Angle indexing mechanism of stacking mechanical gripper
By designing a limiting mechanism and a rotation adjustment mechanism in the angle indexing mechanism of the palletizing mechanical gripper, the instability problem caused by excessive load pressure in the stop position is solved, and more stable operation of the robot arm and prolong service life is achieved.
Patent Information
- Application Number
- CN202422460841.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-12
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-10-12
AI Technical Summary
After the angle indexing mechanism of the existing palletizing mechanical gripper stops to a certain position, the load pressure is too high, resulting in unstable movement of the robot arm, which easily causes vibration, and thus makes the robot arm easily damaged.
An angle indexing mechanism of a palletizing mechanical gripper including a mounting plate, a rotating mechanism, a rotating mechanism, a rotating adjustment mechanism and a limiting mechanism is designed. By providing a limiting mechanism and a rotational adjustment mechanism, the angle of the adjustment plate of the rotational mechanism is adjusted, the pressure of the rotational mechanism and the rotational adjustment mechanism is reduced, and the stability of the robot arm is improved.
Through this design, the adjustment plate is more stable when rotated to a certain position, and is less likely to cause vibration, greatly improving the service life of the robot arm.
Smart Images
Figure CN222904039U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical grippers, and particularly relates to an angle rotation mechanism of a palletizing mechanical gripper. Background Art
[0002] Stacking robots are suitable for automatically palletizing parts such as packing boxes, packing bags, electrical appliances, boards, and tiles. By replacing the gripper of the manipulator, the palletizing and depalletizing of different goods can be completed, relatively reducing the customer's purchase cost. This equipment is suitable for automatic production enterprises such as chemical industry, beverage, food, beer, and plastics; it is suitable for various shapes of packaging such as various cartons, bags, cans, and beer boxes.
[0003] The angle rotation mechanism of the existing palletizing mechanical gripper still has the following disadvantages. It often rotates and adjusts through an electric push rod or a motor cooperating with a rotating shaft. When the mechanical gripper stops at a certain position, the bearing pressure is too high, which easily causes the movement of the robotic arm to be unstable and prone to vibration, and further makes the robotic arm prone to damage. Summary of the Utility Model
[0004] To solve the problems raised in the above background art, the utility model provides an angle rotation mechanism of a palletizing mechanical gripper, which has a limiting mechanism to solve the following disadvantages of the angle rotation mechanism of the existing palletizing mechanical gripper: it often rotates and adjusts through an electric push rod or a motor cooperating with a rotating shaft. When the mechanical gripper stops at a certain position, the bearing pressure is too high, which easily causes the movement of the robotic arm to be unstable and prone to vibration, and further makes the robotic arm prone to damage.
[0005] The technical solution of the utility model is: an angle rotation mechanism of a palletizing mechanical gripper, including a mounting plate. A rotating mechanism is arranged on the top of the mounting plate, and a rotating mechanism, a rotation adjustment mechanism, and a limiting mechanism are arranged at the bottom of the mounting plate;
[0006] The rotating mechanism includes a limiting seat, a connecting block, and an adjusting plate. The limiting seat is fixedly installed at the bottom of the mounting plate. The connecting block is movably sleeved outside the limiting seat, and the top end of the adjusting plate is fixedly connected to the connecting block. The limiting mechanism includes a connecting seat one, a fixed seat one, a fixed seat two, a motor two, a lead screw, a threaded sleeve, and a connecting seat two. The connecting seat one is fixedly installed at the bottom of the mounting plate. The connecting seat one is movably connected to the fixed seat one. The motor two is fixedly installed at the bottom of the connecting seat one. The output end of the motor two is fixedly connected to the lead screw. The threaded sleeve is movably sleeved outside the lead screw. The fixed seat two is fixedly installed at the bottom end of the threaded sleeve. The fixed seat two is movably connected to the connecting seat two. The connecting seat two is fixedly installed on the bottom wall of the concave part of the adjusting plate.
[0007] Further, the rotating mechanism includes a connecting ring, a worm, a limiting ring, a mounting groove, a mounting box, a worm wheel, a rotating shaft and a first motor. The connecting ring is fixedly installed at the top of the mounting plate. The limiting ring is fixedly installed at the top of the connecting ring. The mounting groove is fixedly installed at the bottom of the mounting box. The mounting groove is movably sleeved outside the limiting ring and the connecting ring.
[0008] Further, the first motor is fixedly installed on the right outer wall of the mounting box. The two ends of the worm are respectively movably inserted into the two side walls of the mounting box. The output end of the first motor is fixedly connected to the right end of the worm. The rotating shaft is movably inserted into the mounting box, and the bottom end of the rotating shaft is fixedly connected to the top of the mounting plate. The worm wheel is meshed with the worm for installation.
[0009] Further, a mounting rod is arranged at the top of the mounting box. A connecting plate is fixedly installed at the bottom of the adjusting plate. A bolt is arranged at the bottom of the connecting plate.
[0010] Further, the rotation adjustment mechanism includes a first movable seat, a first movable block, an electric push rod, a sleeve, a limiting sleeve and a connecting rod. The first movable seat is fixedly installed at the bottom of the mounting plate. The mounting end of the electric push rod is movably connected to the first movable seat through the first movable block. The output end of the electric push rod is fixedly connected to the sleeve.
[0011] Further, the limiting sleeve is fixedly installed on the front outer wall of the adjusting plate. The connecting rod is movably inserted into the limiting sleeve, and the two ends of the connecting rod are respectively movably inserted into the sleeve.
[0012] The present utility model provides an angle indexing mechanism for a palletizing robotic gripper through improvement. Compared with the prior art, it has the following improvements and advantages:
[0013] By providing a limiting mechanism, during use, the adjusting plate of the rotating mechanism is adjusted in angle through the rotation adjustment mechanism. Then, when the adjusting plate rotates to a suitable position, the switch of the second motor is turned on, so that the lead screw rotates, and then the total length of the lead screw and the threaded sleeve is adjusted. Further, after the adjusting plate rotates to a certain position, it can play an auxiliary supporting role, reduce the pressure on the rotation adjustment mechanism and the rotating mechanism, make the adjusting plate more stable when rotating to a certain position, and is not easy to cause vibration, thereby greatly improving the service life of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The following further explains the present utility model in conjunction with the drawings and embodiments:
[0015] Figure 1 is a cross-sectional schematic view of the present utility model;
[0016] Figure 2 is a front view schematic view of the present utility model;
[0017] Figure 3 This is the schematic top view and sectional view of the installation box of the present utility model;
[0018] Figure 4 This is the schematic perspective top view of the present utility model;
[0019] Figure 5 This is the Figure 1 schematic enlarged structure view at position A in the present utility model;
[0020] Figure 6 This is the schematic partial perspective structure view of the rotation adjustment mechanism of the present utility model;
[0021] Explanation of reference numerals: 1, mounting plate; 2, connecting ring; 3, limiting ring; 4, mounting groove; 5, installation box; 6, worm gear; 7, rotating shaft; 8, mounting rod; 9, motor 1; 10, connecting seat 1; 11, motor 2; 12, electric push rod; 13, lead screw; 14, movable seat 1; 15, movable block 1; 16, fixed seat 1; 17, sleeve; 18, connecting seat 2; 19, connecting plate; 20, bolt; 21, limiting sleeve; 22, adjusting plate; 23, fixed seat 2; 24, connecting rod; 25, threaded sleeve; 26, worm; 27, limiting seat; 28, connecting block. Detailed implementation manners
[0022] The following will combine with the attached Figures 1 to 6 illustrate the present utility model in detail, and clearly and completely describe the technical solutions in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0023] The present utility model provides an angle rotation mechanism for a palletizing mechanical gripper through improvement. As Figures 1-6 shown in the figure, it includes a mounting plate 1. A rotating mechanism is arranged at the top of the mounting plate 1, and a rotating mechanism, a rotation adjustment mechanism and a limiting mechanism are arranged at the bottom of the mounting plate 1;
[0024] The rotation mechanism includes a limit seat 27, a connection block 28, and an adjustment plate 22. The limit seat 27 is fixedly installed at the bottom of the mounting plate 1. The connection block 28 is movably sleeved outside the limit seat 27, and the top end of the adjustment plate 22 is fixedly connected to the connection block 28. The limit mechanism includes a first connection seat 10, a first fixed seat 16, a second fixed seat 23, a second motor 11, a lead screw 13, a threaded sleeve 25, and a second connection seat 18. The first connection seat 10 is fixedly installed at the bottom of the mounting plate 1. The first connection seat 10 is movably connected to the first fixed seat 16. The second motor 11 is fixedly installed at the bottom of the first connection seat 10. The output end of the second motor 11 is fixedly connected to the lead screw 13. The threaded sleeve 25 is movably sleeved outside the lead screw 13. The second fixed seat 23 is fixedly installed at the bottom end of the threaded sleeve 25. The second fixed seat 23 is movably connected to the second connection seat 18. The second connection seat 18 is fixedly installed on the bottom wall of the concave portion of the adjustment plate 22. By providing the limit mechanism, during use, the adjustment plate 22 of the rotation mechanism is adjusted in angle through the rotation adjustment mechanism. Then, when the adjustment plate 22 rotates to a suitable position, the switch of the second motor 11 is turned on, so that the lead screw 13 rotates, and then the total length of the lead screw 13 and the threaded sleeve 25 is adjusted. Then, after the adjustment plate 22 rotates to a certain position, it can play an auxiliary support role, reduce the pressure on the rotation adjustment mechanism and the rotation mechanism, make the adjustment plate 22 more stable when rotating to a certain position, not easy to cause vibration, and greatly improve the service life of the robotic arm.
[0025] The rotation mechanism includes a connection ring 2, a worm 26, a limit ring 3, a mounting groove 4, a mounting box 5, a worm gear 6, a rotating shaft 7, and a first motor 9. The connection ring 2 is fixedly installed on the top of the mounting plate 1. The limit ring 3 is fixedly installed on the top of the connection ring 2. The mounting groove 4 is fixedly installed at the bottom of the mounting box 5. The mounting groove 4 is movably sleeved outside the limit ring 3 and the connection ring 2. The first motor 9 is fixedly installed on the right outer wall of the mounting box 5. The two ends of the worm 26 are respectively movably inserted into the inner sides of the two side walls of the mounting box 5. The output end of the first motor 9 is fixedly connected to the right end of the worm 26. The rotating shaft 7 is movably inserted into the mounting box 5, and the bottom end of the rotating shaft 7 is fixedly connected to the top of the mounting plate 1. The worm gear 6 is meshed with the worm 26. There is a mounting rod 8 on the top of the mounting box 5. The bottom of the adjustment plate 22 is fixedly installed with a connection plate 19. There is a bolt 20 at the bottom of the connection plate 19. During use, the switch of the first motor 9 is turned on, so that the worm gear 6 rotates. Then, through the meshing connection between the worm gear 6 and the worm 26, the worm gear 6 drives the rotating shaft 7 to rotate, and then the horizontal direction of the mounting plate 1 is adjusted to improve the adjustment range of the mechanical claw. The use of the worm gear 6 and the worm 26 makes the rotation more stable and reliable. The connecting rod 24 is connected to the support device, and the mechanical claw can be fixed to the connection plate 19 through the bolt 20.
[0026] The rotation adjustment mechanism includes a first movable seat 14, a first movable block 15, an electric push rod 12, a sleeve 17, a limit sleeve 21 and a connecting rod 24. The first movable seat 14 is fixedly installed at the bottom of the mounting plate 1. The installation end of the electric push rod 12 is movably connected to the first movable seat 14 through the first movable block 15. The output end of the electric push rod 12 is fixedly connected to the sleeve 17. The limit sleeve 21 is fixedly installed on the front outer wall of the adjustment plate 22. The connecting rod 24 is movably inserted into the limit sleeve 21, and both ends of the connecting rod 24 are respectively movably inserted into the sleeve 17. The external power supply of the device provides electrical energy for the device. The device is externally connected to a controller, and the controller is electrically connected between the motor and the electric push rod 12. The first movable seat 14 and the limit seat 27 are respectively installed at different positions at the bottom of the mounting plate 1. The first movable seat 14 is located behind the limit seat 27. Furthermore, the electric push rod 12, the mounting plate 1 and the limit seat 27 form a triangular mechanism. Furthermore, when the overall length of the electric push rod 12 increases, it is equivalent to a change in one side of the triangle, and then the shape of the triangle changes, thereby causing a change in the position of the sleeve 17. Therefore, the effect of angle inclination can be achieved. When in use, the electric push rod 12 is turned on, and then the overall length of the electric push rod 12 increases, so that the inclination angle of the electric push rod 12 changes, and then the connecting rod 24 can be driven to rotate along with the output end of the electric push rod 12. The connecting rod 24 drives the adjustment plate 22 to rotate. Furthermore, the angle of the adjustment plate 22 can be adjusted by the connecting rod 24, so that the grasping range of the mechanical claw is wider, and the mechanical claw can be adjusted in multiple angles and directions.
[0027] The standard parts used in the present utility model can all be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, it will not be elaborated here. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.
[0028] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. An angle transfer mechanism for a palletizing mechanical gripper, comprising a mounting plate (1), characterized in that: The top of the mounting plate (1) is provided with a rotating mechanism, and the bottom of the mounting plate (1) is provided with a rotating mechanism, a rotating adjustment mechanism and a limiting mechanism; The rotating mechanism comprises a limit seat (27), a connecting block (28) and an adjusting plate (22); the limit seat (27) is fixedly mounted on the bottom of the mounting plate (1); the connecting block (28) is movably sleeved on the outside of the limit seat (27); and the top of the adjusting plate (22) is fixedly connected to the connecting block (28); the limit mechanism comprises a connecting seat 1 (10), a fixing seat 1 (16), a fixing seat 2 (23), a motor 2 (11), a screw rod (13), a threaded sleeve (25) and a connecting seat 2 (18); the connecting seat 1 (10) is fixedly mounted on the mounting plate (1); The bottom of the mounting plate (1), the connecting seat 1 (10) is movably connected to the fixing seat 1 (16), the motor 2 (11) is fixedly mounted on the bottom of the connecting seat 1 (10), the output end of the motor 2 (11) is fixedly connected to the screw rod (13), the threaded sleeve (25) is movably sleeved on the outside of the screw rod (13), the fixing seat 2 (23) is fixedly mounted on the bottom end of the threaded sleeve (25), the fixing seat 2 (23) is movably connected to the connecting seat 2 (18), and the connecting seat 2 (18) is fixedly mounted on the bottom wall of the inner concave part of the adjusting plate (22).
2. The angle transfer mechanism of the palletizing mechanical gripper according to claim 1, characterized in that: The rotating mechanism comprises a connecting ring (2), a worm (26), a limiting ring (3), a mounting groove (4), a mounting box (5), a worm wheel (6), a rotating shaft (7) and a motor 1 (9); the connecting ring (2) is fixedly mounted on the top of the mounting plate (1); the limiting ring (3) is fixedly mounted on the top of the connecting ring (2); the mounting groove (4) is fixedly mounted on the bottom of the mounting box (5); and the mounting groove (4) is movably sleeved on the outside of the limiting ring (3) and the connecting ring (2).
3. The angle transfer mechanism of the palletizing mechanical gripper according to claim 2, characterized in that: The motor 1 (9) is fixedly mounted on the right outer wall of the mounting box (5), the two ends of the worm (26) are movably plugged into the inside of the two side walls of the mounting box (5), the output end of the motor 1 (9) is fixedly connected to the right end of the worm (26), the rotating shaft (7) is movably plugged into the inside of the mounting box (5), and the bottom end of the rotating shaft (7) is fixedly connected to the top of the mounting plate (1), and the worm wheel (6) is meshedly mounted with the worm (26).
4. The angle transfer mechanism of the palletizing mechanical gripper according to claim 2, characterized in that: A mounting rod (8) is provided at the top of the mounting box (5), a connecting plate (19) is fixedly mounted at the bottom of the adjustment plate (22), and a bolt (20) is provided at the bottom of the connecting plate (19).
5. The angle transfer mechanism of the palletizing mechanical gripper according to claim 1, characterized in that: The rotary adjustment mechanism comprises a movable seat (14), a movable block (15), an electric push rod (12), a sleeve (17), a limit sleeve (21) and a connecting rod (24); the movable seat (14) is fixedly mounted on the bottom of the mounting plate (1); the mounting end of the electric push rod (12) is movably connected to the movable seat (14) via the movable block (15); and the output end of the electric push rod (12) is fixedly connected to the sleeve (17).
6. The angle transfer mechanism of the palletizing mechanical gripper according to claim 5, characterized in that: The limiting sleeve (21) is fixedly mounted on the front outer wall of the adjustment plate (22), the connecting rod (24) is movably plugged into the interior of the limiting sleeve (21), and both ends of the connecting rod (24) are movably plugged into the interior of the sleeve (17) respectively.