Stacking mechanical arm for iron sheet pressing blocks

Abstract

The utility model discloses an iron sheet pressing block stacking mechanical arm which comprises a mechanical arm body, the end portion of a supporting arm of the mechanical arm body is fixedly connected with a clamping plate, two sets of sliding blocks are connected in the clamping plate in a sliding mode, the side walls of the two sets of sliding blocks are both fixedly connected with clamping plates, and the side wall of the clamping plate is connected with a fixing frame through a telescopic mechanism. Through a double clamping and supporting structure, that is, the side face clamping plate is combined with the bottom plate for supporting the bottom, the side face of the iron sheet pressing block is clamped through the clamping plate, and meanwhile the bottom plate supports the bottom of the pressing block through rotation of the rotating shaft; the problem that iron sheet pressing blocks with irregular surfaces or rusty and uneven surfaces cannot be firmly grabbed through traditional suction cup type grabbing is effectively solved, the pressing blocks are prevented from inclining or sliding off in the carrying and stacking process, the weight of the pressing blocks is distributed between the clamping plate and the bottom plate, the overall stability and safety of carrying are greatly improved, and the working efficiency is improved. And the device is suitable for various iron sheet pressing blocks with irregular shapes.

Description

Technical Field

[0001] The utility model relates to the technical field of stacking mechanical arms, in particular to a sheet metal briquetting stacking mechanical arm. Background Art

[0002] Palletizer is a machine that automatically stacks cartons that have been packed into containers on pallets or stacking boards (wood, plastic) in a certain arrangement. It can stack multiple layers and then push them out to facilitate forklift transportation to warehouses for storage. Mechanical palletizers can be divided into gantry palletizers, column palletizers, and robotic arm palletizers.

[0003] At present, when the existing palletizing robot arms are in use, they mostly use the robot arms to drive the grippers, which cooperate with the suction cups on the grippers to grab objects through vacuum adsorption. However, when stacking iron briquettes, the surfaces of the iron briquettes are often irregular, and there may be rust, unevenness or oil stains. The suction cups cannot form sufficient vacuum adsorption force with the surface of the briquettes, resulting in grasping failure or slipping during transportation. Therefore, it is necessary to redesign the iron briquette palletizing robot arm to address the above problems. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a sheet metal briquetting and stacking mechanical arm.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] The sheet metal briquetting stacking robot arm includes a robot body, the end of the robot body support arm is fixedly connected to a clamping plate, two groups of sliders are slidably connected in the clamping plate, the side walls of the two groups of sliders are fixedly connected to the clamping plates, the side walls of the clamping plate are connected to the fixed frame through a telescopic mechanism, the inner wall of the fixed frame is rotatably connected to the rotating shaft, the outer wall of the rotating shaft is fixedly connected to two groups of base plates, the positions of the two groups of base plates are symmetrical to each other, and through grooves are opened through the outer walls of the base plates and the clamping plates.

[0007] Preferably, the telescopic mechanism comprises a hydraulic cylinder fixedly connected to the side wall of the clamping plate, and the telescopic end of the hydraulic cylinder is fixedly connected to the upper end surface of the fixed frame.

[0008] Preferably, the inner wall of the splint is rotatably connected to a double-threaded rod, and the two groups of sliders are both threadedly connected to the threaded section of the double-threaded rod.

[0009] Preferably, the inner wall of the splint is fixedly connected to a limit rod, and the two groups of sliders are slidably connected to the outer wall of the limit rod.

[0010] Preferably, the clamping plate and the bottom plate are of the same length, and rubber pads are provided on both the clamping plate and the outer walls of the motor.

[0011] Preferably, the clamping plate and the outer wall of the fixed frame are respectively fixedly connected with motor 1 and motor 2, and the motor 1 and motor 2 are respectively coaxially fixedly connected with the double-headed threaded rod and the rotating shaft.

[0012] The utility model has the following beneficial effects:

[0013] 1. The utility model adopts a double clamping and supporting structure, that is, the side clamping plate is combined with the bottom supporting base plate. It not only relies on the clamping plate to clamp the iron sheet briquettes on the side, but also the base plate supports the bottom of the briquettes by rotating the shaft. It effectively solves the problem that the traditional suction cup type grasping cannot firmly grasp the iron sheet briquettes with irregular surface or rust, uneven surface, etc., and prevents the briquettes from tilting or sliding during transportation and stacking. The weight of the briquettes is distributed between the clamping plate and the base plate, which greatly improves the overall stability and safety of transportation. It is suitable for iron sheet briquettes with various irregular shapes.

[0014] 2. The utility model drives the slider and the clamping plate to adjust the spacing through a double-headed threaded rod, and can accurately adjust the width according to the different sizes of iron blocks. In addition, the hydraulic cylinder drives the height adjustment of the fixed frame and the bottom plate, so that the bottom plate can be accurately aligned according to the size and shape of the block to achieve bottom support. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of the iron sheet briquetting and stacking robot arm proposed in the present invention;

[0016] Figure 2 for Figure 1 Schematic diagram of the structure of the middle splint, clamping plate and bottom plate.

[0017] Figure 3 for Figure 2 Structural diagram.

[0018] In the figure: 1. Robot arm body; 2. Clamp; 3. Double-headed threaded rod; 4. Limit rod; 5. Slider; 6. Clamping plate; 7. Motor 1; 8. Hydraulic cylinder; 9. Fixed frame; 10. Motor 2; 11. Rotating shaft; 12. Base plate. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] Reference Figure 1-3The iron sheet briquetting stacking robot arm includes a robot body 1, a clamping plate 2 is fixedly connected to the end of the support arm of the robot body 1, two groups of sliders 5 are slidably connected in the clamping plate 2, and the side walls of the two groups of sliders 5 are fixedly connected to the clamping plates 6, and the side walls of the clamping plate 2 are connected to the fixed frame 9 through a telescopic mechanism. The inner wall of the fixed frame 9 is rotatably connected to the rotating shaft 11, and the outer wall of the rotating shaft 11 is fixedly connected to two groups of bottom plates 12. The positions of the two groups of bottom plates 12 are symmetrical to each other, and the outer walls of the bottom plates 12 and the clamping plates 6 are penetrated by through grooves. The bottom plate 12 is driven to rotate by the rotating shaft 11, and after clamping the iron sheet briquetting, it can be supported from the bottom; this not only enhances the stability, but also solves the problem of unstable clamping or slipping that may exist by relying solely on side clamping. Through the bottom support, the safety of the stacking process is significantly improved.

[0021] The telescopic mechanism includes a hydraulic cylinder 8 fixedly connected to the side wall of the clamping plate 2, and the telescopic end of the hydraulic cylinder 8 is fixedly connected to the upper end surface of the fixed frame 9; the hydraulic cylinder 8 can adjust the height of the fixed frame 9 and its external components so that the bottom plate 12 can accurately fit the bottom of the iron block.

[0022] The inner wall of the splint 2 is rotatably connected to a double-headed threaded rod 3, and the two sets of sliders 5 are both threadedly connected to the threaded sections of the double-headed threaded rod 3. The inner wall of the splint 2 is fixedly connected to a limit rod 4, and the two sets of sliders 5 are both slidably connected to the outer wall of the limit rod 4; with the help of the rotation of the double-headed threaded rod 3, the spacing between the two sets of clamping plates 6 can be adjusted, and can be quickly adjusted according to the actual shape of the material.

[0023] The clamping plate 6 is consistent in length with the base plate 12. The clamping plate 6 and the outer wall of motor 2 10 are provided with rubber pads. The outer walls of the clamping plate 2 and the fixing frame 9 are respectively fixedly connected with motor 1 7 and motor 2 10. Motor 1 7 and motor 2 10 are respectively coaxially fixedly connected with the double-headed threaded rod 3 and the rotating shaft 11.

[0024] In the present invention, when the device is used specifically: the system determines the position, shape and size of the iron sheet pressing block through a sensor or a visual detection system, and transmits the data to the control system. The control system calculates the optimal spacing of the clamping plates 6 and the optimal supporting position of the base plate 12 based on the detection results, and then the motor 7 is started to drive the double-headed threaded rod 3 to rotate. The double-headed threaded rod 3 pushes the slider 5 to slide on the limit rod 4 through the threaded section, so that the clamping plates 6 are adjusted in spacing according to the size of the pressing block. The movement of the slider 5 ensures that the two groups of clamping plates 6 are aligned with the sides of the iron sheet pressing block to ensure that the clamping is firm. After the spacing adjustment of the clamping plates 6 is completed, the hydraulic cylinder 8 is started to drive the fixed frame 9 to move up and down, and the base plate 12 is adjusted to the accurate height to ensure that it can support the iron sheet pressing block from the bottom.

[0025] At this time, the base plate 12 is ready for supporting action through the rotating shaft 11, and the motor 2 10 is started to drive the rotating shaft 11 to rotate, so that the two sets of base plates 12 are expanded to the appropriate position to form a supporting space, and the robot arm body 1 clamps the iron sheet pressing block through the side of the clamping plate 6. The rubber pad on the clamping plate 6 provides additional friction to avoid damage to the iron sheet pressing block while enhancing the clamping firmness. The clamping plate 6 clamps the iron sheet pressing block and then lifts it. The synchronous motor 2 10 drives the base plate 12 to rotate. The base plate 12 supports the bottom of the iron sheet pressing block, increases the supporting force, and prevents the pressing block from tilting or sliding during transportation. At this time, the weight of the pressing block is distributed between the clamping plate 6 and the base plate 12, which improves the overall stability. The robot arm body 1 moves the iron sheet pressing block to the target stacking position according to the preset path.

[0026] After arriving at the stacking area, the hydraulic cylinder 8 is started again to adjust the height of the bottom plate 12 to ensure that the briquette can be placed stably at the bottom of the stack. The synchronous motor 10 rotates in the opposite direction, driving the bottom plate 12 to slowly expand, gradually releasing the bottom support of the iron sheet briquette. The motor 1 7 drives the double-headed threaded rod 3 to rotate, the slider 5 slides, and the clamping plate 6 releases the iron sheet briquette to complete the placement.

[0027] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A sheet iron briquetting and stacking robot arm, comprising a robot arm body (1), characterized in that: The end of the arm of the mechanical arm body (1) is fixedly connected to a clamping plate (2), two groups of sliders (5) are slidably connected inside the clamping plate (2), and the side walls of the two groups of sliders (5) are fixedly connected to a clamping plate (6), and the side walls of the clamping plate (2) are connected to a fixed frame (9) through a telescopic mechanism, and the inner wall of the fixed frame (9) is rotatably connected to a rotating shaft (11), and the outer wall of the rotating shaft (11) is fixedly connected to two groups of base plates (12), and the positions of the two groups of base plates (12) are symmetrical to each other, and the outer walls of the base plates (12) and the clamping plates (6) are both penetrated by a through groove.

2. The sheet iron briquetting palletizing robot arm according to claim 1, characterized in that: The telescopic mechanism comprises a hydraulic cylinder (8) fixedly connected to the side wall of the clamping plate (2), and the telescopic end of the hydraulic cylinder (8) is fixedly connected to the upper end surface of the fixed frame (9).

3. The sheet iron briquetting palletizing robot arm according to claim 2, characterized in that: The inner wall of the clamping plate (2) is rotatably connected to a double-threaded rod (3), and the two groups of sliders (5) are both threadedly connected to the threaded section of the double-threaded rod (3).

4. The sheet iron briquetting palletizing robot arm according to claim 3, characterized in that: The inner wall of the splint (2) is fixedly connected to the limiting rod (4), and the two groups of sliders (5) are both slidably connected to the outer wall of the limiting rod (4).

5. The sheet iron briquetting palletizing robot arm according to claim 4, characterized in that: The clamping plate (6) and the bottom plate (12) are of the same length, and the clamping plate (6) and the outer wall of the second motor (10) are both provided with rubber pads.

6. The sheet iron briquetting palletizing robot arm according to claim 5, characterized in that: The outer walls of the clamping plate (2) and the fixed frame (9) are respectively fixedly connected with motor 1 (7) and motor 2 (10), and the motor 1 (7) and motor 2 (10) are respectively coaxially fixedly connected with the double-headed threaded rod (3) and the rotating shaft (11).

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