Manipulator for material stacking robot

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a manipulator for a material stacking robot, which comprises a mechanical claw arm, and a support frame is mounted at one end of the mechanical claw arm; connecting plates are fixedly connected to the two ends of the supporting frame correspondingly, and first sliding rods slidably penetrate through the interiors of the two ends of the connecting plates correspondingly; the other end of the first sliding rod is fixedly connected with a first mounting seat; one end of the first mounting seat is rotationally connected with a screw rod, and the other end of the screw rod penetrates through the connecting plate in a threaded manner; a servo motor is mounted on the first mounting seat; the output end of the servo motor penetrates through the interior of the first mounting seat and is fixedly connected with a first connecting rod; a safety guarantee measure is added below an article through the two sets of protection plates, so that when the article falls off due to some factors, the two protection plates located below the article can play a role in supporting and blocking, the possibility that the article directly falls off is reduced, and the service life of the article is prolonged. And the risks of damage and personnel injury caused by falling of the articles are reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, in particular to a mechanical arm for a palletizing robot. Background Art

[0002] Palletizing refers to placing items in a certain level and quantity to make more effective use of space and improve space utilization. Currently, most people use automated equipment for palletizing, such as using robots to perform automated palletizing operations, which reduces the time and manpower of manual operations and improves production efficiency.

[0003] The robotic arm is a relatively common mechanical structure that can simulate various movements of the human arm to achieve various complex work tasks. The manipulator is the end actuator of the robotic arm, which is commonly composed of functional modules such as grippers, suction cups, and shears. It is mainly used for grasping and carrying various objects.

[0004] When the robot uses a vacuum suction cup to absorb and grasp objects, during operation, due to damage or poor sealing of the vacuum pump, environmental temperature and humidity conditions, and the shape and weight of the object itself, it is inevitable that the objects will separate from the robot, resulting in interruption of the production process and damage to the objects, and even injuring nearby operators, posing a safety hazard. Utility Model Content

[0005] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology, the utility model provides a manipulator for a palletizing robot.

[0006] The technical solution adopted by the utility model to solve its technical problems is: the utility model describes a manipulator for a stacking robot, comprising a mechanical claw arm, one end of the mechanical claw arm is installed with a support frame; the two ends of the support frame are respectively fixed with connecting plates, and the two ends of the connecting plates are respectively provided with first sliding rods that slide through them; the other end of the first sliding rod is fixed with a first mounting seat; one end of the first mounting seat is rotatably connected with a screw rod, and the other end of the screw rod is threadedly inserted into the interior of the connecting plate; a servo motor is installed on the first mounting seat; the output end of the servo motor passes through the interior of the first mounting seat and is fixedly connected with a first connecting rod, and the other end of the first connecting rod is connected to a second mounting seat; the other end of the second mounting seat is fixed with a protective plate.

[0007] Preferably, a protective frame is installed at the upper edge of the protective plate, and the protective frame is square; multiple groups of springs are equidistantly installed inside the protective plate, and the springs inside the protective plate are elastically slidably connected to a buffer plate.

[0008] Preferably, the first connecting rod is provided with a threaded end, and the outer wall of the threaded end is threadedly connected to a threaded sleeve; the other end of the threaded sleeve is also threadedly connected to a threaded sleeve, and the other end of this set of threaded sleeves is fixedly connected to the second connecting rod.

[0009] Preferably, a second slide bar is slidably connected inside one end of the second connecting rod; a plurality of through holes are equidistantly provided on one side of the second slide bar; a through hole is also correspondingly provided at one end of the second connecting rod, and the two groups of through holes are fixedly connected by screws.

[0010] Preferably, a spring column is fixedly connected to the bottom of the protective plate via a connecting block, and an extension plate is fixedly connected to the other end of the spring column.

[0011] Preferably, the second mounting seat and both sides of the outer wall of the protective plate are respectively and obliquely fixedly connected with reinforcing rods, and the reinforcing rods are made of rigid material.

[0012] Preferably, a rubber pad is laid on the surface of the buffer plate, and the rubber pad has the same shape as the surface of the buffer plate.

[0013] Beneficial effects of the utility model:

[0014] 1. The utility model provides a manipulator for a palletizing robot. When the mechanical claw arm drives the support frame to pick up objects for palletizing through the vacuum suction cup, the distance sensor can transmit the distance signal to the PLC sensor, and control the servo motor through the PLC sensor to drive the protective plate to rotate 180 degrees, so that the two groups of protective plates can make room for the vacuum suction cup to pick up objects, ensuring that the suction cup is in full contact with the object to improve the stability and reliability of adsorption. After completing the object grabbing, the servo motor output end is controlled again to rotate the two groups of protective plates 180 degrees for a reset operation. At this time, the two groups of protective plates can be located under the grabbed objects, thereby adding a safety measure under the objects through the two groups of protective plates, so that when the suction cup causes the object to fall off due to some factors, the two protective plates located under the object can play a role of support and blocking, reducing the possibility of the object falling directly, and reducing the risk of damage caused by the falling of objects and the risk of injury to personnel.

[0015] 2. The utility model provides a manipulator for a palletizing robot. When an object falls onto the protective plate, the buffer plate can elastically buffer the gravity of the falling object through a spring, so that these impacts and vibrations can be effectively absorbed and dispersed, thereby reducing the damage caused by direct collision between the object and the protective plate, and the protective frame can reduce the risk of the object sliding off the surface of the protective plate, thereby achieving the effect of protecting the object again. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0017] Figure 1 It is a three-dimensional diagram of the utility model;

[0018] Figure 2 It is a three-dimensional diagram of the dismantling of the mechanical claw arm in the utility model;

[0019] Figure 3 It is an exploded view of the utility model;

[0020] Figure 4 It is a three-dimensional diagram of the protective plate in the utility model;

[0021] Figure 5 It is a connection schematic diagram of the first connecting rod and the second connecting rod in the utility model.

[0022] Legend:

[0023] 1. Mechanical claw arm; 2. Support frame; 3. Connecting plate; 4. First slide bar; 5. First mounting seat; 6. Screw rod; 7. First connecting rod; 8. Second mounting seat; 9. Protective plate; 10. Servo motor; 11. Protective frame; 12. Spring; 13. Buffer plate; 14. Threaded end; 15. Second connecting rod; 16. Threaded sleeve; 17. Second slide bar; 18. Through hole; 19. Connecting block; 20. Spring column; 21. Extension plate; 22. Reinforcement rod. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on 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.

[0025] Specific examples are given below.

[0026] See also Figure 1-Figure 5The utility model provides a manipulator for a palletizing robot, including a mechanical claw arm 1, a support frame 2 is installed at one end of the mechanical claw arm 1; connecting plates 3 are respectively fixedly connected at both ends of the support frame 2, and first slide bars 4 are respectively slidably penetrated inside the two ends of the connecting plate 3; the other end of the first slide bar 4 is fixedly connected to a first mounting seat 5; a screw rod 6 is rotatably connected to one end of the first mounting seat 5, and the other end of the screw rod 6 is threadedly penetrated inside the connecting plate 3; a servo motor 10 is installed on the first mounting seat 5; the output end of the servo motor 10 penetrates the first mounting seat 5 and is fixedly connected to a first connecting rod 7, and the other end of the first connecting rod 7 is connected to a second mounting seat 8; the other end of the second mounting seat 8 is fixedly connected to a protective plate 9.

[0027] During operation, a distance sensor of model HC-SR04 is installed at the bottom of the protective plate 9. The distance sensor is connected to the PLC sensor signal of the robot arm control panel. A plurality of vacuum suction cups are arranged at the bottom of the support frame 2. When the mechanical claw arm 1 drives the support frame 2 to pick up objects for stacking through the vacuum suction cups, the distance sensor can transmit the distance signal to the PLC sensor, and control the servo motor 10 through the PLC sensor to drive the protective plate 9 to rotate 180 degrees, so that the two groups of protective plates 9 can make room for the vacuum suction cups to pick up objects, ensuring that the suction cups are in full contact with the objects to improve the stability and reliability of adsorption. After the objects are grabbed, the output end of the servo motor 10 is controlled again to rotate the two groups of protective plates 9 180 degrees for reset operation. At this time, the two groups of protective plates 9 can be located under the grabbed objects, so as to add a safety measure under the objects through the two groups of protective plates 9, so that when the suction cups cause the objects to fall off due to some factors, the two protective plates 9 located under the objects can play a role of support and blocking, reducing the possibility of objects falling directly, and reducing the risk of damage caused by falling objects and injuries to personnel.

[0028] See also Figure 1-Figure 4 A protective frame 11 is installed at the upper edge of the protective plate 9, and the protective frame 11 is square; a plurality of groups of springs 12 are equidistantly installed inside the protective plate 9, and the springs 12 inside the protective plate 9 are elastically slidably connected with a buffer plate 13; during operation, when an object falls onto the protective plate 9, the buffer plate 13 can elastically buffer the gravity of the falling object through the spring 12, so that these impacts and vibrations can be effectively absorbed and dispersed, thereby reducing the damage caused by direct collision between the object and the protective plate 9, and the protective frame 11 can reduce the risk of the object sliding off the surface of the protective plate 9, thereby achieving the effect of protecting the object again.

[0029] See also Figure 1-Figure 5The first connecting rod 7 is provided with a threaded end 14, and the outer wall of the threaded end 14 is threadedly connected with a threaded sleeve 16; the other end of the threaded sleeve 16 is also threadedly connected with a threaded sleeve 16, and the other end of this group of threaded sleeves 16 is fixedly connected to the second connecting rod 15; during operation, the length of the threaded end 14 is greater than the length of the threaded sleeve 16, and the threaded sleeve 16 only needs to be completely rotated to the outer wall of the threaded end 14 to complete the disassembly work between the first connecting rod 7 and the second connecting rod 15, so as to facilitate the subsequent rapid replacement and maintenance of the protective plate 9, thereby improving convenience.

[0030] See also Figure 1-Figure 5 A second slide bar 17 is slidably connected to one end of the second connecting rod 15; a plurality of groups of through holes 18 are equidistantly provided on one side of the second slide bar 17; a corresponding through hole 18 is also provided at one end of the second connecting rod 15, and the two groups of through holes 18 are fixedly connected by screws; when working, the second slide bar 17 can slide and retract inside the second connecting rod 15 to achieve the effect of adjusting the distance between the protective plate 9 and the support frame 2, so as to facilitate the appropriate adjustment of the position of the protective plate 9 according to the thickness of the absorbed objects, thereby reducing the damage to the protective plate 9 when the distance from the support frame 2 is too far and the objects fall off, and after the adjustment is completed, the two groups of through holes 18 are aligned with each other, and the fixing work between the second slide bar 17 and the second connecting rod 15 can be completed by screws.

[0031] See also Figure 1-Figure 3 The bottom of the protective plate 9 is fixedly connected with a spring column 20 through a connecting block 19, and the other end of the spring column 20 is fixedly connected with an extension plate 21; when working, the extension plate 21 is set as a group and can be installed at the bottom of any group of protective plates 9. The extension plate 21 can be continuously pushed to move by the spring column 20, so that the extension plate 21 can fill the gap between the two groups of protective plates 9 to reduce the risk of objects slipping through the gap and falling, thereby achieving the effect of protecting objects from falling.

[0032] See also Figure 1-Figure 3 The second mounting seat 8 and the outer wall of the protective plate 9 are respectively obliquely fixed with reinforcing rods 22, and the reinforcing rods 22 are made of rigid material; when working, the strength of the connection between the second mounting seat 8 and the protective plate 9 can be improved by the reinforcing rods 22, thereby increasing the overall strength of the device and the stability during operation.

[0033] See also Figure 1-Figure 4 The surface of the buffer plate 13 is paved with a rubber pad, and the rubber pad has the same shape as the surface of the buffer plate 13; during operation, the rubber pad can increase the friction and buffering performance of the surface of the buffer plate 13, thereby achieving buffering of the objects and reducing the occurrence of random sliding of the objects when they fall onto the buffer plate.

[0034] Working principle: A distance sensor of model HC-SR04 is installed at the bottom of the protective plate 9. The distance sensor is connected to the PLC sensor signal of the robot arm control panel. Multiple groups of vacuum suction cups are arranged at the bottom of the support frame 2. When the robot claw arm 1 drives the support frame 2 to pick up objects through the vacuum suction cups for palletizing, the distance sensor can transmit the distance signal to the PLC sensor, and control the servo motor 10 through the PLC sensor to drive the protective plate 9 to rotate 180 degrees, so that the two groups of protective plates 9 can make room for the vacuum suction cups to pick up objects, ensuring that the suction cups are in full contact with the objects to improve the stability and reliability of adsorption. After the objects are grabbed, the output end of the servo motor 10 is controlled again to rotate the two groups of protective plates 9 180 degrees. The reset operation is performed at a certain degree. At this time, the two groups of protective plates 9 can be located under the grasped objects, so that a safety measure is added under the objects through the two groups of protective plates 9. When the suction cup causes the object to fall off due to some factors, the two protective plates 9 located under the objects can play a supporting and blocking role, reducing the possibility of the object falling directly, reducing the risk of damage caused by the falling of objects and the risk of injury to personnel; when the object falls on the protective plate 9, the buffer plate 13 can elastically buffer the gravity of the falling object through the spring 12, so that these impacts and vibrations can be effectively absorbed and dispersed, so as to reduce the damage caused by the direct collision between the object and the protective plate 9, and the protective frame 11 can reduce the object from sliding off the surface of the protective plate 9 The risk of damage to the object is achieved again; the length of the threaded end 14 is greater than the length of the threaded sleeve 16, and the threaded sleeve 16 only needs to be completely rotated to the outer wall of the threaded end 14 to complete the disassembly work between the first connecting rod 7 and the second connecting rod 15, so as to facilitate the subsequent rapid replacement and maintenance of the protective plate 9, thereby improving convenience; the second sliding rod 17 can slide and retract inside the second connecting rod 15 to achieve the effect of adjusting the distance between the protective plate 9 and the support frame 2, so as to facilitate the position of the protective plate 9 to be properly adjusted according to the thickness of the absorbed object, and reduce the damage to the protective plate 9 when it is too far away from the support frame 2 and the object falls off, and after the adjustment is completed, the two sets of through holes 18 are relative to each other, and the second sliding rod 17 can be completed by screws. 17 and the second connecting rod 15 for fixing; the extension plate 21 is set as a group and can be installed at the bottom of any group of protective plates 9. The extension plate 21 can be continuously pushed to move by the spring column 20, so that the extension plate 21 can fill the gap between the two groups of protective plates 9 to reduce the risk of objects slipping through the gap and falling, thereby achieving the effect of protecting objects from falling again; the strength of the connection between the second mounting seat 8 and the protective plate 9 can be improved by the reinforcing rod 22, thereby increasing the overall strength of the device and the stability during operation; the friction force and buffering performance of the surface of the buffer plate 13 can be increased by the rubber pad, thereby achieving buffering of the objects while reducing the phenomenon of random sliding of the objects when they fall onto the buffer plate.

[0035] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A manipulator for a palletizing robot, comprising a mechanical claw arm (1), characterized in that: A support frame (2) is installed at one end of the mechanical claw arm (1); connecting plates (3) are fixedly connected at both ends of the support frame (2), and first slide bars (4) are slidably penetrated inside the two ends of the connecting plates (3); the other end of the first slide bar (4) is fixedly connected to a first mounting seat (5); a screw rod (6) is rotatably connected to one end of the first mounting seat (5), and the other end of the screw rod (6) is threadedly penetrated inside the connecting plate (3); a servo motor (10) is installed on the first mounting seat (5); the output end of the servo motor (10) penetrates the inside of the first mounting seat (5) and is fixedly connected to a first connecting rod (7), and the other end of the first connecting rod (7) is connected to a second mounting seat (8); the other end of the second mounting seat (8) is fixedly connected to a protective plate (9).

2. A manipulator for a palletizing robot as claimed in claim 1, characterized in that: A protective frame (11) is installed at the upper edge of the protective plate (9), and the protective frame (11) is arranged in a square shape; a plurality of groups of springs (12) are installed equidistantly inside the protective plate (9), and the springs (12) inside the protective plate (9) are elastically slidably connected to a buffer plate (13).

3. The manipulator for a palletizing robot according to claim 1, characterized in that: The first connecting rod (7) is provided with a threaded end (14), and the outer wall of the threaded end (14) is threadedly connected to a threaded sleeve (16); the other end of the threaded sleeve (16) is also threadedly connected to a threaded sleeve (16), and the other end of this set of threaded sleeves (16) is fixedly connected to a second connecting rod (15).

4. A manipulator for a palletizing robot as claimed in claim 3, characterized in that: A second sliding rod (17) is slidably connected to one end of the second connecting rod (15); a plurality of groups of through holes (18) are equidistantly provided on one side of the second sliding rod (17); a through hole (18) is also correspondingly provided at one end of the second connecting rod (15), and the two groups of through holes (18) are fixedly connected by screws.

5. The manipulator for a palletizing robot according to claim 1, characterized in that: The bottom of the protective plate (9) is fixedly connected to a spring column (20) via a connecting block (19), and the other end of the spring column (20) is fixedly connected to an extension plate (21).

6. The manipulator for a palletizing robot according to claim 1, characterized in that: Reinforcement rods (22) are respectively and obliquely fixedly connected to both sides of the outer wall of the second mounting seat (8) and the protection plate (9), and the reinforcement rods (22) are made of a rigid material.

7. A manipulator for a palletizing robot as claimed in claim 2, characterized in that: A rubber pad is laid on the surface of the buffer plate (13), and the rubber pad has the same shape as the surface of the buffer plate (13).

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