Goods transfer mechanical arm

Abstract

The utility model discloses a cargo transfer mechanical arm, which belongs to the technical field of mechanical arms, and comprises a fixed ring body, a second mounting plate, a first mounting plate, an air pump, an adsorption disc, a clamping gripper and a rotating component, a driving motor in an arranged rotating assembly rotates to drive a connecting disc to rotate so that a connecting plate can move in a penetrating groove, then a clamping gripper or an adsorption disc can be adjusted to be located at the same position of the axis of a third force arm according to the actual transferring requirement, and different transferring modes can be selected according to the weight of goods; and the limitation on the clamping size of the clamping tongs is avoided in a rotating adjustment mode, a rotating assembly is automatically closed after the connecting plates are recognized through a position sensor in an arranged positioning assembly, accurate positioning can be achieved, the position between the connecting plates on the two sides can be fixed through an arranged semi-arc plate, and the positioning accuracy is improved. And when the rotating assembly rotates, the stress of the single connecting plate is reduced, and the service life of the connecting plate is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical arm, concretely relates to a goods transfer mechanical arm. BACKGROUND

[0002] With the rapid development of automation technology, the application of mechanical arm in goods production and manufacturing is more and more extensive. The traditional mechanical arm commonly used goods taking and placing mode has clamping type and adsorption type, wherein, the clamping type mechanical arm is through the clamping jaw to clamp goods, mainly suitable for small and heavy goods;The adsorption type mechanical arm is through the adsorption disc to adsorb goods, mainly suitable for large and light goods. But the traditional mechanical arm can only provide one kind of goods taking and placing mode, in order to solve this problem, Chinese utility model patent CN220886084U discloses a kind of goods transfer mechanical arm, including mechanical arm body, the mobile end of the mechanical arm body is integrally connected with mounting seat, the bottom of the mounting seat is equipped with adsorption assembly, the top of the mounting seat is equipped with moving seat, the left and right sides of the moving seat are slidably connected with the clamping jaw extending along vertical direction, the moving seat is connected with lifting mechanism, the lifting mechanism can drive the clamping jaw to move along vertical direction by moving seat, so that the clamping jaw is stretched to the bottom of mounting seat or shrinks to the top of mounting seat, the clamping jaw is connected with pneumatic assembly, the pneumatic assembly can drive the clamping jaw on left and right sides to close or separate along horizontal direction, the adsorption assembly and pneumatic assembly are connected with vacuum pump through three-way control valve, the three-way control valve is linked with moving seat.

[0003] Although the above-mentioned prior art can adjust different transfer modes according to the weight of goods, but since the adsorption assembly is located inside the clamping assembly, the goods clamped by the clamping assembly must be larger than the width of the adsorption assembly to be clamped, thus limiting the transfer of the mechanical arm. SUMMARY

[0004] This section aims to outline some aspects of the embodiments of the present utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the utility model name to avoid obscuring the purpose of this section, the abstract of the specification and the utility model name. Such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] To solve the problem of the above background technology that the adsorption assembly is located inside the clamping assembly, so the goods clamped by the clamping assembly must be larger than the width of the adsorption assembly to be clamped, thus limiting the transfer of the mechanical arm, the utility model adopts the following technical solutions.

[0006] The utility model provides a cargo transfer mechanical arm, including support base, the upper end of support base is rotatably connected with first force arm, rotatably connected with second force arm on first force arm, rotably connected with third force arm on second force arm, the outer wall of fixed ring body is fixedly connected with the fixed ring body of terminal end outer wall of third force arm, the outer wall of fixed ring body is provided with the through groove of through, the terminal of third force arm is provided with the installation groove, the outer wall of second installation plate is fixedly connected with the mounting bracket close to the outer wall of third force arm, the upper end of mounting bracket is detachably connected with the air pump, the outer wall of second installation plate is installed with adsorption disc, the air inlet end of air pump is connected with the outer wall of second installation plate and is communicated with the clamping gripper, the clamping gripper is slidably connected on first installation plate, the installation groove is installed with rotating assembly, and rotating assembly controls first installation plate and second installation plate and rotates and moves on fixed ring body.

[0007] Preferably, the bottom of the fixed ring body is provided with a positioning assembly, which enables the first installation plate or the second installation plate to be accurately stopped at a position coinciding with the axis of the third force arm.

[0008] Preferably, the bottom of the third force arm is provided with a supporting assembly, which increases the supporting force of the fixed ring body.

[0009] Preferably, the rotating assembly comprises a driving motor, a connecting disc and connecting plates, the inside of the installation groove is rotatably connected with the connecting disc, the upper end of the third force arm is detachably connected with the driving motor, the rotating end of the driving motor is detachably connected with the upper end of the connecting disc, the outer wall of the connecting disc is fixedly connected with two connecting plates, one end of one of the connecting plates is fixedly connected with the second installation plate, and the other end of the other connecting plate is fixedly connected with the first installation plate.

[0010] Preferably, the positioning assembly comprises an L-shaped connecting plate and a position sensor, the L-shaped connecting plate is fixedly connected to the position on the bottom of the fixed ring body coinciding with the axis of the third force arm, and the upper end of the horizontal plate of the L-shaped connecting plate is detachably connected with the position sensor.

[0011] Preferably, the supporting assembly comprises a fixed disc, supporting angle irons and fixed plates, the bottom of the third force arm is fixedly connected with the fixed disc, the outer wall of the fixed disc is fixedly connected with a plurality of supporting angle irons, one end of each supporting angle iron is fixedly connected with the bottom of the fixed ring body, and the inner wall of each supporting angle iron is fixedly connected with a fixed plate.

[0012] Preferably, the inside of the fixed ring body is provided with a supporting disc body fixedly connected with the end of the third force arm, the bottom of the supporting disc body is fixedly connected with a plurality of contact plates, the bottom of the contact plate is fixedly connected with the top of the fixed plate, and the bottom of the connecting plate contacts the upper end of the supporting disc body.

[0013] Preferably, the two connecting plates are fixedly connected with semicircular plates between the inside of the through groove.

[0014] Compared with the prior art, the utility model has the beneficial effects that:

[0015] 1、 Through the drive motor rotation in the rotation component of setting rotation drive connecting disc in turn and can make the connecting plate move in the inside of the through slot, in turn can adjust the clamping gripper or adsorption disc is in the third force arm axis same position according to actual transfer needs, in turn can according to the weight of goods select different transfer mode, and avoid the restriction to the clamping gripper clamping size through the rotation adjustment mode.

[0016] 2、 Through the position sensor in the positioning assembly of setting after identifying the connecting plate, the rotation component is automatically closed, in turn can realize accurate positioning.

[0017] 3、 Through the setting of the half arc plate can make the position between both sides connecting plate fixed, and reduce the stress of single connecting plate when the rotation component rotates, prolong the service life of connecting plate.

[0018] 4、 Through the fixing plate in the support assembly of setting make every support angle iron form triangular stable structure, through the setting of multiple support angle iron can be stronger when the adsorption disc or clamping gripper transfer goods, increase the strength of fixed ring body.

[0019] 5、 Through the setting of support disc body can assist support connecting plate, and through the bottom of contact plate and the top of fixed plate connection, can increase the support force of support assembly. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a goods transfer mechanical arm structure schematic view in the utility model;

[0021] Figure 2 It is a rotation component structure schematic view in the utility model;

[0022] Figure 3 It is a positioning assembly structure schematic view in the utility model;

[0023] Figure 4 It is a support assembly structure schematic view in the utility model;

[0024] Figure 5 It is a support disc body structure schematic view in the utility model.

[0025] The corresponding relationship between the annotations of each figure and the component names in the drawing is as follows:

[0026] 100, support base; 101, first force arm; 102, second force arm; 103, third force arm;

[0027] 200. Fixed ring; 201. Adsorption plate; 202. Clamping gripper; 203. Connecting plate; 204. Through slot; 205. First mounting plate; 206. Second mounting plate; 207. Connecting disc; 208. Drive motor; 209. Air pump; 210. Mounting bracket; 211. Semi-arc plate; 212. L-shaped connecting plate; 213. Position sensor; 214. Mounting slot;

[0028] 300. Fixed plate; 301. Supporting angle iron; 302. Fixed plate; 303. Supporting plate body; 304. Contact plate. Detailed Implementation

[0029] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments. The present invention provides the following embodiments.

[0032] like Figure 1 The diagram shows a preferred embodiment of the cargo transfer robotic arm of this utility model. This embodiment includes a support base 100, with a first lever arm 101 rotatably connected to the upper end of the support base 100. A second lever arm 102 is rotatably connected to the first lever arm 101, and a third lever arm 103 is rotatably connected to the second lever arm 102. A fixed ring 200 is fixedly connected to the outer wall of the end of the third lever arm 103. An adsorption plate 201 and a gripping handle 202 are slidably connected to the fixed ring 200. In this embodiment, the first lever arm 101, the second lever arm 102, and the third lever arm 103 can be freely moved and adjusted to transfer cargo. By rotating and adjusting the adsorption plate 201 or the gripping handle 202 to be positioned on the coaxial line of the fixed ring 200 and the third lever arm 103, different transfer methods can be selected according to the weight of the cargo. Furthermore, the rotational adjustment avoids limitations on the gripping size of the gripping handle 202.

[0033] like Figure 2As shown, this is a schematic diagram of the rotating component structure in this embodiment. The outer wall of the fixed ring 200 is provided with a through groove 204. The end of the third lever arm 103 is provided with a mounting groove 214. A connecting plate 207 is rotatably connected inside the mounting groove 214. A drive motor 208 is detachably connected to the upper end of the third lever arm 103. The rotating end of the drive motor 208 is detachably connected to the upper end of the connecting plate 207. Two connecting plates 203 are fixedly connected to the outer wall of the connecting plate 207. The two connecting plates 203 extend out of the through groove 204. A second mounting plate 206 is fixedly connected to the end of one connecting plate 203. The suction plate 201 is mounted on the outer wall of the second mounting plate 206. A first mounting plate 205 is fixedly connected to the end of the other connecting plate 203. The clamping gripper 202 and... The first mounting plate 205 is slidably connected, and the second mounting plate 206 is fixedly connected to the outer wall of the third lever arm 103 with a mounting bracket 210. The upper end of the mounting bracket 210 is detachably connected to a vacuum pump 209. The air inlet of the vacuum pump 209 is connected to the second mounting plate 206 and communicates with the adsorption plate 201. In this embodiment, the vacuum pump 209 causes the adsorption plate 201 to generate suction to adsorb the goods. The gripper 202 slides on the first mounting plate 205 to grip the goods. The drive motor 208 rotates to drive the connecting plate 207 to rotate, thereby enabling the connecting plate 203 to move inside the through groove 204. Thus, the gripper 202 or the adsorption plate 201 can be adjusted to be in the same position on the axis of the third lever arm 103 according to the actual transfer needs.

[0034] It is worth noting that the aforementioned drive motor 208, connecting disk 207, and connecting plate 203 are rotating components in this embodiment. Rotating components include, but are not limited to, drive motor 208, connecting disk 207, and connecting plate 203. Any component that enables the adsorption disk 201 and the gripper 202 to rotate on the fixed ring 200 can be applied to this embodiment.

[0035] like Figure 3 As shown, it is a schematic diagram of the positioning component structure in this embodiment. The bottom of the fixed ring 200 is fixedly connected to an L-shaped connecting plate 212 at the position of the axis of the third lever arm 103. The upper end of the horizontal plate of the L-shaped connecting plate 212 is detachably connected to a position sensor 213. In this embodiment, the rotating component is automatically shut off after the position sensor 213 detects the connecting plate 203, thereby achieving accurate positioning.

[0036] It is worth noting that the L-shaped connecting plate 212 and the position sensor 213 mentioned above are positioning components in this embodiment. Positioning components include, but are not limited to, the L-shaped connecting plate 212 and the position sensor 213. Any component that can enable the gripper 202 and the suction cup 201 to be accurately positioned can be applied to this embodiment.

[0037] likeFigure 3 As shown, in order to make the adsorption plate 201 and the gripper 202 more stable when rotating, in this embodiment, a semi-arc plate 211 is fixedly connected between the two connecting plates 203 inside the through groove 204. The semi-arc plate 211 can fix the position between the two connecting plates 203 and reduce the force on a single connecting plate 203 when the rotating assembly rotates, thus extending the service life of the connecting plate 203.

[0038] like Figure 4 As shown, this is a schematic diagram of the support component structure in this embodiment. The bottom of the third lever arm 103 is fixedly connected to a fixed disk 300. Multiple support angle irons 301 are fixedly connected to the outer wall of the fixed disk 300. Each support angle iron 301 is fixedly connected to the bottom of the fixed ring body 200. A fixed plate 302 is fixedly connected to the inner wall of each support angle iron 301. In this embodiment, the fixed plate 302 makes each support angle iron 301 form a triangular stable structure. The arrangement of multiple support angle irons 301 can provide stronger support when the adsorption disk 201 or the clamping gripper 202 transfers goods, thereby increasing the strength of the fixed ring body 200.

[0039] It is worth noting that the aforementioned fixed plate 300, supporting angle iron 301, and fixed plate 302 are the support components in this embodiment. The support components include, but are not limited to, the fixed plate 300, supporting angle iron 301, and fixed plate 302. Any component that can increase the support strength of the fixed ring 200 can be applied to this embodiment.

[0040] like Figure 5 As shown, this is a schematic diagram of the support disk structure in this embodiment. The fixed ring 200 has a support disk 303 fixedly connected to the end of the third lever arm 103. Multiple contact plates 304 are fixedly connected to the bottom of the support disk 303. The bottom of the contact plates 304 is fixedly connected to the top of the fixed plate 302. The bottom of the connecting plate 203 contacts the upper end of the support disk 303. In this embodiment, the support disk 303 can provide auxiliary support for the connecting plate 203, and the connection between the bottom of the contact plates 304 and the top of the fixed plate 302 can increase the supporting force of the support assembly.

[0041] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present utility model. It should not be construed that the specific implementation of the present utility model is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present utility model, and all such deductions or substitutions should be considered to fall within the scope of protection defined by the claims submitted by the present utility model.

Claims

1. A cargo transfer robot arm, comprising a support base (100), a first force arm (101) rotatably connected to an upper end of the support base (100), a second force arm (102) rotatably connected to the first force arm (101), and a third force arm (103) rotatably connected to the second force arm (102), characterized in that, The outer end wall of the third force arm (103) is fixedly connected with a fixed ring body (200), the outer wall of the fixed ring body (200) is provided with a penetrating groove (204) penetrating through, the outer end of the third force arm (103) is provided with a mounting groove (214), the fixed ring body (200) is slidably connected with a second mounting plate (206) and a first mounting plate (205), the outer wall of the second mounting plate (206) is fixedly connected with a mounting bracket (210) close to the outer wall of the third force arm (103), the upper end of the mounting bracket (210) is detachably connected with an air suction pump (209), the outer wall of the second mounting plate (206) is mounted with a suction disc (201), the air suction pump (209) is connected with the outer wall of the second mounting plate (206) and communicates with a clamping gripper (202), the first mounting plate (205) is slidably connected with the clamping gripper (202), the mounting groove (214) is mounted with a rotating assembly, and the rotating assembly controls the rotating movement of the first mounting plate (205) and the second mounting plate (206) on the fixed ring body (200).

2. The cargo transfer robotic arm of claim 1, wherein, The bottom of the fixed ring body (200) is mounted with a positioning assembly, and the positioning assembly enables the first mounting plate (205) or the second mounting plate (206) to accurately stop at a position coinciding with the axis of the third force arm (103).

3. The cargo transfer robotic arm of claim 2, wherein, The bottom of the third force arm (103) is mounted with a supporting assembly, and the supporting assembly increases the supporting force of the fixed ring body (200).

4. The cargo transfer robotic arm of claim 3, wherein, The rotating assembly comprises a driving motor (208), a connecting disc (207) and a connecting plate (203), the inside of the mounting groove (214) is rotatably connected with the connecting disc (207), the upper end of the third force arm (103) is detachably connected with the driving motor (208), the rotating end of the driving motor (208) is detachably connected with the upper end of the connecting disc (207), the outer wall of the connecting disc (207) is fixedly connected with two connecting plates (203), the two connecting plates (203) penetrate through the penetrating groove (204), one end of one of the connecting plates (203) is fixedly connected with the second mounting plate (206), and the other end of the other connecting plate (203) is fixedly connected with the first mounting plate (205).

5. The cargo transfer robotic arm of claim 4, wherein, The positioning assembly comprises an L-shaped connecting plate (212) and a position sensor (213), the L-shaped connecting plate (212) is fixedly connected at the position of the axis of the third force arm (103) at the bottom of the fixed ring body (200), and the upper end of the horizontal plate of the L-shaped connecting plate (212) is detachably connected with the position sensor (213).

6. The cargo transfer robotic arm of claim 5, wherein, The supporting assembly comprises a fixed disc (300), a supporting angle iron (301) and a fixed plate (302), the bottom of the third force arm (103) is fixedly connected with the fixed disc (300), the outer wall of the fixed disc (300) is fixedly connected with a plurality of supporting angle irons (301), each supporting angle iron (301) is fixedly connected with the bottom of the fixed ring body (200), and the inner wall of each supporting angle iron (301) is fixedly connected with a fixed plate (302).

7. The cargo transfer robot arm of claim 6, wherein, The inner part of the fixed ring body (200) is provided with a support disc body (303) fixedly connected with the end part of the third force arm (103), the bottom of the support disc body (303) is fixedly connected with a plurality of contact plates (304), the bottom of the contact plate (304) is fixedly connected with the top of the fixed plate (302), and the bottom of the connecting plate (203) contacts the upper end of the support disc body (303).

8. The cargo transfer robotic arm of claim 7, wherein, The two side connecting plates (203) are fixedly connected with half-arc plates (211) between the interiors of the through grooves (204).

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