Steering engine driving type stacking mechanical arm with rotatable head

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a head-rotatable steering engine driving type stacking mechanical arm which comprises a bottom plate, a movable arm is arranged on the upper side of the bottom plate, a first motor is fixedly connected to the outer wall of the bottom plate, a material taking mechanism is arranged at the end, away from the bottom plate, of the movable arm, and the material taking mechanism comprises a fixing assembly. The fixing assembly is fixedly connected to the outer wall of the movable arm. According to the steering engine driving type stacking mechanical arm with the rotatable head, through the use of the fixing assembly, when the mechanical arm clamps and fixes an object which is prone to deformation, the telescopic end of an electric telescopic rod can stretch to drive a transverse plate to move, and then under the action of a hinge rod, a connecting rod drives a ball to be away from a round hole of a fixing frame; and limiting on the rotating frame is relieved, so that the rotating frame can rotate, then the suction cup can suck an object which is relatively easy to deform, and the using effect of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a servo-driven palletizing robotic arm with a rotatable head. Background Technique

[0002] Palletizing robotic arms can be integrated into any production line, providing intelligence and robotics for the production site, and can realize palletizing logistics for a variety of beverage operations, with wide applications.

[0003] Currently, in the prior art, during the use of palletizing robotic arms, materials are generally grabbed by grippers for palletizing. However, for some objects that are light in weight and easily deformed, during the process of the gripper grabbing the object, the object may be deformed, affecting the subsequent use of the object. In view of this, we propose a servo-driven palletizing robotic arm with a rotatable head. Content of the Utility Model

[0004] The main purpose of the utility model is to provide a servo-driven palletizing robotic arm with a rotatable head, which can solve the problems raised in the above background technique.

[0005] To achieve the above object, the proposed servo-driven palletizing robotic arm with a rotatable head of the utility model includes a bottom plate, an active arm is arranged on the upper side of the bottom plate, a first motor is fixedly connected to the outer wall of the bottom plate, a material taking mechanism is arranged at one end of the active arm away from the bottom plate, and the material taking mechanism includes:

[0006] A fixing component, which is fixedly connected to the outer wall of the active arm;

[0007] A mounting seat, which is arranged on the outer wall of the fixing component, and a suction cup and a clamping mechanism are arranged on the outer wall of the mounting seat;

[0008] And a second motor, which is arranged on the clamping mechanism.

[0009] Preferably, the fixing component includes a fixing frame, which is fixedly connected to the outer wall of the active arm, a rotating frame is rotatably connected to the inner surface of the fixing frame, an electric telescopic rod is fixedly connected to the upper side of the rotating frame, a cross plate is fixedly connected to the telescopic end of the electric telescopic rod, a hinge rod is hinged to the upper side of the cross plate, a connecting rod is fixedly connected to the end of the hinge rod away from the cross plate, a spherical ball is fixedly connected to the end of the connecting rod away from the hinge rod, and the spherical ball is elastically connected to the inner groove of the rotating frame through a connecting spring. By extending the telescopic end of the electric telescopic rod, the cross plate is driven to move, and then under the action of the hinge rod, the connecting rod drives the spherical ball to move away from the circular hole of the fixing frame, releasing the limit on the rotating frame, so that the rotating frame can rotate.

[0010] Preferably, the mounting seat is fixedly connected to the outer wall of the rotating frame.

[0011] Preferably, the suction cup is fixedly connected to the outer wall of the rotating frame.

[0012] Preferably, the clamping mechanism includes a mounting plate. A rotating rod is rotatably connected to the upper side of the mounting plate. A clamping jaw is hinged to the outer wall of the rotating rod. A limiting rod is hinged to the outer wall of the clamping jaw. One end of the limiting rod away from the clamping jaw is hinged to the outer wall of the mounting plate. By rotating the clamping jaw, the material can be clamped.

[0013] Preferably, the lower side of the mounting plate is fixedly connected to the second motor.

[0014] The utility model provides a servo-driven palletizing robotic arm with a rotatable head, which has the following beneficial effects:

[0015] (1) By using the fixing component, when the device clamps and fixes an object with light weight and easy to deform, the telescopic end of the electric telescopic rod can extend, driving the cross plate to move. Then, under the action of the hinge rod, the connecting rod drives the spherical ball away from the circular hole of the fixing frame, releasing the limit on the rotating frame, so that the rotating frame can rotate. Thus, the suction cup can suck the object with light weight and easy to deform, improving the use effect of the device.

[0016] (2) Since the limiting rod is arranged parallel to the rotating rod, the clamping jaw can stably and parallelly clamp the material, improving the clamping effect of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0018] Figure 1 is the overall three-dimensional structure schematic diagram of the present utility model;

[0019] Figure 2 is the partial sectional structure schematic diagram of the material taking mechanism of the present utility model;

[0020] Figure 3 is the present utility model Figure 2 the schematic diagram of structure A therein;

[0021] Figure 4 is the structure schematic diagram of the clamping mechanism of the present utility model;

[0022] Figure 5 Front view structure schematic of the present utility model Figure 1 ;

[0023] Figure 6 Front view structure schematic of the present utility model Figure 2 。

[0024] Explanation of reference numerals in the attached drawings:

[0025] 1. Bottom plate; 2. Movable arm; 3. First motor; 4. Material taking mechanism; 41. Fixing component; 42. Mounting seat; 43. Suction cup; 44. Clamping mechanism; 45. Second motor; 411. Fixing frame; 412. Rotating frame; 413. Electric telescopic rod; 414. Horizontal plate; 415. Hinge rod; 416. Link rod; 417. Sphere; 441. Mounting plate; 442. Rotating rod; 443. Claw; 444. Limiting rod.

[0026] The realization, functional features and advantages of the purpose of the present utility model will be further described in conjunction with the embodiments with reference to the attached drawings. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the attached drawings 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 of 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.

[0028] Please refer to Figures 1-6 , the present utility model provides a servo-driven palletizing robotic arm with a rotatable head, including a bottom plate 1. A movable arm 2 is arranged on the upper side of the bottom plate 1. A first motor 3 is fixedly connected to the outer wall of the bottom plate 1. The output shaft of the first motor 3 is fixedly connected to the movable arm 2, which is convenient for driving the movable arm 2 to rotate. A material taking mechanism 4 is arranged at one end of the movable arm 2 away from the bottom plate 1. By using the material taking mechanism 4, the material can be clamped.

[0029] In an embodiment of the present utility model, in order to be able to clamp materials, specifically, the material taking mechanism 4 includes a fixing component 41, a mounting seat 42 and a second motor 45. The fixing component 41 is fixedly connected to the outer wall of the movable arm 2. The mounting seat 42 is arranged on the outer wall of the fixing component 41. A suction cup 43 and a clamping mechanism 44 are arranged on the outer wall of the mounting seat 42. The second motor 45 is arranged on the clamping mechanism 44. The clamping mechanism 44 includes a mounting plate 441. A rotating rod 442 is rotatably connected to the upper side of the mounting plate 441. A clamping jaw 443 is hinged to the outer wall of the rotating rod 442. A limiting rod 444 is hinged to the outer wall of the clamping jaw 443. One end of the limiting rod 444 away from the clamping jaw 443 is hinged to the outer wall of the mounting plate 441. The lower side of the mounting plate 441 is fixedly connected to the second motor 45. The output shaft of the second motor 45 drives the two rotating rods 442 to move towards each other. Under the action of the limiting rod 444, the two clamping jaws 443 clamp the material in parallel, improving the clamping effect on the material. Further, a driving gear is fixedly connected to the output shaft of the second motor 45, and driven gears are fixedly connected to the rotating shafts of the two rotating rods 442, so that when the output shaft of the second motor 45 rotates, the two rotating rods 442 can move towards each other.

[0030] Further, in order to be able to clamp objects with relatively light mass and easy to deform, specifically, the fixing component 41 includes a fixing frame 411. The fixing frame 411 is fixedly connected to the outer wall of the movable arm 2. A rotating frame 412 is rotatably connected to the inner surface of the fixing frame 411. The mounting seat 42 is fixedly connected to the outer wall of the rotating frame 412. The suction cup 43 is fixedly connected to the outer wall of the rotating frame 412. An electric telescopic rod 413 is fixedly connected to the upper side of the rotating frame 412. A cross plate 414 is fixedly connected to the telescopic end of the electric telescopic rod 413. A hinged rod 415 is hinged to the upper side of the cross plate 414. A connecting rod 416 is fixedly connected to the end of the hinged rod 415 away from the cross plate 414. A spherical ball 417 is fixedly connected to the end of the connecting rod 416 away from the hinged rod 415. The spherical ball 417 is elastically connected to the inner groove of the rotating frame 412 through a connecting spring. By extending the telescopic end of the electric telescopic rod 413, the cross plate 414 is driven to move. Then, under the action of the hinged rod 415, the connecting rod 416 drives the spherical ball 417 to move away from the circular hole of the fixing frame 411, releasing the limit on the rotating frame 412, so that the rotating frame 412 can rotate, and thus the suction cup 43 can suck objects with relatively light mass and easy to deform, improving the use effect of the device.

[0031] It should be noted that the above electrical components are all existing technical products. Those skilled in the art select, install and complete the circuit debugging operations according to the needs of use to ensure that each electrical appliance can work normally. The components are all common standard parts or parts known to those skilled in the art. Their structures and principles can all be known by those skilled in the art through technical manuals or through conventional experimental methods. The applicant does not make specific restrictions here.

[0032] During use, first start motor 1 - 3, so that the movable arm 2 drives the material taking mechanism 4 to move towards the object. Then start motor 2 - 45. The output shaft of motor 2 - 45 drives the driving gear to rotate. Under the driving action of the driven gear, the two sets of rotating rods 442 move towards each other. Under the action of the limiting rod 444, the two sets of clamping jaws 443 clamp the material in parallel.

[0033] Meanwhile, when the object is light in mass and easily deformable, the telescopic end of the electric telescopic rod 413 extends, driving the cross - plate 414 to move. Then, under the action of the hinge rod 415, the connecting rod 416 drives the spherical ball 417 away from the circular hole of the fixed frame 411, releasing the limit on the rotating frame 412. Then rotate the rotating frame 412 so that the suction cup 43 can suck the object that is light in mass and easily deformable.

[0034] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A servo-driven palletizing robot arm with a rotatable head, comprising a bottom plate (1), characterized in that: A movable arm (2) is arranged on the upper side of the bottom plate (1), a motor (3) is fixedly connected to the outer wall of the bottom plate (1), and a material taking mechanism (4) is arranged at one end of the movable arm (2) away from the bottom plate (1), and the material taking mechanism (4) comprises: A fixing assembly (41), wherein the fixing assembly (41) is fixedly connected to the outer wall of the movable arm (2); A mounting seat (42), the mounting seat (42) being arranged on the outer wall of the fixing assembly (41), and a suction cup (43) and a clamping mechanism (44) being arranged on the outer wall of the mounting seat (42); and a second motor (45), wherein the second motor (45) is arranged on the clamping mechanism (44).

2. The head-rotatable steering gear-driven palletizing robot arm according to claim 1, characterized in that: The fixing assembly (41) comprises a fixing frame (411), wherein the fixing frame (411) is fixedly connected to the outer wall of the movable arm (2), the inner surface of the fixing frame (411) is rotatably connected to a rotating frame (412), the upper side of the rotating frame (412) is fixedly connected to an electric telescopic rod (413), the telescopic end of the electric telescopic rod (413) is fixedly connected to a transverse plate (414), the upper side of the transverse plate (414) is hingedly connected to a hinged rod (415), the end of the hinged rod (415) away from the transverse plate (414) is fixedly connected to a connecting rod (416), the end of the connecting rod (416) away from the hinged rod (415) is fixedly connected to a ball (417), and the ball (417) is elastically connected to the inner groove of the rotating frame (412) via a connecting spring.

3. The head-rotatable steering gear-driven palletizing robot arm according to claim 2, characterized in that: The mounting seat (42) is fixedly connected to the outer wall of the rotating frame (412).

4. The head-rotatable steering gear-driven palletizing robot arm according to claim 2, characterized in that: The suction cup (43) is fixedly connected to the outer wall of the rotating frame (412).

5. The head-rotatable steering gear-driven palletizing robot arm according to claim 1, characterized in that: The clamping mechanism (44) comprises a mounting plate (441), the upper side of the mounting plate (441) is rotatably connected to a rotating rod (442), a clamping claw (443) is hinged on the outer wall of the rotating rod (442), a limiting rod (444) is hinged on the outer wall of the clamping claw (443), and one end of the limiting rod (444) away from the clamping claw (443) is hinged on the outer wall of the mounting plate (441).

6. The head-rotatable steering gear-driven palletizing robot arm according to claim 5, characterized in that: The lower side of the mounting plate (441) is fixedly connected to the second motor (45).

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