Mechanical arm of stacking robot

Abstract

The utility model discloses a mechanical arm of a stacking robot. Belongs to the technical field of transfer robots and comprises a mounting frame and a pushing assembly arranged on the mounting frame, the pushing assembly comprises a rotary supporting seat rotationally connected to the mounting frame, and a servo motor for driving the rotary supporting seat to rotate is connected into the mounting frame. The working efficiency is improved, a first driving motor can drive a first synchronous wheel to rotate, at the moment, a second synchronous wheel located in the first arm can drive a rotating shaft to rotate, and the rotating shaft can drive a second arm to synchronously rotate through a connecting base while rotating; the mounting plate rotationally connected with one side of the second arm can be affected by cooperation of the first arm and the second arm to perform telescopic movement, so that goods are convenient to load and unload, and compared with an existing suction cup for goods transportation, the suction cup is easy to operate and low in failure rate.

Description

Technical Field

[0001] The utility model belongs to the technical field of handling robots, and in particular relates to a mechanical arm of a stacking robot. Background Art

[0002] A handling robot is an industrial robot that can perform automated handling operations. Handling operations refer to holding a workpiece with a device and moving it from one processing position to another. A handling robot can be equipped with different end effectors to complete the handling of workpieces of various shapes and states, greatly reducing the heavy physical labor of humans.

[0003] The existing Chinese patent (application number: CN201720291649.2) provides a wireless programmable fully automatic stacking robot, whose structure includes a steering base, a main body, a wireless programmer, a rear mechanical arm, a front mechanical arm, a connecting arm, and a grabbing arm. The steering base is movably connected to the main body, the wireless programmer is arranged on the main body, the main body is movably connected to the rear mechanical arm, the rear mechanical arm is connected to the grabbing arm through the connecting arm, the front mechanical arm is movably connected to the main body, the front mechanical arm is connected to the grabbing arm through the connecting arm, the main body includes an active groove, the active groove is arranged on the main body, and the wireless programmer includes an operation panel, buttons, a display screen, a wireless rod, and a programming body.

[0004] During use, the above-mentioned device transfers the workpiece by cooperating with the vacuum pump and the vacuum suction cup. Although it can also transport the workpiece, there are also certain problems in actual use. For example, the adsorption process of the vacuum suction cup uses the low-pressure area to generate a strong negative pressure to adsorb the object, which also makes it easy to collect dust and impurities, making the surface of the suction cup dirty, and it needs to be cleaned in time to prevent affecting the adsorption effect. The internal design of the vacuum suction cup uses adsorption force to clamp the object. It will produce many small contact surfaces during the adsorption process, which sometimes causes certain scratches or wear on the surface of the workpiece.

[0005] In view of this, this application is hereby filed. Utility Model Content

[0006] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a mechanical arm of a stacking robot to achieve the purpose of improving the transfer efficiency.

[0007] In order to solve the above technical problems, the utility model provides a mechanical arm of a stacking robot, comprising:

[0008] Mounting frame;

[0009] A push component disposed on the mounting frame;

[0010] The pushing assembly includes a swivel support seat rotatably connected to a mounting frame, a servo motor driving the swivel support seat to rotate is connected inside the mounting frame, two first arms symmetrical to each other are rotatably provided on the swivel support seat, a second arm is rotatably provided at the other end of the first arm, and a mounting plate is rotatably provided at the other end of the second arm.

[0011] Furthermore, a transmission member is provided in each of the first arm and the second arm, and the transmission member includes a first synchronous wheel, and a second synchronous wheel is rotatably connected in each of the first arm and the second arm, and a first synchronous belt is transmission-connected between the first synchronous wheel and the second synchronous wheel, a rotating shaft is connected to the second synchronous wheel in the first arm, and a connecting seat is connected to the second synchronous wheel in the second arm, and the rotating shaft and the connecting seat cooperate to make the second arm rotatably connected to the first arm, and a first driving motor that drives the first synchronous wheel in the first arm to rotate is connected in the mounting frame.

[0012] Furthermore, an idler wheel is rotatably connected between the first arm and the second arm, the axis between the idler wheel and the first synchronous wheel is not parallel, and an inspection plate is detachably connected to the first arm and the second arm via bolts.

[0013] Furthermore, a fixing plate is connected inside the installation frame, the servo motor is connected to the fixing plate, and the rotary support seat is designed in a round pancake shape.

[0014] Furthermore, a positioning assembly is provided on the mounting plate, and a bidirectional screw is rotatably connected inside the positioning assembly. Two symmetrical transmission blocks are threadedly connected to the bidirectional screw. The top of the transmission block extends to the outside of the mounting plate and is connected to a fixed position plate. A second drive motor that drives the bidirectional screw to rotate is connected to one side of the mounting plate.

[0015] Furthermore, a guide rod is connected inside the mounting plate, the transmission block is slidably connected to the guide rod, and a sliding hole matching the guide rod is provided on the transmission block.

[0016] Furthermore, the number of the bidirectional screw rods is two, and the two bidirectional screw rods are both connected to a third synchronous wheel, and a second synchronous belt is transmission-connected between the two third synchronous wheels.

[0017] After adopting the above technical scheme, the utility model has the following beneficial effects compared with the prior art.

[0018] 1. In the utility model, the servo motor provided can drive the mounting plate to rotate 360°, further improving the working efficiency. At the same time, starting the first drive motor can drive the first synchronous wheel to rotate. At this time, the second synchronous wheel located in the first arm can drive the rotating shaft to rotate. While the rotating shaft is rotating, the second arm can be driven to rotate synchronously through the connecting seat. At this time, the mounting plate connected to the rotation of one side of the second arm can be telescopically moved under the influence of the cooperation between the first arm and the second arm, thereby facilitating the loading and unloading of goods. Compared with the existing suction cup for transporting goods, this arrangement is simple to operate and has a lower failure rate.

[0019] 2. In the utility model, the second drive motor is started to drive the bidirectional screw to rotate, so that the two transmission blocks threadedly connected on the bidirectional screw drive the two fixed plates to move closer to fix the goods on the mounting plate. This arrangement is convenient for transporting goods of different types. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation on the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work. In the accompanying drawings:

[0021] Figure 1 The figure is a schematic diagram of the overall structure of a mechanical arm of a stacking robot;

[0022] Figure 2 A schematic diagram of the internal structure of a goods placement block in the mechanical arm of a stacking robot;

[0023] Figure 3 A schematic diagram of the internal structure of a mounting frame in a mechanical arm of a stacking robot;

[0024] Figure 4 The figure is a schematic diagram of the overall structure of the first arm of a stacking robot;

[0025] Figure 5 The figure is a schematic diagram of the internal structure of the first arm of a stacking robot;

[0026] Figure 6 The figure is a schematic diagram of the overall structure of the second arm in the mechanical arm of a stacking robot.

[0027] Numbers in the figure: 1. Installation frame; 2. Pushing assembly; 201. Rotating support seat; 202. Servo motor; 203. First arm; 204. Second arm; 205. Installation plate; 3. First synchronous wheel; 4. Rotating shaft; 5. Second synchronous wheel; 6. First synchronous belt; 7. Connecting seat; 8. Idle wheel; 9. First drive motor; 10. Fixed plate; 11. Positioning assembly; 1101. Bidirectional screw rod; 1102. Transmission block; 1103. Fixed position plate; 1104. Second drive motor; 12. Guide rod; 13. Third synchronous wheel; 14. Second synchronous belt.

[0028] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0030] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] like Figures 1 to 6 As shown, the utility model provides a mechanical arm of a stacking robot.

[0033] Specifically, by Figure 1-3 Given, including:

[0034] Installation frame 1;

[0035] A pushing component 2 is arranged on the mounting frame 1;

[0036] The pushing assembly 2 includes a swivel support seat 201 rotatably connected to the mounting frame 1, a servo motor 202 driving the swivel support seat 201 to rotate is connected inside the mounting frame 1, two first arms 203 symmetrical to each other are rotatably provided on the swivel support seat 201, a second arm 204 is rotatably provided at the other end of the first arm 203, and a mounting plate 205 is rotatably provided at the other end of the second arm 204;

[0037] The first arm 203 and the second arm 204 are both provided with transmission parts, and the transmission parts include a first synchronous wheel 3. The first arm 203 and the second arm 204 are both rotatably connected with a second synchronous wheel 5. A first synchronous belt 6 is transmission-connected between the first synchronous wheel 3 and the second synchronous wheel 5. The second synchronous wheel 5 in the first arm 203 is connected with a rotating shaft 4. The second synchronous wheel 5 in the second arm 204 is connected with a connecting seat 7. The rotating shaft 4 and the connecting seat 7 are used together to make the second arm 204 rotatably connected to the first arm 203. The mounting frame 1 is connected with a first driving motor 9 that drives the first synchronous wheel 3 in the first arm 203 to rotate.

[0038] In the utility model, the servo motor 202 is arranged to drive the mounting plate 205 to rotate 360°, thereby further improving the working efficiency. At the same time, starting the first drive motor 9 can drive the first synchronous wheel 3 to rotate. At this time, the second synchronous wheel 5 located in the first arm 203 can drive the rotating shaft 4 to rotate. While the rotating shaft 4 is rotating, it can drive the second arm 204 to rotate synchronously through the connecting seat 7. At this time, the mounting plate 205 connected to one side of the second arm 204 can be telescopically moved under the influence of the cooperation between the first arm 203 and the second arm 204, thereby facilitating the loading and unloading of goods.

[0039] Furthermore, as a specific implementation of the present invention, the present invention provides a mechanical arm of a stacking robot.

[0040] Specifically, Figure 4-6 As shown, an idler wheel 8 is rotatably connected between the first arm 203 and the second arm 204, the axis between the idler wheel 8 and the first synchronous wheel 3 is not parallel, and an inspection plate is detachably connected to the first arm 203 and the second arm 204 by bolts.

[0041] In the present invention, the idler wheel 8 is arranged to keep the first synchronous belt 6 in a stretched state, thereby increasing the tension of the first synchronous belt 6 when in use and ensuring the transmission effect of the first synchronous wheel 3 and the second synchronous wheel 5 .

[0042] Furthermore, as another specific implementation of the present invention, the present invention provides a mechanical arm of a stacking robot.

[0043] Specifically, Figure 1-3As shown, a fixing plate 10 is connected inside the installation frame 1, a servo motor 202 is connected to the fixing plate 10, and a rotary support seat 201 is designed in a round pancake shape.

[0044] In the present invention, the fixing plate 10 is provided to facilitate installation of the servo motor 202 , and the round pancake-shaped design facilitates rotation of the slewing support seat 201 .

[0045] Furthermore, as another specific implementation of the present invention, the present invention provides a mechanical arm of a stacking robot.

[0046] Specifically, Figure 1-2 As shown, a positioning component 11 is provided on the mounting plate 205, and a bidirectional screw rod 1101 is rotatably connected inside the positioning component 11, and two mutually symmetrical transmission blocks 1102 are threadedly connected to the bidirectional screw rod 1101. The top of the transmission block 1102 extends to the outside of the mounting plate 205 and is connected to a fixed position plate 1103. One side of the mounting plate 205 is connected to a second drive motor 1104 that drives the bidirectional screw rod 1101 to rotate.

[0047] In the utility model, in order to facilitate the transportation of different types of goods, the second drive motor 1104 can be started to drive the bidirectional screw rod 1101 to rotate, so that the two transmission blocks 1102 threadedly connected on the bidirectional screw rod 1101 drive the two fixed plates 1103 to move closer to fix the goods on the mounting plate 205, thereby preventing the goods from falling due to small size during transportation.

[0048] Furthermore, as another specific implementation of the present invention, the present invention provides a mechanical arm of a stacking robot.

[0049] Specifically, Figure 2 As shown, the guide rod 12 is connected inside the mounting plate 205, the transmission block 1102 is slidably connected to the guide rod 12, and a sliding hole adapted to the guide rod 12 is opened on the transmission block 1102.

[0050] In the present invention, this arrangement can provide a certain limiting and guiding effect on the sliding of the transmission block 1102, thereby improving the stability of the transmission block 1102 during the sliding process.

[0051] Furthermore, as another specific implementation of the present invention, the present invention provides a mechanical arm of a stacking robot.

[0052] Specifically, Figure 2 As shown, the number of the bidirectional screw rods 1101 is two, the two bidirectional screw rods 1101 are both connected with a third synchronous wheel 13, and the second synchronous belt 14 is transmission-connected between the two third synchronous wheels 13.

[0053] In the utility model, two bidirectional screw rods 1101 are provided to facilitate improving the stability of the fixed position plate 1103 during the sliding process, and the third synchronous wheel 13 and the second synchronous belt 14 can be used in conjunction with a second drive motor 1104 to drive the two bidirectional screw rods 1101 to rotate, thereby reducing manufacturing costs.

[0054] Working principle: The servo motor 202 can drive the mounting plate 205 to rotate 360°, further improving the working efficiency. At the same time, starting the first drive motor 9 can drive the first synchronous wheel 3 to rotate. At this time, the second synchronous wheel 5 located in the first arm 203 can drive the rotating shaft 4 to rotate. While the rotating shaft 4 is rotating, it can drive the second arm 204 to rotate synchronously through the connecting seat 7. At this time, the mounting plate 205 connected to the rotation of one side of the second arm 204 can be telescopically moved under the influence of the cooperation between the first arm 203 and the second arm 204, so as to facilitate loading and unloading of goods.

[0055] To facilitate the transportation of goods of different types, the second drive motor 1104 can be started to drive the bidirectional screw rod 1101 to rotate, so that the two transmission blocks 1102 threadedly connected on the bidirectional screw rod 1101 drive the two fixed plates 1103 to move closer to fix the goods on the mounting plate 205, thereby preventing the goods from falling due to small size during transportation.

[0056] The above is only a preferred embodiment of the present invention, and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with this patent can make some changes or modifications to equivalent embodiments of equivalent changes using the technical content suggested above without departing from the scope of the technical solution of the present invention. The implementation schemes in the above embodiments can also be further combined or replaced. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the present invention.

Claims

1. A mechanical arm of a stacking robot, comprising: Mounting frame (1); A pushing component (2) disposed on the mounting frame (1); The pushing assembly (2) is characterized in that it comprises a swivel support seat (201) rotatably connected to the mounting frame (1), a servo motor (202) driving the swivel support seat (201) to rotate is connected inside the mounting frame (1), two first arms (203) symmetrical to each other are rotatably provided on the swivel support seat (201), a second arm (204) is rotatably provided at the other end of the first arm (203), and a mounting plate (205) is rotatably provided at the other end of the second arm (204).

2. The mechanical arm of a stacking robot according to claim 1, characterized in that: The first arm (203) and the second arm (204) are both provided with transmission components, the transmission components comprising a first synchronous wheel (3), the first arm (203) and the second arm (204) are both rotatably connected with a second synchronous wheel (5), a first synchronous belt (6) is transmission-connected between the first synchronous wheel (3) and the second synchronous wheel (5), a rotating shaft (4) is connected to the second synchronous wheel (5) in the first arm (203), a connecting seat (7) is connected to the second synchronous wheel (5) in the second arm (204), the rotating shaft (4) and the connecting seat (7) cooperate to enable the second arm (204) to be rotatably connected to the first arm (203), and a first driving motor (9) is connected to the mounting frame (1) for driving the first synchronous wheel (3) in the first arm (203) to rotate.

3. The mechanical arm of a stacking robot according to claim 1, characterized in that: An idler wheel (8) is rotatably connected between the first arm (203) and the second arm (204); the axis between the idler wheel (8) and the first synchronous wheel (3) is not parallel; and an inspection plate is detachably connected to the first arm (203) and the second arm (204) via bolts.

4. The mechanical arm of a stacking robot according to claim 1, characterized in that: A fixing plate (10) is connected inside the installation frame (1), the servo motor (202) is connected to the fixing plate (10), and the rotary support seat (201) is designed in a round pancake shape.

5. The mechanical arm of a stacking robot according to claim 1, characterized in that: The mounting plate (205) is provided with a positioning assembly (11), a bidirectional screw rod (1101) being rotatably connected therein, two mutually symmetrical transmission blocks (1102) being threadedly connected to the bidirectional screw rod (1101), the top of the transmission block (1102) extending to the outside of the mounting plate (205) and being connected to a fixed position plate (1103), and a second driving motor (1104) for driving the bidirectional screw rod (1101) to rotate being connected to one side of the mounting plate (205).

6. The mechanical arm of a stacking robot according to claim 5, characterized in that: A guide rod (12) is connected inside the mounting plate (205), the transmission block (1102) is slidably connected to the guide rod (12), and a sliding hole matching the guide rod (12) is provided on the transmission block (1102).

7. The mechanical arm of a stacking robot according to claim 5, characterized in that: The number of the bidirectional screw rods (1101) is two, and the two bidirectional screw rods (1101) are both connected to a third synchronous wheel (13), and a second synchronous belt (14) is transmission-connected between the two third synchronous wheels (13).

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