectories and requirements. Especially in some harsh environments such as high temperature, high pressure, dusty, flammable, explosive, radioactive, and bulky, monotonous, and frequent operations, they replace human operations, so they are increasingly widely used.

[0003] When a robot used to transport goods is used for a long time, wear and tear of parts may cause the arm to fall off. In addition, most robots use hydraulic system control to transport goods. Insufficient pressure or oil leakage in the hydraulic system may cause the robot's arm to be unable to remain stable. In addition, aging or damage of wiring in the electrical system may cause goods to fall off during the handling process of the robot, resulting in production accidents and economic losses.

[0004] In industrial production, large quantities of goods are transported to designated locations. Setting up an anti-drop structure can ensure that the goods will not accidentally fall off during the handling process, thereby avoiding situations that may threaten personnel safety, such as injuries from goods or damage to equipment. During the handling process, if the goods fall off, it may cause damage to the goods. Especially when transporting fragile or high-value items, the anti-drop structure can protect the goods from damage. Setting up an anti-drop structure can effectively prevent accidental damage caused by aging equipment, and timely limit and fix the manipulator arm to avoid larger production accidents. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings existing in the background technology and to propose an anti-falling structure for a manipulator for transporting goods.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a structure for preventing a manipulator from falling off for handling goods, comprising a manipulator arm, a connecting straight rod is provided at the lower end of one side of the manipulator arm, a clamping rod is provided at the lower end of the connecting straight rod, a fixing frame is provided on the outer side of the connecting straight rod, a rotating mechanism is provided between the fixing frame and the connecting straight rod, mounting plates are provided on both sides of the clamping rod, a clamping platform is provided on the outer side of each mounting plate, a mounting base is provided between the mounting plate and the clamping platform, two clamping claw arms are provided on the inner side of the clamping platform, a distance adjusting mechanism is provided at the upper end between the two clamping claw arms, a connecting support arm is provided on the inner wall of each clamping claw arm at the lower end of the distance adjusting mechanism, an elastic reset mechanism is provided at the lower end of the connecting support arm, a limiting seat is provided at the lower end of each clamping claw arm, and an extension mechanism is provided at the upper end of the limiting seat.

[0007] Preferably, the rotating mechanism includes two stretching motors fixedly mounted on the inner side of the fixed frame, the upper end of the clamping rod is located at the lower end of the connecting straight rod and is provided with a fixed base, the upper end of the fixed base is provided with two groups of rotating arms, and each two adjacent rotating arms form a group.

[0008] Preferably, a connecting rotating rod is provided at the upper end of each group of rotating arms, a connecting rod penetrating the rotating arm is provided at the lower end of the connecting straight rod, and the telescopic end of each stretching motor is fixedly installed between the two rotating arms.

[0009] Preferably, a hydraulic pump is provided between the upper ends of the two clamping claw arms, limit plates are provided on the left and right sides of the inner wall of the clamping platform, lifting seats are fixedly installed on the front and back of the inner wall of the clamping platform, and rotating rods are installed through both sides of the clamping platform.

[0010] Preferably, the distance adjusting mechanism includes a limiting cylinder fixedly installed between two adjacent clamping claw arms, and a distance adjusting screw is installed through one side of the limiting cylinder. The distance adjusting screw is located outside the limiting cylinder and is rotatably installed with a distance adjusting nut. A clamping block is provided on the outer surface of the distance adjusting screw between the distance adjusting nut and the limiting cylinder.

[0011] Preferably, the elastic reset mechanism comprises a circular ring penetrating the lower end of the connecting arm, and the circular ring is located between the two connecting arms and is penetrated by a connecting block.

[0012] Preferably, the extension mechanism includes a fixed support plate fixedly mounted on the lower end of one side of a limit seat at the lower end of the clamp arm, an extension plate is provided on the upper end of the fixed support plate, protrusions are fixedly mounted on both side surfaces of the extension plate, and a rotating rod passing through the extension plate is provided on the rear surface of the limit seat.

[0013] Preferably, a bottom plate is provided at the lower end of the inner wall of the clamping platform, and a round platform is fixedly mounted on the upper surface of the bottom plate and the lower end of the connecting block, and a spring is provided between the two round platforms.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The connecting straight rod of the present invention is provided with a rotating mechanism for rotating the clamping rod, and the rotating arm is controlled to rotate by two stretching motors, so as to clamp the vertically and horizontally placed goods; 2. The present invention is provided with a distance adjustment mechanism, which controls the distance adjustment nut by the size of the goods being transported, thereby changing the distance between the two clamping claws, and cooperates with the extension mechanism at the bottom to further fix the goods to prevent them from falling off; 3. An elastic reset mechanism is provided inside the clamping platform of the present invention. The spring provided between the two truncated tables keeps the connecting arm upward, so that the lower ends of the clamping arms on both sides are kept in contact, and the two clamping arms are extended by controlling the hydraulic pump. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of an anti-falling structure of a manipulator for transporting goods according to the present invention; Figure 2 This is a schematic diagram of the rotating mechanism structure of a manipulator anti-falling structure for transporting goods according to the present invention; Figure 3 This is a schematic diagram of the structure of an elastic reset mechanism of an anti-falling structure of a manipulator for transporting goods according to the present invention; Figure 4 This is a schematic diagram of a clamping table structure of an anti-falling structure of a manipulator for transporting goods according to the present invention; Figure 5 The present invention is a kind of anti-falling structure of the manipulator for carrying goods Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the connecting arm structure of the anti-falling structure of a manipulator for transporting goods according to the present invention; Figure 7 This is a schematic diagram of the structure of a gripper arm of an anti-falling structure of a manipulator for transporting goods according to the present invention; Figure 8 The present invention is a schematic diagram of the extension mechanism structure of the anti-falling structure of a manipulator for transporting goods.

[0016] 1. Robotic arm; 2. Connecting straight rod; 3. Clamping rod; 4. Fixed frame; 5. Mounting plate; 6. Fixed base; 7. Connecting rotating rod; 8. Connecting rod; 9. Stretching motor; 10. Rotating arm; 11. Mounting base; 101. Clamping table; 102. Hydraulic pump; 103. Clamping claw arm; 104. Adjusting screw rod; 105. Pressing block; 106. Adjusting nut; 107. Connecting support arm; 108. Spring; 109. Lifting base; 110. Bottom plate; 111. Rotating rod; 112. Limiting cylinder; 113. Round table; 114. Connecting block; 115. Ring; 116. Limiting plate; 201. Extension plate; 202. Rotating rod; 203. Bump; 204. Fixed support plate; 205. Limiting seat. DETAILED DESCRIPTION

[0017] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0018] like Figure 1-Figure 8 The anti-falling structure of a manipulator for handling goods shown in the figure comprises a manipulator 1, a connecting straight rod 2 is provided at the lower end of one side of the manipulator 1, a clamping rod 3 is provided at the lower end of the connecting straight rod 2, a fixing frame 4 is provided on the outer side of the connecting straight rod 2, a rotating mechanism is provided between the fixing frame 4 and the connecting straight rod 2, mounting plates 5 are provided on both sides of the clamping rod 3, a clamping platform 101 is provided on the outer side of each mounting plate 5, a mounting seat 11 is provided between the mounting plate 5 and the clamping platform 101, two clamping claw arms 103 are provided on the inner side of the clamping platform 101, a distance adjusting mechanism is provided at the upper end between the two clamping claw arms 103, a connecting support arm 107 is provided on the inner wall of each clamping claw arm 103 at the lower end of the distance adjusting mechanism, an elastic reset mechanism is provided at the lower end of the connecting support arm 107, a limiting seat 205 is provided at the lower end of each clamping claw arm 103, and an extension mechanism is provided at the upper end of the limiting seat 205.

[0019] like Figure 2 As shown, the rotating mechanism includes two stretching motors 9 fixedly mounted on the inner side of the fixed frame 4, the upper end of the clamping rod 3 is connected to the lower end of the straight rod 2 and is provided with a fixed base 6, and the upper end of the fixed base 6 is provided with two groups of rotating arms 10, and each two adjacent rotating arms 10 form a group.

[0020] A connecting rod 7 is provided at the upper end of each set of rotating arms 10, and a connecting rod 8 penetrating the rotating arm 10 is provided at the lower end of the connecting straight rod 2. The telescopic end of each stretching motor 9 is fixedly installed between the two rotating arms 10. The rotating arm 10 is controlled to stretch up and down by contracting the output end of the stretching motor 9, thereby realizing the rotation of the fixed base 6. The fixed base 6 drives the clamping rod 3 to rotate, thereby clamping vertically and horizontally placed materials.

[0021] like Figure 3-Figure 4 As shown, a hydraulic pump 102 is provided between the upper ends of the two clamping arms 103, and limit plates 116 are provided on the left and right sides of the inner wall of the clamping platform 101. Lifting clamps 109 are fixedly installed on the front and back of the inner wall of the clamping platform 101. Turning rods 111 are installed through both sides of the clamping platform 101. The limit plates 116 limit the clamping arms 103 to avoid misalignment caused by offset during operation. Turning rods 111 are installed through the surface of the clamping platform 101. The hydraulic pump 102 is used to stretch the two sets of clamping arms 103, and the turning rod 111 at the lower end cooperates with the clamping platform 101 to install the clamping arms 103.

[0022] like Figure 5As shown, the distance adjustment mechanism includes a limiting cylinder 112 fixedly installed between two adjacent clamping jaw arms 103, a distance adjustment screw 104 is installed through the limiting cylinder 112 on one side, the distance adjustment screw 104 is located on the outside of the limiting cylinder 112 and is rotatably installed with a distance adjustment nut 106, and a clamping block 105 is provided on the outer surface of the distance adjustment screw 104 between the distance adjustment nut 106 and the limiting cylinder 112. According to the size of the clamped object, the staff rotates the distance adjustment nut 106 to make the clamping block 105 gradually fit the limiting cylinder 112, thereby controlling the distance between the two clamping jaw arms 103.

[0023] like Figure 6 As shown, the elastic reset mechanism includes a ring 115 that passes through the lower end of the connecting arm 107 , and the ring 115 is located between the two connecting arms 107 and has a connecting block 114 installed therethrough.

[0024] A bottom plate 110 is provided at the lower end of the inner wall of the clamping platform 101, and a round table 113 is fixedly installed on the upper surface of the bottom plate 110 and the lower end of the connecting block 114. A spring 108 is provided between the two round tables 113. The elasticity of the spring 108 makes the round table 113 at the upper end continue to move upward, driving the connecting arm 107 to make the upper ends of the clamping arms 103 on both sides extend outward, and the extended parts of the lower ends continue to fit, so as to fix and clamp the goods, thereby achieving the purpose of preventing the goods from falling off during the transportation process.

[0025] like Figure 7-Figure 8 As shown, the extension mechanism includes a fixed support plate 204 fixedly mounted on the lower end of one side of a limit seat 205 at the lower end of the clamping claw arm 103, an extension plate 201 is provided at the upper end of the fixed support plate 204, protrusions 203 are fixedly mounted on both side surfaces of the extension plate 201, and a rotating rod 202 penetrating the extension plate 201 is provided on the rear surface of the limit seat 205. The extension plate 201 is moved outward by rotating the rotating rod 202 to expand the clamping range of the clamping claw arm 103.

[0026] Working principle: Control the robot arm 1 to move to the upper end of the transported goods. According to the placement of the transported goods, the horizontally placed vertical state goods can be transported through the rotating mechanism. A fixed frame 4 is provided on the outer side of the connecting straight rod 2, a clamping rod 3 is provided at the lower end of the connecting straight rod 2, and a fixed base 6 is provided between the clamping rod 3 and the connecting straight rod 2. A rotating arm 10 for connection is provided at the upper end of the fixed base 6. Stretching motors 9 are provided on both sides of the fixed frame 4. When the clamping rod 3 needs to be rotated, the stretching motor 9 is enabled. The output end of the stretching motor 9 is fixedly installed on the upper ends of the two rotating arms 10, and the fixed base 6 is driven to rotate along the lower end of the connecting straight rod 2 through the contraction of the stretching motor 9.

[0027] Mounting plates 5 are provided on both sides of the clamping rod 3, and a fixed base 6 is provided on the outer side of each mounting plate 5, and a clamping platform 101 is fixedly installed through the fixed base 6. A clamping claw arm 103 for carrying goods is provided inside the clamping claw arm 103, and an elastic reset mechanism is provided between the two clamping claw arms 103. A connecting support arm 107 is rotatably installed on the inner wall of each clamping claw arm 103, and a circular ring 115 passes through the intersection of the four connecting support arms 107, and a connecting block 114 is installed through the middle position of the circular ring 115, and a round table 113 is fixedly installed on the lower end of the connecting block 114 and the upper surface of the bottom plate 110 below, and a spring 108 is provided between the two round tables 113. The elasticity of the spring 108 makes the upper round table 113 continue to move upward, so that the upper ends of the clamping claw arms 103 at both ends remain in an outward expansion state, and the lower ends of the clamping claw arms 103 remain in contact at this time, so as to achieve the purpose of preventing accidental falling off when carrying goods. When the cargo needs to be loaded and unloaded, the hydraulic pump 102 installed on the upper end of the clamping arm 103 is activated, and the hydraulic pump 102 tightens the clamping arms 103 on both sides, so that the upper ends of the clamping arms 103 on both sides are tightened and the lower ends are unfolded, thereby placing and loading and unloading the cargo.

[0028] The lower ends of the clamping arms 103 on both sides are provided with extension mechanisms for further extending the clamping range of the lower ends of the clamping arms 103 , and controlling the rotating rod 202 to drive the extension plate 201 to move outward along the lower ends of the clamping arms 103 , thereby expanding the clamping range of the lower ends of the clamping arms 103 .

[0029] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A structure for preventing a manipulator from falling off for carrying goods, comprising a manipulator arm (1), characterized in that: A connecting straight rod (2) is provided at the lower end of one side of the mechanical arm (1), a clamping rod (3) is provided at the lower end of the connecting straight rod (2), a fixing frame (4) is provided on the outer side of the connecting straight rod (2), a rotating mechanism is provided between the fixing frame (4) and the connecting straight rod (2), mounting plates (5) are provided on both sides of the clamping rod (3), a clamping platform (101) is provided on the outer side of each mounting plate (5), a mounting seat (11) is provided between the mounting plate (5) and the clamping platform (101), two clamping claw arms (103) are provided on the inner side of the clamping platform (101), a distance adjustment mechanism is provided at the upper end between the two clamping claw arms (103), a connecting support arm (107) is provided on the inner wall of each clamping claw arm (103) at the lower end of the distance adjustment mechanism, an elastic reset mechanism is provided at the lower end of the connecting support arm (107), a limiting seat (205) is provided at the lower end of each clamping claw arm (103), and an extension mechanism is provided at the upper end of the limiting seat (205).

2. The anti-falling structure of a manipulator for handling goods according to claim 1, characterized in that: The rotating mechanism comprises two stretching motors (9) fixedly mounted on the inner side of a fixed frame (4); the upper end of the clamping rod (3) is located at the lower end of the connecting straight rod (2) and is provided with a fixed base (6); the upper end of the fixed base (6) is provided with two groups of rotating arms (10), and each two adjacent rotating arms (10) form a group.

3. The anti-falling structure of a manipulator for handling goods according to claim 2, characterized in that: A connecting rod (7) is provided at the upper end of each set of rotating arms (10), a connecting rod (8) penetrating the rotating arms (10) is provided at the lower end of the connecting straight rod (2), and the telescopic end of each stretching motor (9) is fixedly mounted between the two rotating arms (10).

4. The anti-falling structure of a manipulator for handling goods according to claim 1, characterized in that: A hydraulic pump (102) is provided between the upper ends of the two clamping claw arms (103), limit plates (116) are provided on the left and right sides of the inner wall of the clamping platform (101), lifting and lowering seats (109) are fixedly installed at the front and rear of the inner wall of the clamping platform (101), and rotating rods (111) are installed through both sides of the clamping platform (101).

5. The anti-falling structure of a manipulator for handling goods according to claim 1, characterized in that: The distance adjustment mechanism comprises a limiting cylinder (112) fixedly mounted between two adjacent clamping claw arms (103); a distance adjustment screw (104) is installed through one side of the limiting cylinder (112); a distance adjustment nut (106) is rotatably mounted on the outside of the limiting cylinder (112); and a pressing block (105) is provided on the outer surface of the distance adjustment screw (104) between the distance adjustment nut (106) and the limiting cylinder (112).

6. The anti-falling structure of a manipulator for handling goods according to claim 1, characterized in that: The elastic reset mechanism comprises a circular ring (115) penetrating the lower end of the connecting support arm (107); the circular ring (115) is located between the two connecting support arms (107) and is penetrated by a connecting block (114).

7. The anti-falling structure of a manipulator for handling goods according to claim 1, characterized in that: The extension mechanism comprises a fixed support plate (204) fixedly mounted on the lower end of one side of a limit seat (205) at the lower end of the clamping claw arm (103); an extension plate (201) is provided at the upper end of the fixed support plate (204); protrusions (203) are fixedly mounted on both side surfaces of the extension plate (201); and a rotating rod (202) penetrating the extension plate (201) is provided on the rear surface of the limit seat (205).

8. The anti-falling structure of a manipulator for handling goods according to claim 6, characterized in that: A bottom plate (110) is provided at the lower end of the inner wall of the clamping platform (101), a round platform (113) is fixedly mounted on the upper surface of the bottom plate (110) and the lower end of the connecting block (114), and a spring (108) is provided between the two round platforms (113).

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