Mechanical arm of palletizing robot

Abstract

The utility model relates to the technical field of manipulators, in particular to a stacking robot mechanical arm which comprises a mounting plate, a grabbing mechanism is arranged on the lower portion of the mounting plate, the grabbing mechanism comprises fixing plates, and the fixing plates are fixedly mounted at the four corners of the bottom end of the mounting plate respectively. Guide rods are fixedly mounted on the sides, close to each other, of every two fixed plates on the same side, and movable plates are symmetrically mounted on the peripheries of the guide rods in a sliding mode. The device has the beneficial effects that an air cylinder is matched with a moving frame, a gear and a rack, the two moving plates can drive the mechanical claw to move oppositely, meanwhile, an abutting plate on the mechanical claw can abut against the surface of a material, and the abutting plate can be attached to the surface of the material in cooperation with a movable pin shaft and a spring, so that the material is more stable in the mechanical claw; and the situation that the stacking efficiency is affected due to the fact that the materials are separated from the interiors of the mechanical claws is avoided, the distance between the mechanical claws can be adjusted, the device can adapt to materials of different sizes and specifications, and the applicability of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a palletizing robot manipulator arm. Background Art

[0002] The palletizing robot arm is a highly automated industrial robot that is specifically designed to perform repetitive palletizing operations and is usually used at the end of a production line. Due to the large variety of palletizing robots, workers can choose robot models with different load capacities and working radiuses according to different application scenarios. The palletizing robot arm plays an important role in modern production and warehousing environments, which not only improves work efficiency and reduces labor costs, but also improves the safety and accuracy of operations. With the continuous advancement of technology, the functions of these robots will become more powerful and their application scope will become wider.

[0003] In the prior art, palletizing robots generally utilize mechanical claws to perform automated palletizing of materials. Mechanical claws are automated devices that imitate human hand movements and automatically grasp, carry and stack materials according to a predetermined program. However, mechanical claws can only perform material grasping operations. When grasping materials of different sizes, there will be a gap between the materials and the mechanical claws, and the stability of material grasping cannot be guaranteed. Materials often fall during the lifting process, affecting the palletizing efficiency. Utility Model Content

[0004] The purpose of the utility model is to provide a palletizing robot mechanical arm to solve the problems raised in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical solutions: a palletizing robot mechanical arm, comprising a mounting plate, a gripping mechanism is provided at the lower part of the mounting plate, a mechanical arm body is installed at the middle part of the top of the mounting plate, and a mounting base is provided at the lower part of the mechanical arm body;

[0006] The grabbing mechanism includes a fixed plate, which is fixedly installed at the four corners of the bottom end of the mounting plate, and two fixed plates on the same side close to each other are fixedly installed with guide rods, and a movable plate is symmetrically and slidably installed on the outer periphery of the guide rod. A grabbing part is fixedly installed on the bottom end of the movable plate, and a plurality of evenly distributed mechanical claws are arranged in the grabbing part, and a movable pin is symmetrically and slidably installed in the middle part of each mechanical claw, and abutment plates are fixedly installed on the upper ends of the two movable pins, and a spring is sleeved on the lower periphery of the movable pin.

[0007] Preferably, an open slot is provided at the rear side of the middle portion of the top end of the mounting plate, a movable frame is slidably mounted in the open slot, and the bottom end of the movable frame is fixedly mounted at the middle portion of the top end of the rear movable plate.

[0008] Preferably, a cylinder is movably mounted on the top of the mounting plate, and a driving end of the cylinder is movably mounted on the top of the movable frame.

[0009] Preferably, a rotating shaft is rotatably mounted in the middle of the bottom end of the mounting plate, and a gear is fixedly mounted at the bottom end of the rotating shaft.

[0010] Preferably, fixed blocks and movable blocks are fixedly installed in the middle of both sides of the top of the movable plate, and the fixed blocks and the movable blocks are respectively distributed symmetrically along the axis of the rotating shaft.

[0011] Preferably, a rack is fixedly installed in the middle of the fixed block, the ends of the rack are slidably installed in the movable block on the same side, and the racks are meshed with the gears.

[0012] Preferably, a controller is installed on the top of the mounting base, and the controller is electrically connected to the cylinder and the robot arm body respectively.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] The palletizing robot mechanical arm proposed in the present invention is provided with a grasping mechanism, and the cylinder cooperates with the moving frame, gear and rack to realize that the two moving plates can drive the mechanical claws to move toward each other, so as to achieve the purpose of grasping the materials, and at the same time, the abutment plate on the mechanical claw will abut against the surface of the materials, and with the movable pin and the spring, the abutment plate will fit tightly against the surface of the materials, making the materials more stable in the mechanical claws, avoiding that when the mechanical claws are carrying materials, the gap between the materials and the mechanical claws is too large, and the materials fall out from the inside of the mechanical claws, affecting the stacking efficiency, and the staff can adjust the distance between the mechanical claws to adapt to materials of different sizes and specifications, thereby improving the applicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the main three-dimensional structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the local structure of the mounting plate of the utility model;

[0017] Figure 3 It is a schematic diagram of the partial structure of the gear and rack of the utility model;

[0018] Figure 4 It is a schematic diagram of the local structure of the mechanical claw of the utility model.

[0019] In the figure: 1. controller; 2. mounting base; 3. robot arm body; 4. opening slot; 5. mounting plate; 6. grabbing part; 601. abutment plate; 602. spring; 603. movable pin; 604. mechanical claw; 7. moving plate; 8. fixed plate; 9. guide rod; 10. moving frame; 11. cylinder; 12. fixed block; 13. rack; 14. movable block; 15. rotating shaft; 16. gear. DETAILED DESCRIPTION

[0020] In order to make the purpose and technical solution of the utility model clearly and completely described, and the advantages more clearly understood, the embodiments of the utility model are further described in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are part of the embodiments of the utility model, not all of the embodiments, and are only used to explain the embodiments of the utility model, and are not used to limit the embodiments of the utility model. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] See also Figures 1 to 4The utility model provides a technical solution: a palletizing robot mechanical arm, including a mounting plate 5, a grasping mechanism is provided at the lower part of the mounting plate 5, a mechanical arm body 3 is installed at the middle part of the top of the mounting plate 5, a mounting base 2 is provided at the lower part of the mechanical arm body 3, the grasping mechanism includes a fixed plate 8, the fixed plates 8 are fixedly installed at the four corners of the bottom end of the mounting plate 5, two fixed plates 8 on the same side are fixedly installed with guide rods 9 on one side close to each other, a movable plate 7 is symmetrically slidably installed on the outer periphery of the guide rod 9, a grasping part 6 is fixedly installed at the bottom end of the movable plate 7, a plurality of uniformly distributed mechanical claws 604 are arranged in the grasping part 6, a movable pin 603 is symmetrically slidably installed in the middle part of each mechanical claw 604, abutment plates 601 are fixedly installed on the upper ends of two movable pins 603, and springs 602 are sleeved on the lower periphery of the movable pin 603. When the grasping part 6 is controlled to grasp the material, the cylinder 11 cooperates with the gear 16 and the rack 13 to realize that the movable plate 7 moves relative to each other along the axial direction of the guide rod 9 The mechanical claw 604 is close to the material, and the staff can control the distance between the two moving plates 7, and then adjust the mechanical claw 604 to grab materials of different sizes, which has good applicability. At the same time, after the mechanical claw 604 grabs the material, the abutment plate 601 will abut on the surface of the material. Because in the spring 602, the relationship between the load and the deformation is in linear proportion, that is, the spring 602 constant is constant, this relationship allows the spring 602 to produce a predictable amount of expansion and contraction under a certain force, that is, it can produce corresponding deformation under a certain force, and this deformation can be fed back to the abutment plate 601, so that the abutment plate 601 can make up the gap between the mechanical claw 604 and the material, to avoid the material falling due to unstable grasping force during the handling process. At the same time, a stepper motor is arranged in the mechanical arm body 3, which can control the moving trajectory of the mechanical arm body 3, so that the mechanical arm body 3 can grab materials at different positions.

[0022] An open groove 4 is provided at the rear side of the middle part of the top of the mounting plate 5, and a moving frame 10 is slidably installed in the open groove 4. The bottom end of the moving frame 10 is fixedly installed at the middle part of the top of the rear moving plate 7. A cylinder 11 is movably installed at the top of the mounting plate 5, and the driving end of the cylinder 11 is movably installed at the top of the moving frame 10. A rotating shaft 15 is rotatably installed at the middle part of the bottom end of the mounting plate 5, and a gear 16 is fixedly installed at the bottom end of the rotating shaft 15. Fixed blocks 12 and movable blocks 14 are fixedly installed at the middle parts of both sides of the top of the moving plate 7. The fixed blocks 12 and the movable blocks 14 are respectively symmetrically distributed along the axial direction of the rotating shaft 15. A rack 13 is fixedly installed in the middle part of the fixed block 12. The rack 13 The ends are slidably installed in the movable block 14 on the same side, and the racks 13 are meshed with the gears 16. A controller 1 is installed on the top of the mounting base 2. The controller 1 is electrically connected to the cylinder 11 and the mechanical arm body 3 respectively. By controlling the cylinder 11, the piston rod in the cylinder 11 can drive the moving frame 10 to move in the open groove 4, and then one of the moving plates 7 will move along the guide rod 9. As the moving plate 7 moves, one of the racks 13 will drive the gear 16 to rotate. At the same time, the other rack 13 will move in the opposite direction, thereby realizing the relative movement between the two moving plates 7, and then realizing the mechanical claw 604 to grab the material.

[0023] During actual use, the staff uses the controller 1 to control the movement of the robot arm body 3. When the grabbing mechanism is close to the material to be grabbed, the cylinder 11 controls the moving frame 10 to move in the open slot 4. With the cooperation of the gear 16 and the rack 13, the two moving plates 7 can move toward each other. When the mechanical claw 604 grabs the material, the abutment plate 601 on the mechanical claw 604 will abut against the surface of the material. At the same time, the spring 602 on the movable pin 603 will be compressed accordingly. With the cooperation of the elastic force of the spring 602 itself, the abutment plate 601 will fit tightly against the surface of the material, making the material more stable in the mechanical claw 604, avoiding the material from escaping from the inside of the mechanical claw 604 when the mechanical claw 604 is carrying the material, thereby affecting the stacking efficiency.

[0024] Although the above describes the illustrative specific implementation methods of the present application so that technicians in this technical field can understand the present application, the present application is not limited to the scope of the specific implementation methods. For ordinary technicians in this technical field, as long as various changes are within the spirit and scope of the present application defined and determined by the attached claims, all application creations using the concept of the present application are protected.

Claims

1. A palletizing robot arm, comprising a mounting plate (5), wherein a gripping mechanism is provided at the lower part of the mounting plate (5), characterized in that: A mechanical arm body (3) is installed at the middle of the top end of the installation plate (5), and a mounting base (2) is provided at the bottom of the mechanical arm body (3); The gripping mechanism comprises a fixed plate (8), wherein the fixed plates (8) are respectively fixedly mounted at the four corners of the bottom end of the mounting plate (5); guide rods (9) are fixedly mounted on the sides of the fixed plates (8) on the same side close to each other; a movable plate (7) is symmetrically slidably mounted on the outer periphery of the guide rod (9); a gripping portion (6) is fixedly mounted on the bottom end of the movable plate (7); a plurality of uniformly distributed mechanical claws (604) are arranged in the gripping portion (6); a movable pin shaft (603) is symmetrically slidably mounted in the middle part of each of the mechanical claws (604); abutment plates (601) are fixedly mounted on the upper ends of the movable pin shafts (603); and springs (602) are sleeved on the lower periphery of the movable pin shafts (603).

2. A palletizing robot arm according to claim 1, characterized in that: An open slot (4) is provided at the rear side of the middle of the top end of the mounting plate (5), a movable frame (10) is slidably mounted in the open slot (4), and the bottom end of the movable frame (10) is fixedly mounted at the middle of the top end of the rear movable plate (7).

3. The palletizing robot arm according to claim 1, characterized in that: A cylinder (11) is movably mounted on the top of the mounting plate (5), and a driving end of the cylinder (11) is movably mounted on the top of the moving frame (10).

4. The palletizing robot arm according to claim 1, characterized in that: A rotating shaft (15) is rotatably mounted at the middle of the bottom end of the mounting plate (5), and a gear (16) is fixedly mounted at the bottom end of the rotating shaft (15).

5. The palletizing robot arm according to claim 1, characterized in that: A fixed block (12) and a movable block (14) are fixedly mounted at the middle of both sides of the top of the movable plate (7), and the fixed block (12) and the movable block (14) are respectively axially distributed along the axis of the rotating shaft (15) in a centrally symmetrical manner.

6. A palletizing robot arm according to claim 5, characterized in that: A rack (13) is fixedly installed in the middle of the fixed block (12), and the ends of the rack (13) are slidably installed in the movable block (14) on the same side, and the rack (13) is meshed with the gear (16).

7. The palletizing robot arm according to claim 1, characterized in that: A controller (1) is installed on the top of the mounting base (2), and the controller (1) is electrically connected to the cylinder (11) and the robot arm body (3).

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