Section steel stacking clamping jaw flexible mechanical arm

Abstract

The utility model discloses a section steel stacking clamping jaw flexible mechanical arm which comprises a mechanical arm cross beam, at least two stacking clamping jaws are arranged on the mechanical arm cross beam, an installation space is arranged on the stacking clamping jaws in a surrounding mode, the mechanical arm cross beam is arranged in the installation space, and the front side and the rear side of the mechanical arm cross beam are installed in the installation space in an attached mode. A flexible limiting structure is mounted between the bottom end of the mechanical arm cross beam and the mounting space, and the top end of the flexible limiting structure presses the bottom end of the mechanical arm cross beam so that the top end of the mechanical arm cross beam can abut against the top end of the mounting space; the stacking clamping jaw and the mechanical arm cross beam are flexibly connected through the flexible limiting structure, so that the stacking clamping jaw can adaptively generate displacement changes in the up-down direction, the vertical position of the stacking clamping jaw is limited through the flexible limiting structure on one hand, installation of the stacking clamping jaw is guaranteed, and on the other hand, vibration can be absorbed, impact can be relieved, and therefore the stacking clamping jaw can be stably installed. And the impact transmitted to the cross beam of the mechanical arm is reduced.

Description

Technical Field

[0001] The utility model relates to a stacking mechanical arm, in particular to a flexible mechanical arm with steel stacking claws. Background Art

[0002] Currently, product handling is very common in the field of mechanical equipment, and palletizing is a common automation requirement. Automatic palletizers are high-tech products integrating machinery and electronics. C-shaped steel is a cold-rolled profile with a C-shaped cross-section. It has thin walls, light weight, excellent performance, and high strength. It is mainly used in the construction field. At present, C-shaped steel is automatically processed and formed by C-shaped steel forming machines, and an assembly line production has been formed. After the C-shaped steel is formed, it is transported and palletized by palletizing robots. By clamping the steel, stable transportation and palletizing can be achieved. The robotic arm serves as the mounting base for the palletizing gripper, and it can achieve multiple degrees of freedom movement with the robotic arm. Currently, the palletizing gripper is mainly directly and rigidly fixed to the robotic arm. However, during the actual gripping and transporting process, when the palletizing gripper encounters external impact, it will be directly transmitted to the robotic arm through the robotic arm, affecting the service life of the robotic arm. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a flexible mechanical arm with a steel stacking clamp and a reasonable design, which can alleviate the impact of the mechanical arm.

[0004] In order to solve the above technical problems, the technical solution of the utility model is as follows: a flexible mechanical arm with a steel-shaped stacking gripper includes a mechanical arm crossbeam, at least two stacking grippers are arranged on the mechanical arm crossbeam, an installation space is enclosed on the stacking grippers, the mechanical arm crossbeam is placed in the installation space, the front and rear sides of the mechanical arm crossbeam are fitted with the installation space, a flexible limiting structure is installed between the bottom end of the mechanical arm crossbeam and the installation space, the top end of the flexible limiting structure presses the bottom end of the mechanical arm crossbeam to press the top end of the mechanical arm crossbeam against the top end of the installation space;

[0005] The stacking clamp includes a mounting frame, and a first clamp and a second clamp are provided at the bottom of the mounting frame, which are arranged relative to each other and clamped together, and a lateral adjustment component is connected between the mounting frame and the first clamp, and the lateral adjustment component drives the first clamp to slide horizontally and adjust the width between the first clamp and the second clamp; the mounting frame is provided with two vertical mounting vertical plates and a lifting vertical plate, and the second clamp is installed at the bottom end of the mounting vertical plate, and the mounting vertical plate and the lifting vertical plate are hinged by a parallel four-link connection, and the lifting vertical plate is vertically slidably mounted on the mounting frame through a lifting module. The mounting frame is also provided with a lifting drive connected to the lifting vertical plate, and the mounting frame is provided with an opening and closing guide structure to guide the mounting vertical plate to approach the first clamp. As the lifting vertical plate descends, the mounting vertical plate slides along the opening and closing guide structure, causing the second clamp to approach the first clamp.

[0006] As a preferred technical solution, the flexible limiting structure includes a spring accommodating groove provided in the mounting frame, a support spring installed in the spring accommodating groove, the top end of the support spring is located outside the spring accommodating groove and abuts against the bottom end of the robotic arm crossbeam, the bottom end of the support spring is located in the spring accommodating groove and abuts against a pressure regulating plate, the bottom end of the pressure regulating plate is provided with an adjusting stud passing through the bottom end of the spring accommodating groove, the adjusting stud is threadedly connected to the spring accommodating groove and a locking nut abutting against the outside of the spring accommodating groove is also provided on the outside of the adjusting stud.

[0007] As a preferred technical solution, each of the stacking grippers is correspondingly provided with two support springs, and the two support springs are arranged on the left and right to support the bottom end of the crossbeam of the robotic arm.

[0008] As a preferred technical solution, the lateral adjustment assembly includes a horizontally installed adjusting screw, both ends of the adjusting screw are installed on the bottom end of the mounting frame through connecting supports, the adjusting screw passes through the first clamping jaw and the two are threadedly connected, the end of the adjusting screw away from the second clamping jaw is connected to an adjusting handwheel, a clamping jaw bracket is fixed to the top of the first clamping jaw, a horizontal clamping jaw slide groove is provided on the surface of the mounting frame, and the sliding limit of the clamping jaw bracket is located in the clamping jaw slide groove.

[0009] As a preferred technical solution, the lifting module includes a lifting slide rail vertically fixed on the mounting frame, and the lifting vertical plate is installed on the lifting slide rail through a lifting slide seat.

[0010] As a preferred technical solution, the parallel four-link includes a first link, a second link, a third link and a fourth link. The first link and the second link are located parallel to each other above the third link and the fourth link. The two ends of the first link, the second link, the third link and the fourth link are respectively hinged to the mounting vertical plate and the lifting vertical plate through pins. The first link, the second link, the third link and the fourth link are all tilted downward toward the direction of the first clamp.

[0011] As a preferred technical solution, the opening and closing guide structure includes a guide groove provided on the surface of the mounting frame, the guide groove includes a vertical guide groove and an inclined guide groove, the inclined guide groove extends downward from the bottom end of the vertical guide groove toward the direction of the first clamping jaw, and the side of the mounting vertical plate is connected to a sliding bearing, and the sliding bearing extends into the guide groove and slides along the guide groove.

[0012] As a preferred technical solution, the lifting drive member includes a telescopic cylinder, one end of the telescopic rod is installed on the mounting frame through a bracket, and the other end of the telescopic cylinder is connected to the lower part of the mounting plate through a hinge seat.

[0013] As a preferred technical solution, the first clamping jaw includes a first clamping arm and a first clamping plate, the first clamping arm extends downwardly in the direction of the second clamping jaw, and the first clamping plate is horizontally arranged at the bottom end of the first clamping arm; the second clamping jaw includes a second clamping arm and a second clamping plate, the second clamping arm extends downwardly in the direction of the first clamping jaw, and the second clamping plate is horizontally arranged at the bottom end of the second clamping arm.

[0014] As a preferred technical solution, the installation frame includes two oppositely arranged installation plates, and the installation vertical plate and the lifting vertical plate are located between the two installation plates.

[0015] Due to the adoption of the above technical solution, the beneficial effects of the utility model are:

[0016] 1. The palletizing gripper and the crossbeam of the robotic arm are flexibly connected via a flexible limiting structure, so that the palletizing gripper can adaptively change its displacement in the up-and-down direction. The flexible limiting structure not only limits the vertical position of the palletizing gripper to ensure the installation of the palletizing gripper, but also absorbs vibration and alleviates impact, thereby reducing the impact transmitted to the crossbeam of the robotic arm.

[0017] 2. This device changes the distance between the first clamping jaw and the second clamping jaw through the lateral adjustment component, thereby achieving the purpose of adjusting the width between the first clamping jaw and the second clamping jaw, and can be applied to a variety of steel specifications; after the width adjustment of the first clamping jaw is completed, the first clamping jaw remains stationary at this position, and the second clamping jaw is driven by the lifting drive member to move and open and close. The second clamping jaw and the lifting drive member are powered by the lifting module, lifting vertical plate, parallel four-link, opening and closing guide structure, mounting vertical plate and other structures, which can protect the lifting drive member during use and extend its service life. At the same time, since it converts the telescopic action of the lifting drive member into the parallel action of the lifting vertical plate, the overall clamping stability of the equipment is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following drawings are only intended to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0019] Figure 1 This is a schematic diagram of the structure of an embodiment of the utility model from a top view;

[0020] Figure 2 This is a schematic diagram of the main viewing angle of the stacking clamp of the embodiment of the utility model;

[0021] Figure 3 This is a schematic diagram of a stacking gripper according to an embodiment of the present invention from a top view;

[0022] Figure 4 This is a side view of the palletizing gripper of the present invention;

[0023] In the figure: 1-robot arm crossbeam; 2-stacking gripper; 21-mounting frame; 22-first gripper; 23-second gripper; 24-mounting vertical plate; 25-lifting vertical plate; 26-parallel four-link; 27-adjusting screw; 28-adjusting handwheel; 29-grip bracket; 210-grip slide; 211-lifting slide rail; 212-lifting slide; 213-guide groove; 214-sliding bearing; 215-telescopic cylinder; 3-mounting space; 4-support spring; 5-pressure adjustment plate; 6-adjusting stud; 7-locking nut. DETAILED DESCRIPTION

[0024] The present invention is further described below with reference to the accompanying drawings and examples. In the detailed description that follows, certain exemplary embodiments of the present invention are described by way of illustration only. It goes without saying that those skilled in the art will recognize that the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and are not intended to limit the scope of the claims.

[0025] like Figure 1 and Figure 2 As shown, the flexible robotic arm with steel section stacking grippers includes a robotic arm crossbeam 1, on which are arranged at least two stacking grippers 2. The multiple stacking grippers 2 have the same structure and are used together to clamp steel sections. An installation space 3 is enclosed on the stacking grippers 2. The robotic arm crossbeam 1 is placed in the installation space 3. The front and rear sides of the robotic arm crossbeam 1 are installed in contact with the installation space 3. A flexible limiting structure is installed between the bottom end of the robotic arm crossbeam 1 and the installation space 3. The top end of the flexible limiting structure presses the bottom end of the robotic arm crossbeam 1 against the top end of the robotic arm crossbeam 1 against the top end of the installation space 3. The installation space 3 is surrounded by plate materials and is used to enclose and fix the robotic arm crossbeam 1 therein.

[0026] See also Figure 2 The flexible limiting structure includes a spring receiving groove provided in the mounting frame, in which a support spring 4 is installed. The top end of the support spring 4 is located outside the spring receiving groove and abuts against the bottom end of the robot arm crossbeam 1. The bottom end of the support spring 4 is located in the spring receiving groove and abuts against a pressure regulating plate 5. The bottom end of the pressure regulating plate 5 is provided with an adjustment stud 6 that passes through the bottom end of the spring receiving groove. The adjustment stud 6 is threadedly connected to the spring receiving groove and is further provided with a locking nut 7 that abuts against the outside of the spring receiving groove. Each of the stacking jaws 2 is correspondingly provided with two support springs 4, and the two support springs 4 are arranged on the left and right and supported at the bottom end of the robot arm crossbeam 1. The support spring 4 is supported upward against the bottom end of the robot arm crossbeam 1 and downward against the spring receiving groove of the mounting frame. The supporting force of the support spring 4 not only limits the vertical position of the palletizing gripper 2, ensuring the installation of the palletizing gripper 2, but also absorbs vibration and mitigates impact, reducing the impact transmitted to the robot arm crossbeam 1. This device can also adjust the height of the pressure adjustment plate 5 by rotating the adjustment screw 6, thereby controlling the preload force of the support spring 4 to meet different usage requirements.

[0027] See also Figures 2 to 4The stacking clamp 2 includes a mounting frame 21, and a first clamp 22 and a second clamp 23 are provided below the mounting frame 21 for clamping. The first clamp 22 and the second clamp 23 are completely located below the mounting frame 21, and are used to facilitate clamping the lower section steel. A lateral adjustment component is connected between the mounting frame 21 and the first clamp 22, and the lateral adjustment component drives the first clamp 22 to slide horizontally and adjust the width between the first clamp 22 and the second clamp 23; two vertical mounting plates 24 and a lifting plate 25 are provided on the mounting frame 21, and the second clamp 23 is installed at the bottom end of the mounting vertical plate 24, and the mounting vertical plate 24 and the lifting vertical plate 25 are hinged by a parallel four-link 26. The lifting vertical plate 25 is vertically slidably installed on the mounting frame 21 through a lifting module. The mounting frame 21 is also provided with a lifting drive member connected to the lifting vertical plate 25. The mounting frame 21 is provided with an opening and closing guide structure for guiding the mounting vertical plate 24 to approach the first clamping jaw 22. As the lifting vertical plate 25 descends, the mounting vertical plate 24 slides along the opening and closing guide structure, so that the second clamping jaw 23 approaches the first clamping jaw 22.

[0028] The lateral adjustment assembly includes a horizontally mounted adjustment screw 27, the two ends of which are mounted on the bottom end of the mounting frame 21 via connecting supports. The adjustment screw 27 passes through the first clamping jaw 22 and the two are threadedly connected. A nut is welded to the surface of the first clamping jaw 22, and the adjustment screw 27 and the nut threadedly cooperate to achieve a threaded connection with the first clamping jaw 22. The end of the adjustment screw 27 away from the second clamping jaw 23 is connected to an adjustment handwheel 28. A clamping jaw bracket 29 is fixed to the top of the first clamping jaw 22. A horizontal clamping jaw slot 210 is provided on the surface of the mounting frame 21, and the clamping jaw bracket 29 is slidably limited within the clamping jaw slot 210. By rotating the adjustment handwheel 28 to drive the adjustment screw 27 to rotate, the clamping jaw bracket 29 slides horizontally along the clamping jaw slot 210, thereby changing the distance between the first clamping jaw 22 and the second clamping jaw 23. When the adjusting hand wheel 28 is no longer rotated, the first jaw 22 remains in this position, which is equivalent to fixing the jaw. The steel section is clamped only by changing the movement and opening and closing of the second jaw 23. After the second jaw 23 is swung into place, the steel section is just located between the first jaw 22 and the second jaw 23. At this time, the position of the first jaw 22 will not be forced to move. Of course, a limit screw can also be provided on the jaw bracket 29, and the limit screw can achieve the purpose of position fixing by abutting against the surface of the mounting frame 21.

[0029] The lifting module includes a lifting rail 211 vertically fixed to the mounting frame 21. The lifting plate 25 is mounted on the lifting rail 211 via a lifting slide 212. The lifting plate 25 can slide and rise vertically along the lifting rail 211 under the telescopic action of the lifting drive. The lifting rail 211 and the lifting slide 212 are linear guides commonly used in the prior art.

[0030] The parallelogram linkage 26 includes a first link, a second link, a third link, and a fourth link. The first link and the second link are located parallel to and above the third link and the fourth link. The ends of the first link, the second link, the third link, and the fourth link are respectively hinged to the mounting plate 24 and the lifting plate 25 via pins. The first link, the second link, the third link, and the fourth link are all arranged downwardly and tilted toward the first clamping jaw 22. The mounting plate 24 and the lifting plate 25 are both arranged vertically and connected by the parallelogram linkage 26.

[0031] The opening and closing guide structure includes a guide groove 213 provided on the surface of the mounting frame 21. The guide groove 213 includes a vertical guide groove and an inclined guide groove. The inclined guide groove extends downwardly from the bottom end of the vertical guide groove toward the first clamping jaw 22. A sliding bearing 214 is connected to the side of the mounting vertical plate 24. The sliding bearing 214 extends into the guide groove 213 and slides along the guide groove 213. When the lifting vertical plate 25 is raised or lowered, the parallelogram linkage 26 pulls the mounting vertical plate 24 to follow the lifting. The sliding bearing 214 can slide along the guide groove 213. The cooperation between the sliding bearing 214 and the guide groove 213 limits the position of the mounting vertical plate 24, thereby driving the second clamping jaw 23 to open and close. Because the mounting plate 24 is constrained by the parallelogram linkage 26 to only vertical translation, a combination of vertical and inclined guide grooves is employed to limit the mounting plate 24's position. Sliding downward along the inclined guide grooves gradually drives the second clamping jaw 23 toward the first clamping jaw 22, achieving clamping. In this embodiment, four sliding bearings 214 and four guide grooves 213 are provided, each mounted on a pin on the first and second connecting rods. The outer diameter of each sliding bearing 214 is adapted to the width of the guide grooves 213, ensuring stable sliding along the guide grooves 213.

[0032] The lifting drive member includes a telescopic cylinder 215. One end of the telescopic rod is mounted on the mounting frame 21 via a bracket, and the other end of the telescopic cylinder 215 is connected to the lower portion of the mounting plate 24 via a hinged seat. The telescopic cylinder 215 is a pneumatic cylinder with a relatively large output force.

[0033] The first clamping jaw 22 includes a first clamping arm and a first clamping plate, the first clamping arm extends downwardly and obliquely toward the direction of the second clamping jaw 23, and the first clamping plate is horizontally arranged at the bottom end of the first clamping arm; the second clamping jaw 23 includes a second clamping arm and a second clamping plate, the second clamping arm extends downwardly and obliquely toward the direction of the first clamping jaw 22, and the second clamping plate is horizontally arranged at the bottom end of the second clamping arm, and the first clamping arm and the second clamping arm are arranged obliquely toward each other, which is conducive to the first clamping plate and the second clamping plate to smoothly extend into the bottom end of the steel section. As the second clamping arm is clamped, the bottom end of the steel section can be clamped by using the cooperation of the first clamping plate and the second clamping plate.

[0034] The installation frame 21 includes two installation plates arranged opposite to each other, and the installation vertical plate 24 and the lifting vertical plate 25 are located between the two installation plates.

[0035] The working principle of this embodiment is as follows:

[0036] The robot arm crossbeam 1 is installed on the robot arm, and as the robot arm moves in position, it realizes transfer and stacking; before the clamping operation, the adjusting hand wheel 28 is first rotated according to the corresponding steel specification to adjust the distance between the first clamping jaw 22 and the second clamping jaw 23 to adapt to the corresponding steel to be transported; then the robot arm crossbeam 1 drives the device to move above the steel, at this time the telescopic cylinder 215 retracts, driving the second clamping jaw 23 to move outward and upward along the guide groove 213 to open the clamping jaws, and then the robot arm crossbeam 1 drives the device to move downward as a whole so that the first clamping jaw 22 and the second clamping jaw 23 are placed on both sides of the steel, at this time the telescopic rod extends, driving the lifting vertical plate 25 to descend, and the sliding bearing 214 slides to the bottom end of the inclined guide groove through the parallel four-link 26, completing the merging of the second clamping jaw 23, and the first clamping jaw 22 and the second clamping jaw 23 cooperate to clamp the steel, and then move to the stacking area with the robot arm crossbeam 1.

[0037] The manipulator in this embodiment can be a multi-joint manipulator in the prior art, or a rectangular coordinate manipulator, which belongs to the prior art and will not be described in detail here.

[0038] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. A flexible robotic arm with a steel palletizing gripper, including a crossbeam, characterized by: At least two palletizing claws are arranged on the robot arm crossbeam, and an installation space is enclosed on the palletizing claws. The robot arm crossbeam is placed in the installation space, and the front and rear sides of the robot arm crossbeam are installed in close contact with the installation space. A flexible limiting structure is installed between the bottom end of the robot arm crossbeam and the installation space, and the top end of the flexible limiting structure presses the bottom end of the robot arm crossbeam to press the top end of the robot arm crossbeam against the top end of the installation space. The stacking clamp includes a mounting frame, and a first clamp and a second clamp are provided at the bottom of the mounting frame, which are arranged relative to each other and clamped together, and a lateral adjustment component is connected between the mounting frame and the first clamp, and the lateral adjustment component drives the first clamp to slide horizontally and adjust the width between the first clamp and the second clamp; the mounting frame is provided with two vertical mounting vertical plates and a lifting vertical plate, and the second clamp is installed at the bottom end of the mounting vertical plate, and the mounting vertical plate and the lifting vertical plate are hinged by a parallel four-link connection, and the lifting vertical plate is vertically slidably mounted on the mounting frame through a lifting module. The mounting frame is also provided with a lifting drive connected to the lifting vertical plate, and the mounting frame is provided with an opening and closing guide structure to guide the mounting vertical plate to approach the first clamp. As the lifting vertical plate descends, the mounting vertical plate slides along the opening and closing guide structure, causing the second clamp to approach the first clamp.

2. The flexible robotic arm for stacking steel sections according to claim 1, characterized in that: The flexible limiting structure includes a spring accommodating groove provided in the mounting frame, a support spring installed in the spring accommodating groove, the top end of the support spring is located outside the spring accommodating groove and abuts against the bottom end of the robotic arm crossbeam, the bottom end of the support spring is located in the spring accommodating groove and abuts against a pressure regulating plate, the bottom end of the pressure regulating plate is provided with an adjusting stud passing through the bottom end of the spring accommodating groove, the adjusting stud is threadedly connected to the spring accommodating groove, and a locking nut abutting against the outside of the spring accommodating groove is also provided on the outside of the adjusting stud.

3. The flexible robotic arm for stacking steel sections according to claim 2, characterized in that: Each of the stacking grippers is correspondingly provided with two support springs, and the two support springs are arranged on the left and right sides to support the bottom end of the robot arm crossbeam.

4. The flexible robotic arm for stacking steel sections according to claim 1, characterized in that: The lateral adjustment assembly includes a horizontally installed adjusting screw, both ends of the adjusting screw are installed on the bottom end of the mounting frame through connecting supports, the adjusting screw passes through the first clamping jaw and the two are threadedly connected, the end of the adjusting screw away from the second clamping jaw is connected to an adjusting handwheel, a clamping jaw bracket is fixed to the top end of the first clamping jaw, a horizontal clamping jaw slide groove is provided on the surface of the mounting frame, and the sliding limit of the clamping jaw bracket is located in the clamping jaw slide groove.

5. The flexible robotic arm for stacking steel sections according to claim 1, characterized in that: The lifting module includes a lifting slide rail vertically fixed on the mounting frame, and the lifting vertical plate is installed on the lifting slide rail through a lifting slide seat.

6. The flexible robotic arm for stacking steel sections according to claim 1, characterized in that: The parallel four-bar linkage includes a first link, a second link, a third link and a fourth link. The first link and the second link are located parallel to and above the third link and the fourth link. The two ends of the first link, the second link, the third link and the fourth link are respectively hinged to the mounting vertical plate and the lifting vertical plate through pins. The first link, the second link, the third link and the fourth link are all tilted downward toward the direction of the first clamp.

7. The flexible robotic arm for stacking steel sections according to claim 1, characterized in that: The opening and closing guide structure includes a guide groove provided on the surface of the mounting frame, the guide groove includes a vertical guide groove and an inclined guide groove, the inclined guide groove extends downward from the bottom end of the vertical guide groove toward the direction of the first clamping jaw, and a sliding bearing is connected to the side of the mounting vertical plate, and the sliding bearing extends into the guide groove and slides along the guide groove.

8. The flexible robotic arm for stacking steel sections according to claim 1, characterized in that: The lifting drive member includes a telescopic cylinder, one end of which is mounted on the mounting frame via a bracket, and the other end of which is connected to the lower portion of the mounting vertical plate via a hinged seat.

9. The flexible robotic arm for stacking steel sections according to claim 1, characterized in that: The first clamping jaw includes a first clamping arm and a first clamping plate, the first clamping arm extends downwardly in the direction of the second clamping jaw, and the first clamping plate is horizontally arranged at the bottom end of the first clamping arm; the second clamping jaw includes a second clamping arm and a second clamping plate, the second clamping arm extends downwardly in the direction of the first clamping jaw, and the second clamping plate is horizontally arranged at the bottom end of the second clamping arm.

10. The flexible robotic arm for stacking steel sections according to claim 1, characterized in that: The installation frame includes two installation plates arranged opposite to each other, and the installation vertical plate and the lifting vertical plate are located between the two installation plates.

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