Long-clamping-jaw single-action clamping type feeding and discharging stacking mechanical arm

Abstract

The utility model relates to a long-clamping-jaw single-action clamping type feeding and discharging stacking mechanical arm which aims at solving the problems that in the prior art, a clamping type mechanical arm is complex in structure, not easy to maintain, single in clamping head and not convenient to adapt to different clamped objects. The mechanical arm comprises the base, the large arm, the small arm and the clamping jaw, front-back swing of the large arm and up-down swing of the small arm are achieved through the driving device on the base, and then the clamping jaw is moved to a target position. The clamping jaw part adopts the innovative design of a driving box, a driving arm, a main jaw arm, an auxiliary jaw arm and a chuck sleeve, a plurality of driving gears are arranged in the driving box, the driving arm is driven to swing left and right through gear transmission, then synchronous rotation of the main jaw arm and the auxiliary jaw arm is achieved, and the clamping action is completed. The clamping device has the advantages of being simple in structure, easy to maintain, replaceable in clamping head, high in adaptability and the like, and has wide application prospects in the field of industrial automation.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a long-claw single-action clamping type loading and unloading and stacking mechanical arm. Background Art

[0002] With the continuous development of industrial automation technology, gripper-type robotic arms are increasingly used in production lines. This type of robotic arm is mainly used for material handling, assembly, loading and unloading, and palletizing operations on automated production lines, significantly improving production efficiency. Especially in logistics, warehousing, and manufacturing, loading and unloading and palletizing robots, as an important part of automated production lines, undertake tasks such as material handling, stacking, and stacking, greatly reducing manual labor intensity and improving production efficiency.

[0003] However, existing gripping robotic arms, especially those used for loading and unloading and palletizing, often use complex multi-joint structures, which not only increases the manufacturing cost of the robotic arms, but also makes them face many difficulties in daily maintenance and troubleshooting. Complex structural design means more connecting parts and transmission mechanisms, which are prone to wear during long-term use, and once a failure occurs, the difficulty and cost of repair are high.

[0004] At the same time, the chuck design of traditional gripping robot arms is relatively simple and can often only adapt to objects of specific shapes or sizes. In actual applications, the items that need to be gripped on the production line are of various types and shapes. Especially in the process of loading and unloading and stacking, the size, shape and weight of the materials may vary. The design of a single chuck is difficult to meet this diverse demand. This causes companies to need to replace different types of robot arms or chucks when facing different gripping tasks, which increases production costs and operational complexity.

[0005] Therefore, it is a technical problem that needs to be urgently solved by technical personnel in this field to develop a long-claw single-action clamping loading and unloading stacking robot arm with a simple structure, easy maintenance and flexible clamping head design to solve the above problems. Utility Model Content

[0006] In order to achieve the above-mentioned purpose, the technical solution of the utility model is to design a long-claw single-action clamping loading and unloading stacking robot arm, including a base, a big arm, a small arm and a clamp. The big arm is arranged on the base to realize the forward and backward swing of the equipment. The small arm is connected to the big arm to realize the up and down swing of the equipment. The clamp is arranged at the rear end of the small arm to realize the grabbing of related items.

[0007] Furthermore, the clamp includes a drive box, a drive arm is connected to the upper part of the drive box, a plurality of drive gears are arranged inside the drive box, and the drive arm is driven to swing left and right through the gears inside the drive box. A main claw arm is connected to the rear end of the drive arm, and a slave claw arm is arranged on the other side of the main claw arm. A plurality of gear teeth are arranged at the rear ends of the main claw arm and the slave claw arm, and the gear teeth are meshed with each other. When the main claw arm rotates, the slave claw arm can be driven to rotate synchronously.

[0008] Furthermore, a chuck sleeve is provided at the front of the main claw arm and the slave claw arm, and the chuck sleeve is connected to the main claw arm and the slave claw arm by bolts, and the chuck sleeve can be replaced according to working conditions.

[0009] Preferably, the clamping side of the chuck sleeve is provided with serrations and a semicircular clamping opening from front to back, respectively, for clamping different objects.

[0010] Preferably, the driving arm is a crank rocker mechanism.

[0011] Furthermore, a rotating mechanism is provided at the connection between the clamping jaw and the forearm, so as to realize the circular rotation of the clamping jaw.

[0012] The advantages and beneficial effects of the utility model are as follows: The utility model adopts a single-action design, and the overall structure is compact and simple. This design not only reduces the manufacturing cost, but also greatly simplifies the maintenance process of the robot arm, making troubleshooting and repair more convenient and quick. The chuck sleeve at the front of the clamping jaw is connected by bolts, which can be quickly replaced according to actual work needs, thereby improving the versatility and flexibility of the equipment. The serrations and semicircular clamping opening designed on the clamping side of the chuck sleeve can effectively increase the contact area with the clamped object and improve the stability and reliability of the clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 It is a schematic diagram of the utility model.

[0015] Figure 2 It is a specific schematic diagram of the clamping jaw of the utility model.

[0016] Among them, 1-base, 2-big arm, 3-small arm, 4-gripping jaw, 41-driving box, 42-driving arm, 43-main claw arm, 44-slave claw arm, 45-chuck cover. DETAILED DESCRIPTION

[0017] 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, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the utility model, and are not used to limit the utility model. In the utility model, unless otherwise stated, the directional words used, such as "upper" and "lower", generally refer to the upper and lower parts of the device in actual use or working state, specifically the drawing direction in the accompanying drawings; while "inside" and "outside" refer to the outline of the device.

[0018] like Figure 1 , Figure 2 As shown, the utility model mainly includes four parts: a base 1, a big arm 2, a small arm 3 and a clamping claw 4.

[0019] The base 1 serves as a supporting structure of the robot arm and is fixedly installed on the ground or other working platforms.

[0020] The arm 2 is arranged on the base 1, and swings forward and backward through the driving device in the base 1. In this embodiment, a motor reducer is used. The arm 2 is connected to the base 1 through a rotating joint, so that the arm 2 can swing forward and backward within a certain angle range.

[0021] The small arm 3 is connected to the big arm 2, and swings up and down through the driving device in the big arm 2. The small arm 3 is also connected to the big arm 2 through a rotating joint, so that the small arm 3 can swing up and down within a certain angle range.

[0022] The clamping claw 4 is arranged at the rear end of the forearm 3 and is used to grasp relevant objects.

[0023] The specific structure of the clamping jaw 4 is as follows:

[0024] The driving box 41 serves as a power source for the clamping jaws 4 and has a plurality of driving gears disposed therein.

[0025] The driving arm 42 is connected to the upper part of the driving box 41 and is designed with a crank rocker mechanism. Through the transmission of the internal gear of the driving box 41, the driving arm 42 can swing left and right.

[0026] The main claw arm 43 is connected to the rear end of the driving arm 42 and is arranged opposite to the slave claw arm 44. The rear end of the main claw arm 43 is provided with a plurality of gear teeth for meshing with the gear teeth of the slave claw arm 44.

[0027] The slave claw arm 44 is arranged at the other side of the main claw arm 43, and a plurality of gear teeth are also arranged at its rear end. When the main claw arm 43 rotates, the slave claw arm 44 can realize synchronous rotation with the main claw arm 43 through the mutual meshing of the gear teeth.

[0028] The chuck cover 45 is arranged at the front of the main claw arm 43 and the slave claw arm 44, and is fixed to the main claw arm 43 and the slave claw arm 44 by bolt connection. The clamping side of the chuck cover 45 is respectively provided with saw teeth and a semicircular clamping opening from front to back, which is used to clamp different objects. The chuck cover 45 can be replaced according to work requirements.

[0029] In this embodiment, a rotating mechanism is further provided at the connection between the clamping jaw 4 and the forearm 3, and the rotating mechanism can realize the circular rotation of the clamping jaw 4, thereby further improving the flexibility and applicability of the robot arm.

[0030] Specific steps:

[0031] When in use, the operator can control the driving device on the base 1 to make the upper arm 2 swing forward and backward, and control the lower arm 3 to swing up and down, so as to move the clamping jaw 4 to the position where the object needs to be clamped. Subsequently, the driving arm 42 is driven to swing left and right by the driving gear inside the driving box 41, so that the main claw arm 43 and the slave claw arm 44 rotate synchronously, and the opening and closing action of the chuck cover 45 is realized to complete the clamping of the object. Since the chuck cover 45 is connected by bolts, and the clamping side is provided with serrations and semicircular clamping ports, different chuck covers 45 can be quickly replaced according to actual work requirements to adapt to clamping tasks of different shapes and sizes. The rotating mechanism at the connection between the clamping jaw 4 and the lower arm 3 can also realize the circular rotation of the clamping jaw 4, further improving the flexibility and applicability of the robot arm.

[0032] The above is a detailed introduction to a long-claw single-action gripping loading and unloading stacking robot arm provided by the utility model. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present utility model.

Claims

1. A long-claw single-action gripping loading and unloading palletizing robot arm, comprising a base (1), a large arm (2), a small arm (3) and a gripper (4), wherein the large arm (2) is arranged on the base (1), the small arm (3) is connected to the large arm (2), and the gripper (4) is arranged at the rear end of the small arm (3), characterized in that: The clamping claw (4) comprises a driving box (41), the upper part of which is connected to a driving arm (42), a plurality of driving gears being arranged inside the driving box (41), and the driving arm (42) is driven to swing left and right through the gears inside the driving box (41), the rear end of the driving arm (42) is connected to a main claw arm (43), the other side of the main claw arm (43) is provided with a slave claw arm (44), the rear ends of the main claw arm (43) and the slave claw arm (44) are both provided with a plurality of gear teeth, the gear teeth are meshed with each other, and when the main claw arm (43) rotates, the slave claw arm (44) can be driven to rotate synchronously.

2. According to claim 1, a long-claw single-action gripping loading and unloading palletizing robot arm is characterized in that: A chuck sleeve (45) is provided at the front of the main chuck arm (43) and the slave chuck arm (44), and the chuck sleeve (45) is connected between the main chuck arm (43) and the slave chuck arm (44) by bolts.

3. The long-claw single-action gripping loading and unloading palletizing robot arm according to claim 2 is characterized in that: A rotating mechanism is provided at the connection between the clamping jaw (4) and the forearm (3), which can realize circular rotation of the clamping jaw (4).

4. A long-claw single-action gripping loading and unloading palletizing robot arm according to any one of claims 2 to 3, characterized in that: The clamping side of the clamping head sleeve (45) is provided with saw teeth and a semicircular clamping opening from front to back.

5. A long-claw single-action gripping loading and unloading palletizing robot arm according to any one of claims 1 to 3, characterized in that: The driving arm (42) is a crank rocker mechanism.

Images