Stacking mechanical arm

Abstract

The utility model belongs to the technical field of automatic palletizing robots, and particularly relates to a palletizing mechanical arm which comprises a bottom plate, a rotating column rotationally connected to the upper surface of the bottom plate, two supporting plates fixedly connected to the upper end of the rotating column, rotating arms rotationally connected to the inner sides of the supporting plates, and connecting arms fixedly connected to the other ends of the rotating arms. The other end of the connecting arm is fixedly connected with a movable clamping assembly, the movable clamping assembly comprises a limiting frame, lead screws are rotationally connected to the two sides in the limiting frame, small arms are rotationally connected to the outer walls of the lead screws, threaded grooves are formed in the small arms, and the lead screws are rotationally connected into the threaded grooves. According to the stacking mechanical arm, the driving motor rotates, the rotating arm drives the connecting arm to ascend and descend, meanwhile, the small arm moves left and right on the outer wall of the lead screw through movement, the positions of cargoes are finely adjusted, it is guaranteed that the cargoes are arranged in order on the tray, the cargoes on the two sides can be clamped and stacked, the moving frequency of the mechanical arm is reduced, and the working efficiency is improved. The working efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of automatic palletizing robot technology, and in particular to a palletizing robotic arm. Background Technology

[0002] In modern logistics and industrial production, the handling and palletizing of goods are crucial processes. Traditional palletizing methods largely rely on manual labor. However, with the continuous expansion of production scale and the increasing demands for efficiency, manual palletizing has gradually revealed many limitations. Manual palletizing is labor-intensive, requiring workers to repeatedly perform handling and stacking actions for extended periods, which easily leads to fatigue. This not only affects work efficiency but may also cause operational errors due to fatigue, endangering worker safety and damaging goods. Furthermore, manual palletizing is relatively slow, making it difficult to meet the pace of large-scale, rapid production and logistics distribution.

[0003] Existing technologies use palletizing robotic arms to palletize goods, but these technologies typically palletize goods in the same location, limiting the working area to a relatively fixed region. They can only palletize goods within a certain range directly in front of the palletizer, requiring goods in other areas to be repositioned via complex conveying equipment before they can be palletized. This reduces the overall utilization rate of warehouse space and increases logistics costs. Summary of the Invention

[0004] In order to overcome the defects of the prior art mentioned above, the inventors conducted in-depth research and, after a great deal of creative work, completed this utility model.

[0005] Specifically, the technical problem to be solved by this utility model is to provide a palletizing robotic arm to solve the current technical problem that can only perform palletizing operations on goods within a certain range directly in front of it.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] A palletizing robotic arm includes a base plate, a rotating column rotatably connected to the upper surface of the base plate near the center, a rotating cavity being formed inside the rotating column, a driven column fixedly connected to the top of the rotating cavity, a rotating assembly fixedly connected to the bottom of the driven column, two support plates fixedly connected to the upper end of the rotating column, a rotating arm rotatably connected to the inner side of the support plates, a connecting arm fixedly connected to the other end of the rotating arm, and a movable clamping assembly fixedly connected to the other end of the connecting arm.

[0008] The movable clamping assembly includes a limiting frame fixedly connected to the connecting arm. A lead screw is rotatably connected to both sides inside the limiting frame. A forearm is rotatably connected to the outer wall of the lead screw. A threaded groove is opened inside the forearm, and the lead screw is rotatably connected inside the threaded groove.

[0009] As an improved technical solution, a connecting plate is fixedly connected to the other end of the forearm, a hydraulic rod is fixedly connected to the bottom of the connecting plate, a connecting disc is fixedly connected to the output end of the hydraulic rod, multiple transmission plates are rotatably connected to the bottom of the connecting disc, and the clamping end is rotatably connected to the other end of the transmission plate.

[0010] As an improved technical solution, multiple suction cups are provided on the inner surface of the clamping end.

[0011] As an improved technical solution, the rotating assembly includes a rotating outer ring fixedly connected to the driven column, a base plate fixedly connected to the bottom of the rotating outer ring, a plurality of clamping plates fixedly connected to the inner wall of the rotating outer ring, a limiting block rotatably connected to the clamping plate, and a gear disk rotatably connected to the other end of the limiting block.

[0012] As an improved technical solution, multiple elastic plates are fixedly connected inside the rotating outer ring, and the outer side of the elastic plates is attached to the limiting block.

[0013] As an improved technical solution, a drive motor is fixedly connected to the outside of the support plate, and the output end of the drive motor passes through the support plate and is fixedly connected to a fixed end. A groove is opened at the bottom of the rotating arm, and the fixed end is fitted and rotatably connected to both sides inside the groove.

[0014] After adopting the above technical solution, the beneficial effects of this utility model are:

[0015] 1. This utility model uses a drive motor to rotate, causing the rotating arm to drive the connecting arm to rise and fall. At the same time, the forearm moves left and right on the outer wall of the screw to finely adjust the position of the goods, ensuring that the goods are neatly and accurately arranged on the pallet. It can also clamp and stack goods on both sides, reducing the number of times the robotic arm moves and improving work efficiency.

[0016] 2. This utility model utilizes a gear disc to drive a rotating column to rotate, while a limiting block limits the gear disc, ensuring that the palletizing robot arm always moves in the same direction. This reduces the increase in bearing clearance caused by reciprocating motion, which affects the movement accuracy of the robot arm, and at the same time ensures the stability of rotation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the palletizing robotic arm of this utility model.

[0019] Figure 2 This is a schematic diagram of the frame structure of the palletizing robotic arm of this utility model.

[0020] Figure 3 This is a schematic diagram of the moving clamping component of the palletizing robotic arm of this utility model.

[0021] Figure 4 This is a schematic diagram of the rotating component structure of the palletizing robotic arm of this utility model.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1. Base plate; 11. Rotating column; 12. Driven column; 13. Rotating cavity; 14. Support plate; 15. Drive motor; 16. Fixed end; 17. Groove; 18. Rotating arm; 19. Connecting arm;

[0024] 2. Moving clamping assembly; 20. Limiting frame; 21. Lead screw; 22. Forearm; 23. Threaded groove; 24. Connecting plate; 25. Suction cup; 26. Hydraulic rod; 27. Connecting plate; 28. Transmission plate; 29. ​​Clamping end;

[0025] 3. Rotating assembly; 31. Limiting block; 32. Gear disk; 33. Clamping plate; 34. Rotating outer ring; 35. Elastic plate. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0028] Meanwhile, the meaning of "and / or" or "and / or" appearing throughout the text is that it includes three options. Taking "A and / or B" as an example, it includes option A, option B, or an option that satisfies both A and B.

[0029] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0030] like Figure 2 and Figure 3 As shown in the figure, this embodiment provides a palletizing robot arm, which includes a base plate 1. A rotating column 11 is rotatably connected to the upper surface of the base plate 1 near the center. A rotating cavity 13 is opened inside the rotating column 11. A driven column 12 is fixedly connected to the top of the rotating cavity 13. A rotating assembly 3 is fixedly connected to the bottom of the driven column 12. Two support plates 14 are fixedly connected to the upper end of the rotating column 11. A rotating arm 18 is rotatably connected to the inner side of the support plate 14. A connecting arm 19 is fixedly connected to the other end of the rotating arm 18. A movable clamping assembly 2 is fixedly connected to the other end of the connecting arm 19.

[0031] The mobile clamping assembly 2 includes a limiting frame 20 fixedly connected to the connecting arm 19. A lead screw 21 is rotatably connected to both sides inside the limiting frame 20. A forearm 22 is rotatably connected to the outer wall of the lead screw 21. A threaded groove 23 is opened inside the forearm 22. The lead screw 21 is rotatably connected inside the threaded groove 23. By moving the forearm 22 left and right on the outer wall of the lead screw 21, the position of the goods can be finely adjusted to ensure that the goods are neatly and accurately arranged on the pallet. It can also clamp and stack the goods on both sides, reduce the number of times the robotic arm moves, and improve work efficiency.

[0032] A connecting plate 24 is fixedly connected to the other end of the forearm 22. A hydraulic rod 26 is fixedly connected to the bottom of the connecting plate 24. A connecting plate 27 is fixedly connected to the output end of the hydraulic rod 26. Multiple transmission plates 28 are rotatably connected to the bottom of the connecting plate 27. A clamping end 29 is rotatably connected to the other end of the transmission plate 28. The transmission plate 28 extends outward by rotating downward through the output end of the hydraulic rod 26, and the clamping end 29 opens at the same time. Then, the clamping end 29 clamps and stacks the goods by retracting upward through the hydraulic rod 26.

[0033] Multiple suction cups 25 are provided on the inner surface of the clamping end 29. The suction cups 25 are used to clamp and adsorb objects of different shapes, thus avoiding the possibility of them falling during the grasping process.

[0034] like Figure 1 , Figure 2 and Figure 4As shown, the rotating assembly 3 includes a rotating outer ring 34 fixedly connected to the driven column 12. The bottom of the rotating outer ring 34 is fixedly connected to the base plate 1. Multiple clamping plates 33 are fixedly connected to the inner wall of the rotating outer ring 34. The clamping plates 33 are rotatably connected to the limiting block 31. The other end of the limiting block 31 is rotatably connected to the gear disk 32. The gear disk 32 drives the rotating column 11 to rotate. At the same time, the limiting block 31 limits the gear disk 32, so that the palletizing robot arm always moves in the same direction, reducing the increase in bearing clearance caused by reciprocating motion, which affects the movement accuracy of the robot arm, and ensuring the stability of rotation.

[0035] Multiple elastic plates 35 are fixedly connected inside the rotating outer ring 34. The outer side of the elastic plate 35 is attached to the limiting block 31, and the elastic plate 35 is used to keep the limiting block 31 always engaged at the notch of the gear disk 32.

[0036] A drive motor 15 is fixedly connected to the outside of the support plate 14. The output end of the drive motor 15 passes through the support plate 14 and is fixedly connected to a fixed end 16. A groove 17 is provided at the bottom of the rotating arm 18. The fixed end 16 is rotatably connected to both sides inside the groove 17. The rotating arm 18 drives the connecting arm 19 to lift and lower by rotating the drive motor 15, thereby clamping the goods on the ground.

[0037] In use, the drive motor 15 rotates, causing the rotating arm 18 to drive the connecting arm 19 to rise and fall. At the same time, the forearm 22 moves left and right on the outer wall of the lead screw 21 to finely adjust the position of the goods. Then, the output end of the hydraulic rod 26 rotates downward, causing the transmission plate 28 to extend outward and the clamping end 29 to open. The hydraulic rod 26 then retracts upward, causing the clamping end 29 to clamp and stack the goods. Meanwhile, the gear disk 32 drives the rotating column 11 to rotate, and the limit block 31 limits the gear disk 32 to ensure that the palletizing robot arm always moves in the same direction, reducing the increase in bearing clearance caused by reciprocating motion.

[0038] It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. Furthermore, it should be understood that after reading the technical description of this utility model, those skilled in the art can make various alterations, modifications, and / or variations to this utility model, and all such equivalent forms also fall within the scope of protection defined by the appended claims.

Claims

1. A palletizing robotic arm, comprising a base plate (1), characterized in that: A rotating column (11) is rotatably connected to the upper surface of the base plate (1) near the center. A rotating cavity (13) is opened inside the rotating column (11). A driven column (12) is fixedly connected to the top of the rotating cavity (13). A rotating assembly (3) is fixedly connected to the bottom of the driven column (12). Two support plates (14) are fixedly connected to the upper end of the rotating column (11). A rotating arm (18) is rotatably connected to the inner side of the support plate (14). A connecting arm (19) is fixedly connected to the other end of the rotating arm (18). A movable clamping assembly (2) is fixedly connected to the other end of the connecting arm (19). The movable clamping assembly (2) includes a limiting frame (20) fixedly connected to the connecting arm (19). A lead screw (21) is rotatably connected to both sides inside the limiting frame (20). A forearm (22) is rotatably connected to the outer wall of the lead screw (21). A threaded groove (23) is opened inside the forearm (22). The lead screw (21) is rotatably connected inside the threaded groove (23).

2. The palletizing robotic arm according to claim 1, characterized in that: The other end of the forearm (22) is fixedly connected to a connecting plate (24), the bottom of the connecting plate (24) is fixedly connected to a hydraulic rod (26), the output end of the hydraulic rod (26) is fixedly connected to a connecting plate (27), the bottom of the connecting plate (27) is rotatably connected to multiple transmission plates (28), and the other end of the transmission plate (28) is rotatably connected to a clamping end (29).

3. The palletizing robotic arm according to claim 2, characterized in that: Multiple suction cups (25) are provided on the inner surface of the clamping end (29).

4. The palletizing robotic arm according to claim 1, characterized in that: The rotating assembly (3) includes a rotating outer ring (34) fixedly connected to the driven column (12). The bottom of the rotating outer ring (34) is fixedly connected to the base plate (1). Multiple clamping plates (33) are fixedly connected to the inner wall of the rotating outer ring (34). The clamping plates (33) are rotatably connected to the limiting block (31). The other end of the limiting block (31) is rotatably connected to the gear disk (32).

5. The palletizing robotic arm according to claim 4, characterized in that: The rotating outer ring (34) has multiple elastic plates (35) fixedly connected inside, and the outer side of the elastic plates (35) is attached to the limiting block (31).

6. The palletizing robotic arm according to claim 5, characterized in that: A drive motor (15) is fixedly connected to the outside of the support plate (14). The output end of the drive motor (15) passes through the support plate (14) and is fixedly connected to a fixed end (16). A groove (17) is opened at the bottom of the rotating arm (18). The fixed end (16) is fitted and rotatably connected to both sides inside the groove (17).

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