Mechanical arm for cargo carrying

Abstract

The utility model relates to the technical field of cargo handling mechanical arms, in particular to a mechanical arm for cargo handling, which comprises a base and a swing mechanism, a driving mechanism is mounted at one end of the swing mechanism, the driving mechanism comprises a rotating frame, the rotating frame is rotatably connected onto the swing mechanism, two first rotating shafts are rotatably connected with rotating plates, and the rotating plates are rotatably connected onto two second rotating shafts. The opposite sides of the two rotating plates are oppositely and fixedly connected with two sets of first clamping plates correspondingly, the inner walls of the two opposite first clamping plates are fixedly connected with second clamping plates of arc-shaped structures correspondingly, the opposite sides of the two rotating plates are rotationally connected with second rotating shafts correspondingly, the two second rotating shafts are rotationally connected with handles correspondingly, and the handles are fixedly connected with connecting plates. And two limiting plates penetrating through the rotating plate are fixedly connected to the two connecting plates correspondingly, the two limiting plates abut against the top and the bottom of the fixed plate, the clamping assembly can be rapidly replaced, and the clamping device can be suitable for clamping square and cylindrical goods.

Description

TECHNICAL FIELD

[0001] The utility model relates to a mechanical arm, concretely is a kind of mechanical arm for goods handling, belong to goods handling mechanical arm technical field. BACKGROUND

[0002] Robotic arm is the automation mechanical device that is most widely applied in the field of robotics, and it can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing and space exploration. Although their forms are different, they all have a common feature, that is, they can accept instructions and accurately position to a certain point in three-dimensional (or two-dimensional) space for work.

[0003] The current goods handling mechanical arm is generally controlled by multiple axes when working to move the clamping assembly to the surface of the goods to be handled. The clamping assembly is generally a vacuum chuck, which grasps and carries the goods by the vacuum chuck. The vacuum chuck can only grasp and carry some goods with relatively horizontal surface, and it is not easy to grasp some pipe-shaped cylindrical goods, so a matching mechanical arm needs to be replaced, and the adaptation range is poor. SUMMARY

[0004] The purpose of the utility model is to provide a mechanical arm for goods handling, which can quickly replace the clamping assembly and can clamp square and cylindrical goods.

[0005] The utility model realizes the above-mentioned purpose by the following technical scheme, a kind of mechanical arm for goods handling, including base and swing mechanism, the base is rotatably connected with swing mechanism, one end of the swing mechanism is equipped with drive mechanism, the drive mechanism includes rotating frame, the swing mechanism is rotatably connected with rotating frame, the rotating frame is installed with two-way synchronous cylinder, two-way synchronous cylinder is slidably connected with two drive rods in opposite directions, the opposite ends of two drive rods are fixedly connected with fixed plate, two fixed plates are all installed with clamping mechanism, the clamping mechanism includes two first rotation shafts, the opposite sides of two fixed plates are rotatably connected with first rotation shaft, two first rotation shafts are rotatably connected with rotating plate, the opposite sides of two rotating plates are fixedly connected with two groups of first clamping plates, the inner wall of two opposite first clamping plates is fixedly connected with the second clamping plate of arc structure, the opposite sides of two rotating plates are rotatably connected with second rotation shaft, two second rotation shafts are rotatably connected with handle, the handle is fixedly connected with connecting plate, two connecting plates are all fixedly connected with two limit plates that pass through rotating plate, and the top and bottom of two limit plates and fixed plate abut.

[0006] Preferably, the cross sections of the two groups of first clamping plates are L-shaped structures, and the top and bottom of the two first clamping plates on the same side are flush with the top and bottom of the rotating plate.

[0007] Preferably, the clamping mechanism further comprises rubber pads, and the inner walls of the two first clamping plates are attached with rubber pads.

[0008] Preferably, the clamping mechanism further comprises baffles, and two baffles are fixedly connected to the openings of the two rotating plates, the baffles are located inside the limiting plates, and the cross sections of the limiting plates are V-shaped structures.

[0009] Preferably, the clamping mechanism further comprises springs, and the two handles are clamped with springs between the handles and the rotating plates.

[0010] Preferably, the driving mechanism further comprises guide rods, and two guide rods are fixedly connected to the two fixed plates with L-shaped cross sections, and the guide rods are slidingly connected between the guide rods and the rotating frame.

[0011] Preferably, the cross sections of the two handles are convex-shaped structures, and the interiors of the two handles are hollow.

[0012] Preferably, the swinging mechanism comprises a shaft, the base is rotatably connected with a shaft, the shaft is rotatably connected with a second shaft, the second shaft is rotatably connected with a third shaft, the third shaft is rotatably connected with a fourth shaft, the fourth shaft is rotatably connected with a fifth shaft, and the fifth shaft is rotatably connected with the rotating frame.

[0013] The utility model discloses a beneficial effect is: opposite pulling handle drives two connecting plates opposite movement, two springs open at this time, with the movement of two connecting plates realizes two groups of limiting plates opposite movement, when two groups of limiting plates slide out and with the side wall flush of rotating plate, rotating plate can be three hundred and sixty degrees rotation when this time, rotates the first clamping plate with second clamping plate of two to the bottom of driving mechanism, that is, realizes to rotating plate rotation one hundred and eighty degrees, completes the first clamping plate of two groups and adjusts, and two handles are loosened to realize spring reset, and then two groups of limiting plates reset again and extend to the top of two driving mechanisms, complete the quick limiting of rotating plate, then can be through second clamping plate to cylindrical goods carries out clamping, realizes the quick replacement of clamp, and the quadrilateral and cylindrical goods can be carried, and the same reason pulls handle and rotates rotating plate one hundred and eighty degrees and realizes two groups of first clamping plate again and overturns, realizes and stores up arc second clamping plate, and through the first clamp of not having second clamp to quadrilateral goods carries out clamping and carries. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is the whole structure schematic diagram of the utility model;

[0015] Figure 2The utility model discloses a rotating frame, two -way synchronous air cylinder and the connecting structure diagram of guide bar for the utility model;

[0016] Figure 3 The utility model discloses a fixed plate, rotating plate and the connecting structure diagram of first clamping plate for the utility model;

[0017] Figure 4 The utility model discloses a rotating plate, limiting plate and the connecting structure diagram of connecting plate for the utility model;

[0018] Figure 5 The utility model discloses a rotating plate, limiting plate and the connecting structure diagram of first clamping plate for the utility model.

[0019] In the drawing: 1, base; 2, swing mechanism; 201, one axle; 202, two axle; 203, three axle; 204, four axle; 205, five axle; 3, drive mechanism; 301, rotating frame; 302, two -way synchronous air cylinder; 303, drive rod; 304, fixed plate; 305, guide rod; 4, clamping mechanism; 401, rotating plate; 402, first clamping plate; 403, rubber pad; 404, second clamping plate; 405, limiting plate; 406, connecting plate; 407, handle; 408, baffle; 409, first rotating shaft; 410, second rotating shaft; 411, spring. DETAILED DESCRIPTION

[0020] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor fall within the scope of the utility model.

[0021] Please refer to Figures 1-5As shown in the figure, a mechanical arm for goods carrying includes a base 1 and a swing mechanism 2, the swing mechanism 2 is rotatably connected to the base 1, one end of the swing mechanism 2 is provided with a driving mechanism 3, the driving mechanism 3 includes a rotating frame 301, the rotating frame 301 is rotatably connected to the swing mechanism 2, a bidirectional synchronous cylinder 302 is installed on the rotating frame 301, two driving rods 303 are slidably connected to the bidirectional synchronous cylinder 302 in opposite directions, a fixed plate 304 is fixedly connected to the opposite ends of the two driving rods 303, a clamping mechanism 4 is installed on the two fixed plates 304, the clamping mechanism 4 includes two first rotating shafts 409, the first rotating shafts 409 are rotatably connected to the opposite sides of the two fixed plates 304, rotating plates 401 are rotatably connected to the two first rotating shafts 409, two groups of first clamping plates 402 are fixedly connected to the opposite sides of the two rotating plates 401, the inner walls of the two opposite first clamping plates 402 are fixedly connected with arc-shaped second clamping plates 404, second rotating shafts 410 are rotatably connected to the opposite sides of the two rotating plates 401, handles 407 are rotatably connected to the two second rotating shafts 410, connecting plates 406 are fixedly connected to the handles 407, two limiting plates 405 are fixedly connected to the two connecting plates 406 and penetrate the rotating plates 401, and the top and bottom of the two limiting plates 405 abut against the top and bottom of the fixed plate 304.

[0022] As a technical optimization scheme of the utility model, the cross sections of the two groups of first clamping plates 402 are L-shaped structures, the top and bottom of the two first clamping plates 402 on the same side are flush with the top and bottom of the rotating plate 401, the inner walls of the first clamping plates 402 can match the square goods, and the square goods are clamped.

[0023] As a technical optimization scheme of the utility model, the clamping mechanism 4 further includes rubber pads 403, the inner walls of the two opposite first clamping plates 402 are bonded with the rubber pads 403, and the outer walls of the square goods are protected.

[0024] As a technical optimization scheme of the utility model, the clamping mechanism 4 further includes baffles 408, the openings of the two rotating plates 401 are fixedly connected with the two baffles 408 in opposite directions, the baffles 408 are located inside the limiting plates 405, the cross sections of the limiting plates 405 are V-shaped structures, the limiting plates 405 are limited, and the limiting plates 405 are prevented from falling off the rotating plates 401.

[0025] As a technical optimization scheme of the utility model, the clamping mechanism 4 further includes spring 411, two handle 407 and rotating plate 401 between clamping spring 411, convenient for the reset of the connecting plate 406, and can realize the limiting of the limiting plate 405, avoid the limiting plate 405 and rotating plate 401 separate when working.

[0026] As a technical optimization scheme of the utility model, the drive mechanism 3 further includes guide rod 305, two fixed plate 304 of the section L-shaped structure are all fixedly connected with two guide rod 305, the sliding connection between guide rod 305 and rotating frame 301, increase the stability of fixed plate 304 when moving.

[0027] As a technical optimization scheme of the utility model, the section of two handle 407 is convex-shaped structure, and the inside of two handle 407 is hollow, realize the installation of spring 411, convenient for the pulling of the connecting plate 406.

[0028] As a technical optimization scheme of the utility model, the swing mechanism 2 includes a shaft 201, the rotating connection of a shaft 201 on base 1, the rotating connection of two shafts 202 on a shaft 201, the rotating connection of three shafts 203 on two shafts 202, the rotating connection of four shafts 204 on three shafts 203, the rotating connection of five shafts 205 on four shafts 204, the rotating connection between five shafts 205 and rotating frame 301, realize the adjustment of the position of rotating frame 301.

[0029] The utility model discloses a base 1 is installed in the place where the goods need to be carried in using, and the position of the rotating frame 301 is adjusted through the cooperation of one axle 201, two axles 202, three axles 203, four axles 204 and five axles 205, the cooperation between each axle is the principle of the mechanical hand or mechanical arm in the prior art, the position of the rotating frame 301 is adjusted, that is, the adjustment of the position of the first clamping plate 402 is realized, the first clamping plate 402 is rotated to the vicinity of the goods to be carried, if the goods of square need to be carried, two first clamping plates 402 without second clamping plate 404 are close to the two sides of square goods, at this moment, the two -way synchronous cylinder 302 is in the open state, and two drive rods 303 extend and move two fixed plates 304 away from each other, at this moment, the first clamping plate 402 is opened, and two first clamping plates 402 close to the outside of square goods are closed, realizing that the drive rod 303 is retracted and drives two fixed plates 304 to move relative to each other and clamps square goods, at this moment, the goods can be carried to the specified position through the cooperation of each axle, then, if the goods of cylindrical need to be carried, two second clamping plates 404 need to be used, that is, two second clamping plates 404 need to be moved to the bottom of the rotating frame 301, and the handle 407 is driven to move two connecting plates 406 away from each other when being adjusted, at this moment, two springs 411 are opened, and two groups of limiting plates 405 are moved away from each other with the movement of two connecting plates 406, when two groups of limiting plates 405 slide out and are flush with the side wall of the rotating plate 401, at this moment, the rotating plate 401 is not limited and can rotate 360 degrees, two first clamping plates 402 with second clamping plate 404 are rotated to the bottom of the rotating frame 301, that is, the rotating plate 401 is rotated 180 degrees, two groups of first clamping plates 402 are completed to adjust, two handles 407 are loosened, the spring 411 is reset, and then two groups of limiting plates 405 are reset and extended to the top of two fixed plates 304, completing the quick limiting of the rotating plate 401, so that the second clamping plate 404 can clamp the goods of cylindrical at this moment, realizing the quick replacement of the clamp, and the goods of square and cylindrical can be carried, and the handle 407 is rotated 180 degrees to realize the re -turning of two groups of first clamping plates 402, and the arc-shaped second clamping plate 404 is retracted, and the first clamping plate 402 without second clamping plate 404 is used to clamp and carry the goods of square.

[0030] It is apparent for a person skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but that it can be implemented in other concrete forms without departing from the spirit or the essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary and non-limiting, the scope of the present application being defined by the claims appended hereto rather than by the above description, and all the changes which fall within the meaning and the scope of the equivalent elements of the claims are intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the claims to the figures in which the reference signs are used.

[0031] Furthermore, it should be understood that although the present specification describes exemplary embodiments, not every embodiment contains only one independent technical solution, and the present specification is described in this way only for the sake of clarity, and a person skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that a person skilled in the art can understand.

Claims

1. A robot arm for handling of goods, comprising a base (1) and a swing mechanism (2), characterized in that: The base (1) is rotatably connected with a swing mechanism (2), one end of the swing mechanism (2) is provided with a driving mechanism (3), the driving mechanism (3) comprises a rotating frame (301), the swing mechanism (2) is rotatably connected with the rotating frame (301), the rotating frame (301) is provided with a bidirectional synchronous cylinder (302), two driving rods (303) are slidably connected on the bidirectional synchronous cylinder (302), the opposite ends of the two driving rods (303) are fixedly connected with a fixed plate (304), a clamping mechanism (4) is mounted on the two fixed plates (304), the clamping mechanism (4) comprises two first rotating shafts (409), the opposite sides of the two fixed plates (304) are rotatably connected with the first rotating shafts (409), the first rotating shafts (409) are rotatably connected with rotating plates (401), two groups of first clamping plates (402) are fixedly connected on the opposite sides of the rotating plates (401), the inner walls of the two opposite first clamping plates (402) are fixedly connected with arc-shaped second clamping plates (404), the opposite sides of the rotating plates (401) are rotatably connected with second rotating shafts (410), the second rotating shafts (410) are rotatably connected with handles (407), the handles (407) are fixedly connected with connecting plates (406), the connecting plates (406) are fixedly connected with two limiting plates (405) penetrating through the rotating plates (401), and the limiting plates (405) abut against the top and bottom of the fixed plate (304).

2. The robotic arm for cargo handling according to claim 1, characterized in that: The cross sections of the two groups of first clamping plates (402) are L-shaped structures, and the top and bottom of the two first clamping plates (402) on the same side are flush with the top and bottom of the rotating plate (401).

3. The robotic arm for cargo handling according to claim 1, wherein: The clamping mechanism (4) further comprises rubber pads (403), and the inner walls of the two opposite first clamping plates (402) are bonded with the rubber pads (403).

4. The robotic arm for cargo handling according to claim 1, wherein: The clamping mechanism (4) further comprises baffles (408), two baffles (408) are fixedly connected at the openings of the two rotating plates (401), the baffles (408) are located inside the limiting plates (405), and the cross sections of the limiting plates (405) are V-shaped structures.

5. The robotic arm for cargo handling according to claim 1, wherein: The clamping mechanism (4) further comprises springs (411), and the springs (411) are clamped between the two handles (407) and the rotating plate (401).

6. The robotic arm for cargo handling of claim 1, wherein: The driving mechanism (3) further comprises guide rods (305), and the two fixed plates (304) with L-shaped cross sections are fixedly connected with two guide rods (305), and the guide rods (305) are slidably connected with the rotating frame (301).

7. The robotic arm for cargo handling according to claim 1, wherein: The cross sections of the two handles (407) are convex structures, and the interiors of the two handles (407) are hollow.

8. The robotic arm for cargo handling of claim 1, wherein: The swing mechanism (2) comprises a shaft (201), the base (1) is rotatably connected with a shaft (201), the shaft (201) is rotatably connected with a second shaft (202), the second shaft (202) is rotatably connected with a third shaft (203), the third shaft (203) is rotatably connected with a fourth shaft (204), the fourth shaft (204) is rotatably connected with a fifth shaft (205), and the fifth shaft (205) is rotatably connected with the rotating frame (301).

Images