Parallel mechanical arm for sorting

Abstract

The utility model discloses a parallel mechanical arm for sorting, which relates to the technical field of tea sorting and comprises a bottom plate, a vertical plate is fixedly connected to the upper side of the bottom plate, a vertical rod is fixedly connected between the vertical plate and the bottom plate, mechanical arm bodies are rotatably connected to two sides of the vertical rod, and rotating parts are fixedly connected to the bottoms of the mechanical arm bodies. A grabbing mechanism is rotationally connected to the exterior of the rotating part, a lifting groove is formed in the inner side of the vertical rod, the two sides of the lifting groove communicate with the outside, a driving motor is fixedly connected to the top of the vertical plate, a lead screw is fixedly connected to the bottom of the driving motor, a lifting block is in threaded connection to the exterior of the vertical rod, and the lifting block is slidably connected to the inner side of the lifting groove. And an extension mechanism is mounted between the lifting block and the mechanical arm body. According to the device, through threaded connection and limiting design of the lead screw and the lifting block, automatic expansion and accurate control of the mechanical arm are achieved, meanwhile, the two sets of mechanical arm bodies work in parallel, and the tea package sorting efficiency and precision are remarkably improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to tea leaf sorting technical field, specifically, it relates to a parallel mechanical arm for sorting. BACKGROUND

[0002] In the modern logistics and automation production field, efficient and accurate sorting operation is the key link to improve production efficiency and reduce cost. Especially in the tea processing and packaging industry, the sorting work of tea packages not only requires fast speed and high precision, but also needs to adapt to different sizes and weights of packages to ensure the integrity and aesthetics of product packaging. The traditional manual sorting method not only consumes time and effort, but also has problems such as low sorting efficiency and easy to make mistakes, which is difficult to meet the production needs of modern tea processing enterprises.

[0003] In recent years, with the rapid development of robot technology and automation equipment, mechanical arm is widely used in material handling, sorting and other operations due to its high flexibility and strong programmability. However, the traditional mechanical arm design is often limited to fixed work range. For sorting tasks that need to cover a large area or handle different positions of goods, multiple mechanical arms or additional moving platforms are usually required, which not only increases the cost of equipment, but also limits the flexibility and efficiency of work space. Therefore, in view of the above technical problems, a parallel mechanical arm for sorting is proposed. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a parallel mechanical arm for sorting, which realizes automatic expansion and accurate control of the mechanical arm through the threaded connection and limiting design of the lead screw and the lifting block, and two sets of mechanical arm bodies work in parallel, which significantly improves the efficiency and precision of tea package sorting.

[0005] The utility model realizes the following technical scheme:

[0006] A parallel mechanical arm for sorting, comprising a bottom plate, the upper side of the bottom plate is fixedly connected with a vertical plate, the vertical plate and the bottom plate are fixedly connected with a vertical rod, the two sides of the vertical rod are rotatably connected with a mechanical arm body, the bottom of the mechanical arm body is fixedly connected with a rotating part, the outside of the rotating part is rotatably connected with a grabbing mechanism, the inside of the vertical rod is provided with a lifting groove, and the two sides of the lifting groove are communicated with the outside, the top of the vertical plate is fixedly connected with a driving motor, the bottom of the driving motor is fixedly connected with a lead screw, and the lead screw is rotatably connected with the inside of the lifting groove, the outside of the vertical rod is threadedly connected with a lifting block, and the lifting block is slidably connected with the inside of the lifting groove, and the lifting block and the mechanical arm body are provided with an expansion mechanism.

[0007] Preferably, the top of the vertical rod is fixedly connected with a first connecting piece on both sides, and the mechanical arm body and the first connecting piece are rotatably connected.

[0008] Preferably, the grabbing mechanism comprises a connecting sleeve, a driving device and a grabbing plate, the connecting sleeve is rotationally connected to the outside of the rotating member, the driving device is fixedly connected to the end of the connecting sleeve, and the grabbing plate is rotationally connected to the bottom of the driving device, and the number of the grabbing plates is several groups and arranged in a ring shape.

[0009] Preferably, the screw rod is rotationally connected with the vertical plate and the vertical rod.

[0010] Preferably, the expansion mechanism comprises a second connecting piece and a supporting arm, the number of the second connecting pieces is two groups, and each is fixedly connected to the outside of the lifting block and the mechanical arm body, the supporting arm is rotationally connected between the two groups of the second connecting pieces, and the supporting arm is close to vertical when in the initial state.

[0011] Preferably, the vertical plate is fixedly connected with the bottom plate through a diagonal brace, and the number of the diagonal braces is two groups and arranged in a symmetrical manner.

[0012] Preferably, the outside of the bottom plate is provided with mounting holes, and the number of the mounting holes is four groups and installed at the four corners of the bottom plate.

[0013] The technical scheme of the utility model has at least the following beneficial effects:

[0014] The parallel mechanical arm for sorting proposed by the utility model significantly improves the efficiency and flexibility of tea package sorting operation, through the unique expansion mechanism, the mechanical arm can flexibly adjust the operation range according to the needs, cover a wider area, realize efficient grabbing, transportation and unloading of tea packages, at the same time, the parallel working mode enables two groups of mechanical arms to work simultaneously, further improves the sorting speed, meets the demand of tea processing enterprises for high output, not only improves the automation level of tea package sorting, but also reduces the production cost. ACCURACY OF DRAWINGS

[0015] Figure 1 It is a whole structure schematic view of the utility model;

[0016] Figure 2 It is Figure 1 the enlarged view of A;

[0017] Figure 3 It is a second whole structure schematic view of the utility model;

[0018] Figure 4 It is Figure 3 the enlarged view of B;

[0019] Figure 5 It is Figure 1 the enlarged view of C;

[0020] Figure 6 For Figure 3 Enlarged view of D;

[0021] Icon: 1, the bottom plate; 2, the vertical plate; 3, the vertical rod; 4, the first connecting piece; 5, the mechanical arm body; 6, the rotating piece; 7, the connecting sleeve; 8, the driving device; 9, the grab plate; 10, the lifting groove; 11, the driving motor; 12, the lead screw; 13, the lifting block; 14, the second connecting piece; 15, the support arm; 16, the inclined strut; 17, the mounting hole. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] Please refer to Figures 1-6 The utility model provides a kind of parallel manipulator for sorting, including bottom plate 1, the upper side of bottom plate 1 is fixedly connected with vertical plate 2, vertical plate 2 and bottom plate 1 between fixedly connected with vertical rod 3, the two sides of vertical rod 3 are rotatably connected with mechanical arm body 5, the bottom of mechanical arm body 5 is fixedly connected with rotating piece 6, rotating piece 6 is rotatably connected with grabbing mechanism outside, vertical rod 3 inner side is equipped with lifting groove 10, and lifting groove 10 two sides are communicated with outside, the top of vertical plate 2 is fixedly connected with driving motor 11, the bottom of driving motor 11 is fixedly connected with lead screw 12, and lead screw 12 is rotatably connected in the inner side of lifting groove 10, vertical rod 3 outside is screw connected with lifting block 13, and lifting block 13 is slidably connected in the inner side of lifting groove 10, and expansion mechanism is installed between lifting block 13 and mechanical arm body 5.

[0024] The top of vertical rod 3 two sides is fixedly connected with first connecting piece 4, and mechanical arm body 5 and first connecting piece 4 are rotatably connected.

[0025] Grabbing mechanism includes connecting sleeve 7, driving device 8 and grab plate 9, connecting sleeve 7 is rotatably connected with the outside of rotating piece 6, driving device 8 is fixedly connected with the end of connecting sleeve 7, grab plate 9 is rotatably connected with the bottom of driving device 8, and the number of grab plate 9 is several groups and is arranged in annular shape.

[0026] Lead screw 12 and vertical plate 2 and vertical rod 3 are rotatably connected.

[0027] The expansion mechanism comprises two groups of second connecting members 14 fixedly connected to the lifting blocks 13 and the outer part of the mechanical arm bodies 5 respectively, and a support arm 15 rotatably connected between the two groups of second connecting members 14, and the support arm 15 is close to vertical in the initial state.

[0028] The inclined support rods 16 are fixedly connected between the upright plates 2 and the base plate 1, and the two groups of inclined support rods 16 are symmetrically arranged, so that the overall structural strength of the upright plates 2 is improved.

[0029] The mounting holes 17 are formed in the outer part of the base plate 1, and the four groups of mounting holes 17 are arranged at the four corners of the base plate 1, so that the mounting of the mechanical arm is facilitated.

[0030] Based on the embodiment, the working principle of the parallel mechanical arm for sorting is that when the mechanical arm is required to sort tea packages, the grab plate 9 can first grab a tea package by driving the driving device 8, and then the driving motor 11 is started, the output shaft of the driving motor 11 drives the screw rod 12 to start rotating, and the lifting block 13 is controlled to slide downward under the thread connection of the screw rod 12 and the lifting groove 10 and the limiting action, so that the higher side of the support arm 15 is lowered, and the lower side is expanded outward according to the force action, so that the expansion function of the mechanical arm is realized, and the distance between the two groups of mechanical arm bodies 5 is gradually increased, so that a wider working area is formed, and the grabbed object can be moved to a farther position for transportation or packaging, and when the mechanical arm body 5 is moved to the target position, the driving device 8 is driven to separate the grab plate 9 from the tea package for unloading, so that the sorting work is completed, and since the two groups of mechanical arm bodies 5 can work in parallel, they can simultaneously perform sorting work, so that the work efficiency is greatly improved.

[0031] In summary, the parallel mechanical arm realizes the expansion and parallel sorting functions of the mechanical arm through the rotation of the driving motor, the thread connection of the screw rod and the lifting block, and the ingenious design of the support arm.

[0032] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A parallel robotic arm for sorting, characterized in that: The system includes a base plate (1), a vertical plate (2) fixedly connected to the upper side of the base plate (1), a vertical rod (3) fixedly connected between the vertical plate (2) and the base plate (1), a robotic arm body (5) rotatably connected to both sides of the vertical rod (3), a rotating component (6) fixedly connected to the bottom of the robotic arm body (5), a gripping mechanism rotatably connected to the outside of the rotating component (6), a lifting groove (10) is provided on the inner side of the vertical rod (3), and the two sides of the lifting groove (10) are connected to the outside, a drive motor (11) is fixedly connected to the top of the vertical plate (2), a lead screw (12) is fixedly connected to the bottom of the drive motor (11), and the lead screw (12) is rotatably connected to the inner side of the lifting groove (10), a lifting block (13) is threadedly connected to the outside of the vertical rod (3), and the lifting block (13) is slidably connected to the inner side of the lifting groove (10), and an extension mechanism is installed between the lifting block (13) and the robotic arm body (5).

2. A parallel robotic arm for sorting according to claim 1, characterized in that: The top two sides of the pole (3) are fixedly connected to the first connector (4), and the mechanical arm body (5) and the first connector (4) are rotatably connected.

3. A parallel robotic arm for sorting according to claim 1, characterized in that: The gripping mechanism includes a connecting sleeve (7), a driving device (8), and gripping plates (9). The connecting sleeve (7) is rotatably connected to the outside of the rotating part (6). The driving device (8) is fixedly connected to the end of the connecting sleeve (7). The gripping plates (9) are rotatably connected to the bottom of the driving device (8). The number of gripping plates (9) is several groups arranged in a ring.

4. A parallel robotic arm for sorting according to claim 1, characterized in that: The lead screw (12) is rotatably connected to the vertical plate (2) and the vertical rod (3).

5. A parallel robotic arm for sorting according to claim 1, characterized in that: The extension mechanism includes a second connector (14) and a support arm (15). There are two sets of the second connectors (14) and they are fixedly connected to the outside of the lifting block (13) and the mechanical arm body (5), respectively. The support arm (15) is rotatably connected between the two sets of the second connectors (14). The support arm (15) is close to vertical when it is in the initial state.

6. A parallel robotic arm for sorting according to claim 1, characterized in that: The upright plate (2) and the base plate (1) are fixedly connected by diagonal bracing rods (16), and there are two sets of diagonal bracing rods (16) arranged symmetrically.

7. A parallel robotic arm for sorting according to claim 1, characterized in that: The base plate (1) has four sets of mounting holes (17) on its exterior, which are installed at the four corners of the base plate (1).

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