Stacking mechanical arm with pitching angle of tail end executing mechanism adjustable

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a stacking mechanical arm with the pitching angle of a tail end executing mechanism adjustable, which comprises a tail end executor, a small arm, a small arm control connecting rod, a large arm, a large arm servo motor, a small arm servo motor and a rotating base. The small arm servo motor is installed on the other side of the rotating base and connected with the small arm control connecting rod through a driving connecting rod, the upper end of the small arm control connecting rod is hinged to the rear end of the small arm, the upper end of the large arm is hinged to the middle rear end of the small arm, the front end of the small arm is hinged to the end effector, and the end effector is connected with the small arm servo motor. An angle adjusting mechanism used for adjusting the pitching angle of the end effector is installed at the upper end of the large arm. The pitching angle of the end effector in the device can be adjusted.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, and in particular relates to a palletizing mechanical arm with an end actuator having an adjustable pitch angle. Background Art

[0002] With the upgrading of industrial technology, automated production line technology has been rapidly popularized, and palletizing robots, as important handling equipment in production lines, are becoming more and more widely used. At present, mature handling robots use a double parallelogram mechanism, such as I RB460 of ABB Robot, which has the characteristics of simple structure and drive motor located at the robot base. For example, a Chinese patent discloses a palletizing robot arm, application number: 201920812112.5, which includes a rotating shaft seat, a bottom fixed seat and an end actuator, the rotating shaft seat is installed and fixed at the upper end position of the bottom fixed seat, the upper end of the rotating shaft seat is provided with an arm rod concave seat, the inside of the arm rod concave seat is provided with a metal main arm, the outer side of the arm rod concave seat is provided with a side motor on the metal main arm, and the rear end of the arm rod concave seat is provided with a side arm rod. The pitch angle of the end effector mechanism in this patent cannot be adjusted. In practice, the following problems exist: 1) It is impossible to efficiently utilize the space above the cargo, as the clamping mechanism at the end of the robot arm is above the cargo, occupying space and causing low space utilization; 2) It clamps standardized packaging and cannot handle a variety of cargo; 3) The cargo is not stacked flexibly and can only be stacked in order from bottom to top. Utility Model Content

[0003] The utility model aims to provide a palletizing robot arm with an end actuator having an adjustable pitch angle, so as to solve the problems existing in the background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a palletizing robot arm with an adjustable pitch angle of an end actuator, comprising an end actuator, a forearm, a forearm control link, a large arm, a large arm servo motor, a forearm servo motor and a rotating base, wherein the large arm servo motor is installed on one side of the rotating base for driving the large arm, and the forearm servo motor is installed on the other side of the rotating base and is connected to the forearm control link through a driving link, the upper end of the forearm control link is hinged to the rear end of the forearm, the upper end of the large arm is hinged to the middle and rear end of the forearm, the front end of the forearm is hinged to the end actuator, and an angle adjustment mechanism for adjusting the pitch angle of the end actuator is installed at the upper end of the large arm.

[0005] Preferably, the angle adjustment mechanism includes a servo motor, a motor rotation mounting seat, a rotating base, a lead screw, a first triangular beam, a second triangular beam, an end actuator holding link and an angle control link, the servo motor is mounted on the motor rotation mounting seat, the output end of the servo motor is fixedly connected to one end of the lead screw, the lead screw is threadedly engaged with a screw hole inside the rotating base, the rotating base is fixed to the side of the second triangular beam, the motor rotation mounting seat is fixed to the side of the first triangular beam, the first triangular beam and the second triangular beam are hinged to each other through a connecting shaft, the connecting shaft is connected to the upper part of the big arm, the middle and rear ends of the small arm are also hinged to the two ends of the connecting shaft, the other end of the first triangular beam is hinged to one end of the end actuator holding link, the other end of the end actuator is hinged to the side of the rotating base, the other end of the second triangular beam is hinged to one end of the angle control link, and the other end of the angle control link is hinged to the end actuator.

[0006] Preferably, mutually engaging grooves are respectively provided at the connection positions of the first triangular beam and the second triangular beam, and after the two are engaged, the outermost side surfaces of the two are flush.

[0007] Preferably, the small arm is a box-type structure, and the angle adjustment mechanism is buckled inside it.

[0008] Preferably, the hinge point between the angle control link and the end effector is located obliquely above the hinge point between the forearm and the end effector.

[0009] Preferably, a connecting sleeve is installed on one side of the other end of the second triangular beam, and the angle control connecting rod is hinged to the connecting sleeve.

[0010] Preferably, the rotating base is rotatably connected to the bottom mounting seat and is driven to rotate by a waist motor.

[0011] Preferably, a support beam is fixed in the middle of the rotating base, and the lower end of the upper arm is hinged to the support beam through a hinge shaft, and the hinge shaft is connected to the output end of the upper arm servo motor.

[0012] The beneficial effects of the utility model are as follows: the pitch angle of the end effector in the palletizing robot arm can be adjusted. Compared with the robot arm with a fixed pitch angle of the end effector, the robot arm has the following advantages: 1) effective use of the space above the goods, especially when palletizing in a narrow space; 2) ability to carry non-standard goods and clamp goods at different positions; 3) flexible picking and placing of goods, setting the clamping angle of the clamping mechanism, and flexible picking of goods; adjusting the angle, flexible stacking of goods, and expanding the picking and stacking range. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a stereogram of the device;

[0014] Figure 2 It is a three-dimensional diagram of one direction of the angle adjustment mechanism in the device;

[0015] Figure 3 This is a three-dimensional diagram of the angle adjustment mechanism in the device from another direction;

[0016] Figure 4 is a three-dimensional diagram of the position of the rotating base in the device;

[0017] Figure 5 It is a schematic diagram of the effect of the device on the range of motion of the robot arm;

[0018] In the figure: 1. end effector; 2. forearm; 3. forearm control link; 4. upper arm; 5. upper arm servo motor; 6. forearm servo motor; 7. rotating base; 8. angle adjustment mechanism; 81. servo motor; 82. motor rotating mounting seat; 83. rotating base; 84. lead screw; 85. first triangular beam; 86. second triangular beam; 87. end effector retaining link; 88. angle control link; 89. connecting sleeve; 9. bottom mounting seat; 10. support beam; 11. driving link; 12. waist motor. DETAILED DESCRIPTION

[0019] The specific implementation of the utility model is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0020] like Figure 1-4 As shown, a palletizing robot arm with an adjustable pitch angle of an end actuator includes an end actuator 1, a small arm 2, a small arm control link 3, a large arm 4, a large arm servo motor 5, a small arm servo motor 6 and a rotating base 7. The large arm servo motor is installed on one side of the rotating base to drive the large arm to swing. The small arm servo motor is installed on the other side of the rotating base and is connected to the small arm control link 3 through a driving link 11. When the small arm servo motor is working, it drives one end of the driving link to swing, the driving link drives the small arm control link to move up and down, and the small arm control link drives the small arm to swing. The upper end of the small arm control link is hinged to the rear end of the small arm, the upper end of the large arm is hinged to the middle and rear end of the small arm, the front end of the small arm is hinged to the end actuator, and an angle adjustment mechanism 8 for adjusting the pitch angle of the end actuator is installed at the upper end of the large arm. The small arm is a box-type structure, and the angle adjustment mechanism is buckled inside it. The device changes the fixed tripod structure position in the prior art into an angle adjustment mechanism, through which the pitch angle of the end effector can be adjusted.

[0021] like Figure 2 and Figure 3As shown, the angle adjustment mechanism includes a servo motor 81, a motor rotation mounting seat 82, a rotating base 83, a lead screw 84, a first triangular beam 85, a second triangular beam 86, an end actuator holding link 87 and an angle control link 88. The servo motor is mounted on the motor rotation mounting seat, and the output end of the servo motor is fixedly connected to one end of the lead screw, and the servo motor drives the lead screw to rotate. The lead screw is threadedly matched with the screw hole inside the rotating base, and the rotation of the lead screw drives the rotating base to move on the lead screw. The rotating base is fixed to the side of the second triangular beam, and the motor rotation mounting seat is fixed to the side of the first triangular beam. The first triangular beam and the second triangular beam are hinged to each other through a connecting shaft, and the first triangular beam and the second triangular beam swing relative to or towards each other with the connecting shaft as the axis, and the connecting shaft is connected to the upper part of the upper arm. The middle and rear ends of the forearm are also hinged to the two ends of the connecting shaft, and the middle and rear ends of the forearm swing with the connecting shaft as the axis driven by the forearm servo motor. In order to save space, the connection positions of the first triangular beam and the second triangular beam are respectively provided with grooves that interlock with each other. After the two are interlocked, the outermost sides of the two are flush. The other end of the first triangular beam is hinged to one end of the end actuator holding link (first connection hole), and the other end of the end actuator is hinged to the side of the rotating base. The end actuator holding link is used to support the first triangular beam. The other end of the second triangular beam is hinged to one end of the angle control link. Specifically, a connecting sleeve 89 is installed on one side of the other end of the second triangular beam, and the angle control link is hinged to the connecting sleeve (second connection hole). The other end of the angle control link is hinged to the end actuator. In this device, the hinge point of the angle control link and the end actuator is located obliquely above the hinge point of the forearm and the end actuator. The servo motor drives the lead screw to rotate, and the lead screw cooperates with the rotating base through the threaded pair to realize the change of the straight-line distance between the motor rotating mounting seat and the rotating base, thereby realizing the change of the hole spacing of the first connection hole and the second connection hole on the first triangular beam and the second triangular beam, thereby realizing the adjustment of the pitch angle of the end actuator.

[0022] like Figure 4 As shown, the rotating base is rotatably connected to the bottom mounting seat 9, and is driven to rotate by a waist motor 12, which is located inside the bottom mounting seat and drives the rotating base to rotate through a transmission belt. A support beam 10 is fixed in the middle of the rotating base, and the lower end of the boom is hinged on the support beam through a hinge shaft. The support beam is used to support the boom, and the hinge shaft is connected to the output end of the boom servo motor. The forearm servo motor is located on the other side, and the forearm servo motor drives the forearm control link through a driving link.

[0023] This device adjusts the effective length of the screw to adjust the angle of the end actuator structure. The effective lengths of the screw are 210nm, 240nm and 270nm to test the effect on the robot's motion range. The results are as follows Figure 5 As shown, the change of the effective length of the screw has no effect on the motion range of the end of the actuator structure, but the change of the effective length of the screw can cause an overall shift in the robot's motion range. When the effective length of the screw becomes smaller, the robot's motion range changes in the positive direction of Y' and the negative direction of X'; when the effective length of the screw becomes larger, the robot's motion range changes in the negative direction of Y' and the positive direction of X'.

[0024] In order to adjust the angle of the end of the actuator of the handling robot arm to meet different palletizing needs, the traditional fixed tripod is changed to a variable adjustment mechanism based on the traditional double parallelogram mechanism. The variable adjustment mechanism effective screw length and the actuator end angle are fitted forward and reversely, and the R2 of the fitting curve reaches more than 0.99, and the fitting model is reliable. The forward kinematics equation and inverse kinematics equation of the improved handling robot arm are derived, and the workflow of the entire robot arm is established. The influence of the effective length of the screw of the adjustment mechanism on the motion range is analyzed. The results show that the change of the effective length of the effective screw has no effect on the motion range of the end of the actuator structure, but the change of the effective length of the screw can cause the overall offset of the robot motion range. The common sinusoidal motion curve in industry is used to analyze the influence of the effective length of the screw of the adjustment mechanism on the angular acceleration of the upper arm drive motor and the lower arm drive motor during the motion process. The results show that within the range of 210-270mm of the adjustment mechanism screw lever length, the movement of the upper arm and the lower arm is affected very little.

[0025] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications should also be regarded as the protection scope of the utility model.

Claims

1. A palletizing robot arm with an adjustable pitch angle of an end-effector mechanism, comprising an end-effector, a forearm, a forearm control link, a large arm, a large arm servo motor, a small arm servo motor, and a rotating base, wherein the large arm servo motor is mounted on one side of the rotating base for driving the large arm, and the small arm servo motor is mounted on the other side of the rotating base and connected to the small arm control link via a driving link, the upper end of the small arm control link is hinged to the rear end of the small arm, the upper end of the large arm is hinged to the middle and rear end of the small arm, and the front end of the small arm is hinged to the end-effector, characterized in that: An angle adjustment mechanism for adjusting the pitch angle of the end effector is installed at the upper end of the arm.

2. The palletizing robot arm with adjustable pitch angle of the end effector according to claim 1, characterized in that: The angle adjustment mechanism includes a servo motor, a motor rotation mounting seat, a rotating base, a screw, a first triangular beam, a second triangular beam, an end actuator holding link and an angle control link, the servo motor is mounted on the motor rotation mounting seat, the output end of the servo motor is fixedly connected to one end of the screw, the screw is threadedly engaged with the screw hole inside the rotating base, the rotating base is fixed to the side of the second triangular beam, the motor rotation mounting seat is fixed to the side of the first triangular beam, the first triangular beam and the second triangular beam are hinged to each other through a connecting shaft, the connecting shaft is connected to the upper part of the big arm, the middle and rear end of the small arm are also hinged to both ends of the connecting shaft, the other end of the first triangular beam is hinged to one end of the end actuator holding link, the other end of the end actuator is hinged to the side of the rotating base, the other end of the second triangular beam is hinged to one end of the angle control link, and the other end of the angle control link is hinged to the end actuator.

3. The palletizing robot arm with adjustable pitch angle of the end effector according to claim 2, characterized in that: The connecting positions of the first triangular beam and the second triangular beam are respectively provided with grooves that engage with each other. After the two are engaged, the outermost side surfaces of the two are flush.

4. The palletizing robot arm with adjustable pitch angle of the end effector according to claim 2, characterized in that: The small arm is a box-type structure, and the angle adjustment mechanism is buckled inside it.

5. The palletizing robot arm with adjustable pitch angle of the end effector according to claim 2, characterized in that: The hinge point between the angle control link and the end effector is located obliquely above the hinge point between the forearm and the end effector.

6. The palletizing robot arm with adjustable pitch angle of the end effector according to claim 2, characterized in that: A connecting sleeve is installed on one side of the other end of the second triangular beam, and the angle control connecting rod is hinged to the connecting sleeve.

7. The palletizing robot arm with adjustable pitch angle of the end effector according to claim 1, characterized in that: The rotating base is rotatably connected to the bottom mounting seat and is driven to rotate by a waist motor.

8. The palletizing robot arm with adjustable pitch angle of the end effector according to claim 1, characterized in that: A support beam is fixed in the middle of the rotating base, and the lower end of the upper arm is hinged to the support beam through a hinge shaft, and the hinge shaft is connected to the output end of the upper arm servo motor.

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