A mechanical hand structure of a carton cargo handling robot

Abstract

The application provides a mechanical arm structure of a carton cargo loading and unloading robot, and relates to the technical field of mechanical arms.The mechanical arm structure comprises a fixing base, the fixing base is fixed on a moving base, a first rotating shaft is arranged on the fixing base and rotates, a mechanical arm is fixed on the first rotating shaft, and a first gear is welded on the outer wall of the first rotating shaft.The auxiliary groove with the annular groove structure is arranged on the bottom end surface of the first gear, the support rods are equidistantly welded on the upper end surface of the fixing base in an annular array, the upper end of each support rod is inserted into the auxiliary groove, the upper end of each support rod rotates with a ball, the outer wall of the ball is in contact with the top end surface of the inner wall of the auxiliary groove, the stability of the first gear is ensured through the support of the support rods during the rotation of the first gear, the probability of stress damage of the first rotating shaft is reduced, the wear of the support rods and the auxiliary groove is reduced through the arrangement of the balls, and the problems of easy breakage of the rotating shaft of the bottom rotating adjusting structure and the lack of carrying supporting structure are solved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a robotic arm structure for a carton loading and unloading robot. Background Technology

[0002] Loading and unloading robot arms are automated execution devices specifically designed to perform tasks such as grasping, handling, loading and unloading, stacking, and loading and unloading of goods / workpieces. They are the core operating components of loading and unloading robots, mimicking human hand movements and automatically completing the entire process of loading, unloading, and transferring materials according to a program, replacing manual heavy physical labor and repetitive loading and unloading operations.

[0003] Existing robotic arms for loading and unloading cardboard boxes still have the following shortcomings: When the existing device is used to handle heavy goods, the rotating shaft of the bottom adjustment structure is subjected to excessive force and cannot be properly supported, which can easily lead to a shortened lifespan or even breakage of the shaft. Existing equipment cannot support goods while clamping them during handling, resulting in low handling safety. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a robotic arm structure for a carton loading and unloading robot, which solves the issues of easy breakage of the rotating shaft in the bottom adjustment structure and the lack of a handling support structure.

[0005] This invention provides a robotic arm structure for a carton loading and unloading robot, specifically including: a fixed base; the fixed base is fixed on a movable base, a first rotating shaft is rotatably mounted on the fixed base, and a robotic arm is fixed on the first rotating shaft; a first gear is welded to the outer wall of the first rotating shaft, a motor mounting base is welded to the upper end face of the fixed base, a first brake motor is fixed to the motor mounting base, a second gear is fixed to the output shaft of the first brake motor, and the second gear meshes with the first gear; an auxiliary groove with an annular groove structure is opened on the bottom end face of the first gear, and support rods are welded in an annular array at equal intervals on the upper end face of the fixed base, the upper end of each support rod is inserted into the auxiliary groove, and a ball is rotatably mounted on the upper end of each support rod, with the upper part of the outer wall of the ball contacting the top surface of the inner wall of the auxiliary groove.

[0006] Furthermore, the support rod is a cylindrical rod-shaped structure, and the outer wall of the support rod does not contact the inner wall of the auxiliary groove.

[0007] Furthermore, a first protective cover is fixed on the fixed base, and the first protective cover covers the outside of the second gear and the first gear.

[0008] Furthermore, a second rotating shaft is mounted on the robotic arm, and a concave seat is welded to one end of the right side of the second rotating shaft. A second brake motor is fixed on the robotic arm, and the output shaft of the second brake motor is fixed on the second rotating shaft.

[0009] Furthermore, a sliding rod is welded into the seat body, and clamping arms slide symmetrically on the sliding rod. A double-ended lead screw rotates on the seat body, and the front end and the rear end of the double-ended lead screw are respectively threaded to the two clamping arms. The thread directions of the front end and the rear end of the double-ended lead screw are opposite. A first servo motor is fixed to the rear end face of the seat body, and the output shaft of the first servo motor is fixed to the double-ended lead screw.

[0010] Furthermore, a protective plate is welded to the inner side of the seat body, and the protective plate is located directly above the double-ended lead screw. The second rotating shaft, the seat body, the second brake motor, the clamping arm, the double-ended lead screw, the first servo motor, and the protective plate together form the adjustment assembly.

[0011] Furthermore, a guide rod is symmetrically welded to the upper end of the seat, a connecting arm slides on the guide rod, a third rotating shaft rotates on the connecting arm, the third rotating shaft passes through the seat, a support arm is welded to one end of the third rotating shaft, a hydraulic cylinder is fixed on the connecting arm, the extended end of the hydraulic cylinder passes through the connecting arm, and the extended end of the hydraulic cylinder is fixed on the seat.

[0012] Furthermore, a second servo motor is fixed to the upper end face of the connecting arm, and the output shaft of the second servo motor is fixed on the third rotating shaft. The guide rod, connecting arm, hydraulic cylinder, third rotating shaft, second servo motor and support arm together form an auxiliary component.

[0013] Furthermore, each of the clamping arms has a fourth rotating shaft that rotates, a clamping block that is welded to one end of the inner side of the fourth rotating shaft, a worm gear that is welded to the fourth rotating shaft, a worm that rotates on the outer side of the clamping arm that meshes with the worm gear, a third servo motor that is fixed on the outer side of the clamping arm, and the output shaft of the third servo motor that is fixed on the worm.

[0014] Furthermore, a second protective cover is fixed to the outside of the clamping arm. The second protective cover covers the outside of the worm gear, worm, and third servo motor. The fourth rotating shaft, clamping block, worm gear, worm, third servo motor, and second protective cover together form an adjustment assembly.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This application features an auxiliary groove with an annular groove structure on the bottom end face of the first gear. Support rods are welded at equal intervals in an annular array on the upper end face of the fixed base. The upper end of each support rod is inserted into the auxiliary groove, and a ball is rotatably mounted on the upper end of each support rod. The upper part of the outer wall of the ball contacts the top surface of the inner wall of the auxiliary groove. During the rotation of the first gear, the stability of the first gear can be ensured by the support of the support rods, reducing the probability of damage to the first shaft. Furthermore, the ball bearings can reduce the wear of the support rods and the auxiliary groove.

[0016] This application features a guide rod symmetrically welded to the upper end of the base, a connecting arm sliding along the guide rod, and a third rotating shaft rotatably mounted on the connecting arm. The third rotating shaft passes through the base, and a support arm is welded to one end below the third rotating shaft. A hydraulic cylinder is fixed to the connecting arm, with its extended end passing through the connecting arm and fixed to the base. A second servo motor is fixed to the upper end of the connecting arm, and the output shaft of the second servo motor is fixed to the third rotating shaft. Driving the second servo motor to rotate adjusts the support arm to the bottom of the carton, and driving the hydraulic cylinder to retract, causes the support arm to contact the bottom of the carton, thus supporting the carton during transport and preventing it from falling. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0018] In the attached diagram: Figure 1 A perspective view of the manipulator structure of the carton loading and unloading robot according to the present invention is shown; Figure 2 A front view of the manipulator structure of the carton loading and unloading robot according to the present invention is shown; Figure 3 A partially cut-out perspective view of the manipulator structure of the carton loading and unloading robot according to the present invention is shown. Figure 4 The present invention is shown Figure 3 Enlarged view of point A; Figure 5 A partially cut-out front view of the manipulator structure of the carton loading and unloading robot according to the present invention is shown. Figure 6 The present invention is shown Figure 5 Enlarged view of point B; Figure 7 A perspective view of the auxiliary component and adjustment component according to the present invention is shown; Figure 8 The present invention is shown Figure 7 Enlarged view of point C.

[0019] List of reference numerals 1. Fixed base; 101. First rotating shaft; 102. First gear; 103. Motor mounting base; 104. First brake motor; 105. Second gear; 106. First protective cover; 107. Auxiliary groove; 108. Support rod; 109. Ball bearing; 2. Robotic arm; 3. Adjustment assembly; 301. Second rotating shaft; 302. Base; 303. Second brake motor; 304. Clamping arm; 305. Double-ended lead screw; 306. First servo motor; 307. Protective plate; 4. Auxiliary assembly; 401. Guide rod; 402. Connecting arm; 403. Hydraulic cylinder; 404. Third rotating shaft; 405. Second servo motor; 406. Support arm; 5. Adjustment assembly; 501. Fourth rotating shaft; 502. Clamping block; 503. Worm gear; 504. Worm; 505. Third servo motor; 506. Second protective cover. Detailed Implementation

[0020] Example 1: As shown in the attached document Figure 1 To be continued Figure 8 As shown: This invention provides a robotic arm structure for a carton loading and unloading robot, comprising: a fixed base 1; the fixed base 1 is fixed on a movable base, a first rotating shaft 101 is rotatably mounted on the fixed base 1, and a robotic arm 2 is fixed on the first rotating shaft 101; a first gear 102 is welded to the outer wall of the first rotating shaft 101, a motor mounting base 103 is welded to the upper end face of the fixed base 1, a first brake motor 104 is fixed on the motor mounting base 103, and a second gear 105 is fixed on the output shaft of the first brake motor 104, the second gear 105 meshing with the first gear 102; driving the first brake motor 104 to rotate, and through the meshing transmission of the second gear 105 and the first gear 102, the rotation adjustment of the first rotating shaft 101 can be realized, and the rotation adjustment of the robotic arm 2 can also be realized, improving the flexibility of cargo handling.

[0021] The bottom end face of the first gear 102 is provided with an auxiliary groove 107 with an annular groove structure. The upper end face of the fixed base 1 is welded with support rods 108 in an annular array at equal intervals. The upper end of each support rod 108 is inserted into the auxiliary groove 107. Each support rod 108 has a ball bearing 109 rotating at its upper end. The upper part of the outer wall of the ball bearing 109 contacts the top surface of the inner wall of the auxiliary groove 107. During the rotation of the first gear 102, the support of the support rods 108 can ensure the stability of the first gear 102, reduce the probability of the first shaft 101 being damaged by force, and the ball bearing 109 can reduce the wear of the support rods 108 and the auxiliary groove 107.

[0022] Among them, the support rod 108 is a cylindrical rod structure, and the outer wall of the support rod 108 does not contact the inner wall of the auxiliary groove 107, which can avoid increasing the frictional resistance during the rotation of the first gear 102.

[0023] The first protective cover 106 is fixed on the fixed base 1. The first protective cover 106 covers the outside of the second gear 105 and the first gear 102. The first protective cover 106 can achieve dust protection for the second gear 105 and the first gear 102.

[0024] The robotic arm 2 has a second rotating shaft 301 that rotates on it. A concave seat 302 is welded to one end of the right side of the second rotating shaft 301. A second brake motor 303 is fixed on the robotic arm 2. The output shaft of the second brake motor 303 is fixed on the second rotating shaft 301, which drives the second brake motor 303 to rotate, thereby enabling the directional adjustment of the clamping arm 304.

[0025] The base 302 has a sliding rod welded inside, and clamping arms 304 slide symmetrically on the sliding rod. A double-ended lead screw 305 rotates on the base 302. The front and rear ends of the double-ended lead screw 305 are threaded to the two clamping arms 304 respectively. The thread directions of the front and rear ends of the double-ended lead screw 305 are opposite. A first servo motor 306 is fixed to the rear end face of the base 302. The output shaft of the first servo motor 306 is fixed to the double-ended lead screw 305, driving the first servo motor 306 to rotate. The first servo motor 306 drives the double-ended lead screw 305 to rotate. Under the thread drive of the double-ended lead screw 305, the two clamping arms 304 can be clamped synchronously, resulting in high clamping efficiency.

[0026] The base 302 has a protective plate 307 welded to its inner side. The protective plate 307 is located directly above the double-ended lead screw 305. The second rotating shaft 301, the base 302, the second brake motor 303, the clamping arm 304, the double-ended lead screw 305, the first servo motor 306, and the protective plate 307 together form the adjustment assembly 3. Under the protection of the protective plate 307, the probability of damage to the double-ended lead screw 305 can be reduced.

[0027] The upper end of the seat 302 is symmetrically welded with a guide rod 401, a connecting arm 402 slides on the guide rod 401, a third rotating shaft 404 rotates on the connecting arm 402, the third rotating shaft 404 passes through the seat 302, a support arm 406 is welded to one end of the third rotating shaft 404, a hydraulic cylinder 403 is fixed on the connecting arm 402, the extended end of the hydraulic cylinder 403 passes through the connecting arm 402, and the extended end of the hydraulic cylinder 403 is fixed on the seat 302.

[0028] The connecting arm 402 has a second servo motor 405 fixed on its upper end face. The output shaft of the second servo motor 405 is fixed on the third rotating shaft 404. The guide rod 401, connecting arm 402, hydraulic cylinder 403, third rotating shaft 404, second servo motor 405 and support arm 406 together form the auxiliary component 4. Driving the second servo motor 405 to rotate adjusts the support arm 406 to the bottom of the carton. Driving the hydraulic cylinder 403 to retract makes the support arm 406 contact the bottom of the carton, thus supporting the carton during handling and preventing the carton from falling.

[0029] Each clamping arm 304 has a fourth rotating shaft 501 that rotates. A clamping block 502 is welded to one end of the inner side of the fourth rotating shaft 501. A worm gear 503 is welded to the fourth rotating shaft 501. A worm 504 rotates on the outer side of the clamping arm 304 and meshes with the worm gear 503. A third servo motor 505 is fixed on the outer side of the clamping arm 304. The output shaft of the third servo motor 505 is fixed on the worm 504. Driving the third servo motor 505 to rotate can drive the clamping block 502 to rotate, thus realizing the flipping of the carton after clamping.

[0030] Example 2: Based on Example 1, it further includes: a second protective cover 506 is fixed on the outside of the clamping arm 304. The second protective cover 506 covers the outside of the worm gear 503, worm 504 and the third servo motor 505. The fourth rotating shaft 501, clamping block 502, worm gear 503, worm 504, third servo motor 505 and second protective cover 506 together form the adjustment component 5. The second protective cover 506 can realize dust protection for the worm gear 503, worm 504 and third servo motor 505.

[0031] The specific usage and function of this embodiment: Before operation, check the equipment status, confirm that the fixed base 1 is firmly installed on the movable base, check that the first gear 102 and the second gear 105 mesh smoothly, that the support rod 108 and the end ball bearing 109 are free from jamming and wear, that the circuits of each servo motor and hydraulic cylinder 403 are normal, and that the first protective cover 106 and the second protective cover 506 are intact and can effectively prevent dust. After the equipment self-check is completed, officially start the equipment to carry out carton loading and unloading operations. First, drive the first brake motor 104 to run, relying on the precise meshing transmission between the second gear 105 and the first gear 102, drive the first rotating shaft 101 to rotate smoothly, thereby adjusting the horizontal rotation angle of the robotic arm 2, and accurately docking and adapting to cartons in different positions. Loading and unloading points; During the rotation of the robotic arm 2, the support rod 108 moves along the auxiliary groove 107, achieving limit support through the groove structure. Combined with the end ball bearings 109, this significantly reduces running friction, effectively preventing mechanical vibration and deviation, ensuring overall operational stability and accuracy. After completing the horizontal angle adjustment, the second brake motor 303 is activated, driving the second rotating shaft 301 to rotate in a specific direction. This causes the seat 302 and the clamping arm 304 to synchronously adjust their flip angles to adapt to the carton clamping posture. Subsequently, the first servo motor 306 is activated, driving the double-headed lead screw 305 to rotate at a uniform speed. Utilizing the transmission characteristics of the lead screw's positive and negative threads, the clamping arms 304 on both sides are driven to synchronously move towards each other along the sliding rod, tightening at a uniform speed and precisely completing the carton clamping and fixing operation. During operation, the upper protective plate 307 continuously shields against falling debris and crumbs, providing comprehensive protection for the precision transmission structure, such as the double-headed lead screw 305, preventing damage to components and ensuring clamping accuracy. To eliminate the risk of loosening of the carton clamping and its fall from a height, secondary reinforcement is required. The hydraulic cylinder 403 retracts, pulling the connecting arm 402 smoothly along the guide rod 401. Simultaneously, the second servo motor 405 is activated, driving the support arm 406 to rotate and fit against the bottom of the carton via the third rotating shaft 404. This forms a double-layer protection with the upper clamping structure, firmly securing the carton and improving operational safety. If the operation requires flipping the carton, the third servo motor 505 can be activated, driving the worm gear 504 to mesh with the worm wheel 503, which then... The reduction gear 503 and worm gear 504 drive the fourth rotating shaft 501 to rotate smoothly, causing the clamping block 502 and the fixed carton to complete a precise angle flip, meeting diverse loading and unloading needs. After all loading, unloading and flipping operations are completed, the equipment reset program is started, and each servo motor and hydraulic cylinder 403 is controlled to reset in an orderly manner. The clamping arm 304 is slowly released and the support arm 406 is fully retracted, so that the equipment returns to the initial standby state. After confirming that all mechanisms have been reset correctly, the main power supply of the equipment is turned off and power-off protection is implemented. Finally, the equipment is cleaned and maintained, and residual paper scraps, dust and debris in each structural gap, gear groove and slide rail are carefully cleaned to keep the equipment clean and unobstructed. The entire standardized operation process is completed to prepare for the next operation of the equipment.

Claims

1. A robotic arm structure for a cardboard box loading and unloading robot, characterized in that, include: Fixed base (1); the fixed base (1) is fixed on the movable base, and a first rotating shaft (101) is rotatable on the fixed base (1), and a mechanical arm (2) is fixed on the first rotating shaft (101); a first gear (102) is welded on the outer wall of the first rotating shaft (101), a motor fixing base (103) is welded on the upper end face of the fixed base (1), a first brake motor (104) is fixed on the motor fixing base (103), and a second gear (105) is fixed on the output shaft of the first brake motor (104). The second gear (105) meshes with the first gear (102); the bottom end face of the first gear (102) is provided with an auxiliary groove (107) with an annular groove structure, and the upper end face of the fixed seat (1) is welded with support rods (108) in an annular array at equal intervals. The upper end of each support rod (108) is inserted into the auxiliary groove (107), and each support rod (108) has a ball (109) rotating at the upper end. The upper position of the outer wall of the ball (109) is in contact with the top surface of the inner wall of the auxiliary groove (107).

2. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 1, characterized in that: The support rod (108) is a cylindrical rod structure, and the outer wall of the support rod (108) does not contact the inner wall of the auxiliary groove (107).

3. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 1, characterized in that: A first protective cover (106) is fixed on the fixed base (1), and the first protective cover (106) covers the outside of the second gear (105) and the first gear (102).

4. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 1, characterized in that: The robotic arm (2) has a second rotating shaft (301) that rotates on it. A seat (302) with a concave structure is welded to one end of the right side of the second rotating shaft (301). A second brake motor (303) is fixed on the robotic arm (2). The output shaft of the second brake motor (303) is fixed on the second rotating shaft (301).

5. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 4, characterized in that: A sliding rod is welded inside the seat (302), and clamping arms (304) slide symmetrically on the sliding rod. A double-ended lead screw (305) rotates on the seat (302). The front end and the rear end of the double-ended lead screw (305) are respectively threaded to the two clamping arms (304). The thread directions of the front end and the rear end of the double-ended lead screw (305) are opposite. A first servo motor (306) is fixed on the rear end face of the seat (302), and the output shaft of the first servo motor (306) is fixed on the double-ended lead screw (305).

6. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 5, characterized in that: The inner side of the seat (302) is welded with a protective plate (307). The protective plate (307) is located directly above the double-ended lead screw (305). The second rotating shaft (301), the seat (302), the second brake motor (303), the clamping arm (304), the double-ended lead screw (305), the first servo motor (306), and the protective plate (307) together form the adjustment assembly (3).

7. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 6, characterized in that: The upper end of the seat (302) is symmetrically welded with a guide rod (401), a connecting arm (402) slides on the guide rod (401), a third rotating shaft (404) rotates on the connecting arm (402), the third rotating shaft (404) passes through the seat (302), a support arm (406) is welded to one end of the third rotating shaft (404), a hydraulic cylinder (403) is fixed on the connecting arm (402), the extended end of the hydraulic cylinder (403) passes through the connecting arm (402), and the extended end of the hydraulic cylinder (403) is fixed on the seat (302).

8. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 7, characterized in that: The upper end face of the connecting arm (402) is fixed with a second servo motor (405), and the output shaft of the second servo motor (405) is fixed on the third rotating shaft (404). The guide rod (401), the connecting arm (402), the hydraulic cylinder (403), the third rotating shaft (404), the second servo motor (405) and the support arm (406) together form the auxiliary component (4).

9. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 5, characterized in that: Each of the clamping arms (304) has a fourth rotating shaft (501) that rotates. A clamping block (502) is welded to one end of the inner side of the fourth rotating shaft (501). A worm gear (503) is welded to the fourth rotating shaft (501). A worm (504) rotates on the outer side of the clamping arm (304). The worm (504) meshes with the worm gear (503). A third servo motor (505) is fixed on the outer side of the clamping arm (304). The output shaft of the third servo motor (505) is fixed on the worm (504).

10. The robotic arm structure of a cardboard box loading and unloading robot as described in claim 9, characterized in that: A second protective cover (506) is fixed to the outside of the clamping arm (304). The second protective cover (506) covers the outside of the worm gear (503), worm (504) and the third servo motor (505). The fourth rotating shaft (501), clamping block (502), worm gear (503), worm (504), third servo motor (505) and second protective cover (506) together form the adjustment assembly (5).

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