Mechanical arm for bag grabbing manipulator

Abstract

The utility model relates to the field of logistics conveying, in particular to a mechanical arm for a bag grabbing mechanical arm, which comprises a mechanical arm servo rotating platform, a mechanical arm supporting stand column is arranged on the mechanical arm servo rotating platform, and a mechanical arm driving unit is arranged on the mechanical arm supporting stand column. The manipulator driving unit comprises a swing arm and a swing arm driving mechanism for driving the swing arm to finish the swing action in the vertical direction, and the bag grabbing manipulator is mounted at the tail end of the swing arm. In the bag pile grabbing and transferring process, rotation adjustment can be conducted through the mechanical arm servo rotating platform, so that the bag grabbing mechanical arm is rotated to the upper side of the bag pile, then the bag grabbing mechanical arm is driven by the swing arm driving mechanism to move downwards through the swing arm, and bag pile grabbing is completed. And then the mechanical arm servo rotating platform is utilized again to rotate the bag grabbing mechanical arm to the designated position to put down the bag pile, so that the grabbing and transferring actions of the bag pile are completed, the overall structure is simple, and the manufacturing cost is low.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics transportation, in particular to a robotic arm for a bag-grabbing manipulator. Background Art

[0002] At present, the bag stacks of cement packaging bags are stacked by rotating and stacking the bag piles, and the bag piles are stacked by several cement packaging bags. The bag stacks are transported to the designated workstations in the factory by forklifts for subsequent cement filling processes; the entire process involves the process of grabbing the bag piles from the bag stacks and transporting the bag piles to the designated workstations; at present, most of the grabbing and transporting of the bag piles are completed by a multi-axis robotic arm driving a bag-grabbing manipulator. The multi-axis robotic arm is flexible in adjustment and can complete the multi-posture adjustment of the position of the bag-grabbing manipulator. However, its manufacturing cost is relatively high. Therefore, for the relatively simple bag pile grabbing and transferring actions, the use of a multi-axis robotic arm has a relatively low cost performance. Based on this, the robotic arm for the bag-grabbing manipulator of the present utility model is proposed. Summary of the Utility Model

[0003] In view of the above problems, an embodiment of the present utility model provides a robotic arm for a bag-grabbing manipulator.

[0004] The robotic arm for a bag-grabbing manipulator provided by the embodiment of the present utility model includes a robotic arm servo rotating platform. A robotic arm support column is arranged on the robotic arm servo rotating platform. A manipulator driving unit is arranged on the robotic arm support column. The manipulator driving unit includes a swing arm and a swing arm driving mechanism for driving the swing arm to complete a swinging action in the vertical direction. The bag-grabbing manipulator is installed at the end of the swing arm.

[0005] Compared with the prior art, the beneficial effect of the present utility model lies in that: during the process of grabbing and transporting the bag stacks, the robotic arm servo rotating platform can be rotated and adjusted to turn the bag-grabbing manipulator to the upper side of the bag stack. Then, the swing arm driving mechanism drives the swing arm to drive the bag-grabbing manipulator to move downwards to complete the grabbing of the bag stack; then, the robotic arm servo rotating platform is used again to rotate the bag-grabbing manipulator to the designated position to put down the bag stack, thus completing the grabbing and transferring action of the bag stack. The overall structure is simple and the manufacturing cost is low.

[0006] Optionally, it further includes a robotic arm lifting unit arranged on the robotic arm support column, and the manipulator driving unit is arranged on the robotic arm lifting unit.

[0007] Optionally, the robotic arm lifting unit includes a robotic arm lifting seat slidably arranged on the robotic arm support column, and a robotic arm lifting driving module for driving the robotic arm lifting seat to lift; the manipulator driving unit is arranged on the robotic arm lifting seat.

[0008] Optionally, the swing arm driving mechanism includes a swing arm driving seat vertically slidably disposed on the robotic arm lifting seat, a swing arm driving module for driving the swing arm driving seat to lift, and a swing arm driving rod having one end hinged to the robotic arm lifting seat, and the other end of the swing arm driving rod is hinged to the swing arm.

[0009] Optionally, the swing arm includes two swing rods arranged in parallel and having one end hinged to the swing arm driving seat, and a swing arm connecting rod is hinged between the ends of the two swing rods. The two swing rods, the swing arm connecting rod, and the swing arm driving seat form a parallelogram four-bar linkage structure. A bag-grabbing manipulator mounting seat is provided on the swing arm connecting rod, and the other end of the swing arm driving rod is hinged to the middle of one of the swing rods. The swing arm driving rod, the swing rod, and the swing arm driving seat form a scissor driving structure. Description of the Drawings

[0010] The drawings described herein are used to provide a further understanding of the present invention, and form a part of the present application, and do not constitute a limitation to the present invention. In the drawings:

[0011] Figure 1 It is a schematic structural view of a robotic arm for a bag-grabbing manipulator provided by an embodiment of the present invention.

[0012] Wherein, 1. Robotic arm servo rotating platform; 2. Robotic arm support column; 3. Bag-grabbing manipulator; 4. Robotic arm lifting seat; 5. Robotic arm lifting driving module; 6. Swing arm driving seat; 7. Swing arm driving module; 8. Swing arm driving rod; 9. Swing rod; 10. Swing arm connecting rod; 11. Bag-grabbing manipulator mounting seat. Detailed Embodiment

[0013] In order to make the purpose, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the embodiments and the drawings. Herein, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but do not limit the present invention.

[0014] See Figure 1 , a robotic arm for a bag-grabbing manipulator provided by an embodiment of the present invention includes a robotic arm servo rotating platform 1, a robotic arm support column 2 is provided on the robotic arm servo rotating platform 1, a manipulator driving unit is provided on the robotic arm support column 2, the manipulator driving unit includes a swing arm and a swing arm driving mechanism for driving the swing arm to complete a swinging motion in the vertical direction, and the bag-grabbing manipulator 3 is installed at the end of the swing arm.

[0015] During implementation, when it is necessary to grasp and transfer a stack of bags, the robotic arm servo rotating platform 1 can be used for rotational adjustment, so as to turn the bag grasping manipulator 3 to one side above the stack of bags. Then, the swing arm driving mechanism drives the swing arm to drive the bag grasping manipulator 3 to move downward to complete the grasping of the stack of bags. After that, after the swing arm resets, the robotic arm servo rotating platform 1 is used again to rotate the bag grasping manipulator to the designated position to put down the stack of bags. Thus, the grasping and transfer movement of the stack of bags is completed. The overall structure is simple and the manufacturing cost is low.

[0016] During implementation, the robotic arm for the bag grasping manipulator of the present utility model further includes a robotic arm lifting unit arranged on the robotic arm support column 2, which is used to realize the adjustment of the height of the bag grasping manipulator 3 in the vertical direction, increase the adjustment flexibility, and the manipulator driving unit is arranged on the robotic arm lifting unit.

[0017] During implementation, the robotic arm lifting unit includes a robotic arm lifting seat 4 slidably arranged on the robotic arm support column 2, and a robotic arm lifting driving module 5 for driving the robotic arm lifting seat 4 to lift; the manipulator driving unit is arranged on the robotic arm lifting seat 4; the robotic arm support column 2 and the robotic arm lifting seat 4 can also achieve sliding fit through V-shaped rollers and V-shaped guide rails. For example, V-shaped guide rails are arranged on the robotic arm support column 2, and V-shaped rollers are arranged on the robotic arm lifting seat 4.

[0018] During implementation, the swing arm driving mechanism includes a swing arm driving seat 6 slidably arranged vertically on the robotic arm lifting seat 4, a swing arm driving module 7 for driving the swing arm driving seat 6 to lift, and a swing arm driving rod 8 with one end hinged to the robotic arm lifting seat 4. The other end of the swing arm driving rod 8 is hinged to the swing arm; the swing arm driving seat 6 and the robotic arm lifting seat 4 can be slidably connected through a slider structure, and at the same time, V-shaped rollers and V-shaped guide rails can be arranged in cooperation with the slider structure to play a guiding role to ensure the vertical sliding of the swing arm driving seat 6 on the robotic arm lifting seat 4.

[0019] During implementation, the swing arm includes two swing rods 9 arranged in parallel and with one end hinged to the swing arm driving seat 6 respectively. A swing arm connecting rod 10 is hinged between the ends of the two swing rods 9. The two swing rods 9, the swing arm connecting rod 10 and the swing arm driving seat 6 form a parallel four-link structure. A bag grasping manipulator mounting seat 11 is arranged on the swing arm connecting rod 10. The other end of the swing arm driving rod 8 is hinged to the middle of one of the swing rods 9. The swing arm driving rod 8, the swing rod 9 and the swing arm driving seat 6 form a scissor driving structure; specifically, when setting, the hinge point A of the swing arm driving rod 8 on the swing rod 9 is equidistant from the two end points B and C of the swing rod 9. At the same time, the hinge point D of the swing arm driving rod 8 on the robotic arm lifting seat 4 and the distances from points B and C to point A are the same. At this time, points B, C, and D are located on a circle with point A as the center and AD as the radius, BC is the diameter, and ∠BDC is 90 degrees, converting the linear motion of the swing driving seat 6 in the vertical direction into the linear motion of the bag grasping manipulator 3 at the end of the swing arm in the horizontal direction.

[0020] During implementation, the lifting drive module and the swing arm drive module of the robotic arm can be realized by driving structures such as sprocket chains, lead screw pairs, and pneumatic cylinders and electric cylinders; the servo rotating platform 1 of the robotic arm can be realized by a drive structure of a servo motor plus a slewing bearing to achieve rotational drive.

[0021] During the specific grasping and transfer process, the bag grasping manipulator can be first adjusted to a height higher than the bag stack through the robotic arm lifting unit, and then the servo rotating platform 1 and the manipulator drive unit are used in cooperation to adjust so that the bag grasping manipulator 3 is located directly above the bag stack. After that, the robotic arm lifting unit is used again to drive the bag grasping manipulator 3 to descend to complete the grasping action. After successful grasping, the robotic arm lifting unit drives the bag grasping manipulator 3 to rise, and then the servo rotating platform 1 and the manipulator drive unit are used in cooperation to move the bag grasping manipulator 3 to the bag stack placement station to put down the bag stack. Thus, the grasping and transfer process of the bag stack is completed. The overall structure of the device is simple and the manufacturing cost is low.

[0022] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A mechanical arm for a bag grabbing manipulator, characterized in that: It includes a robot arm servo rotating platform, a robot arm supporting column is arranged on the robot arm servo rotating platform, a robot arm driving unit is arranged on the robot arm supporting column, the robot arm driving unit includes a swing arm and a swing arm driving mechanism driving the swing arm to complete a swinging motion in the vertical direction, and the bag grabbing robot is installed at the end of the swing arm.

2. The mechanical arm for bag grabbing manipulator according to claim 1, characterized in that: It also includes a robot arm lifting unit arranged on the robot arm supporting column, and the robot arm driving unit is arranged on the robot arm lifting unit.

3. The mechanical arm for bag grabbing manipulator according to claim 1, characterized in that: The robot arm lifting unit comprises a robot arm lifting seat slidably arranged on a robot arm supporting column, and a robot arm lifting driving module driving the robot arm lifting seat to lift and lower; the robot arm driving unit is arranged on the robot arm lifting seat.

4. The mechanical arm for bag grabbing manipulator according to claim 3, characterized in that: The swing arm driving mechanism includes a swing arm driving seat vertically slidably arranged on the mechanical arm lifting seat, a swing arm driving module driving the swing arm driving seat to rise and fall, and a swing arm driving rod with one end hinged to the mechanical arm lifting seat, and the other end of the swing arm driving rod is hinged to the swing arm.

5. The mechanical arm for bag grabbing manipulator according to claim 4, characterized in that: The swing arm includes two swing rods which are arranged in parallel and one end of each of which is hinged to the swing arm driving seat. A swing arm connecting rod is hinged between the ends of the two swing rods. The two swing rods, the swing arm connecting rod and the swing arm driving seat constitute a parallel four-bar structure. A bag grabbing manipulator mounting seat is arranged on the swing arm connecting rod. The other end of the swing arm driving rod is hinged to the middle part of one of the swing rods. The swing arm driving rod, the swing arm and the swing arm driving seat constitute a scissor-type driving structure.

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